Goods picking and placing device and robot

Abstract

The utility model provides a goods taking and placing device and a robot, and relates to the technical field of warehouse logistics. The goods taking and placing device is used for taking and placing a material box, the goods taking and placing device comprises a device body, a driving mechanism and a hook claw mechanism, the hook claw mechanism is movably connected with the device body, the driving mechanism is configured to drive the hook claw mechanism to move relative to the device body in the first direction, and the hook claw mechanism comprises a supporting base, a connecting support, a hook claw piece and a push rod piece; the first end of the connecting support is connected with the supporting base. The hook claw piece and the push rod piece are connected to the second end of the connecting support. The material box is provided with a hook groove, and when the goods taking and placing device obtains the material box, the hook claw piece is connected with the hook groove in an inserted mode so that the hook claw mechanism can drive the material box to move to the device body. When the material box is placed on the goods taking and placing device, the push rod piece abuts against the outer side wall of the material box, so that the hook claw mechanism pushes the material box to move out of the device body, the space in a goods shelf for storing the material box is prevented from being occupied, and then the storage density of the goods shelf can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of warehouse logistics, in particular to a taking and placing device and a robot. BACKGROUND

[0002] In the field of warehouse logistics, goods can be stored in bins on shelves, and when the goods are put in or taken out of the warehouse, a robot is usually used to take and place the bins and transport them.

[0003] In related technologies, a fork for taking and placing bins is usually arranged on the robot, and the fork usually has a fork arm that can move in and out relative to the body of the robot. When the fork arm operates on the shelf to take and place the bin, the fork arm can extend into the inside of the shelf from the side or the bottom of the bin, and the bin can be taken out of the shelf by clamping or lifting.

[0004] However, the current fork structure of the robot needs the bins stored in the shelf to have a larger bin spacing and layer spacing when taking and placing goods to avoid interference with the shelf, resulting in a decrease in the storage density of the shelf. CONTENT OF THE UTILITY MODEL

[0005] The present application provides a taking and placing device and a robot to solve the technical problem that the current fork structure of the robot needs the bins stored in the shelf to have a larger bin spacing and layer spacing when taking and placing goods, resulting in a decrease in the storage density of the shelf.

[0006] To achieve the above purpose, in a first aspect, the present application provides a taking and placing device for taking and placing bins. The taking and placing device comprises a device body, a driving mechanism and a hook mechanism, the hook mechanism is movably connected with the device body, and the driving mechanism is configured to drive the hook mechanism to move in a first direction relative to the device body.

[0007] The hook mechanism comprises a support seat, a connecting bracket, a hook piece and a push rod piece, the first end of the connecting bracket is connected with the support seat, and the hook piece and the push rod piece are connected to the second end of the connecting bracket; the bin has a hook groove, when the taking and placing device takes the bin, the hook piece is inserted into the hook groove to drive the bin to move to the device body; when the taking and placing device places the bin, the push rod piece abuts against the outer surface of the side of the bin where the hook groove is arranged to drive the bin to move out of the device body.

[0008] The taking and placing device provided by the present application cooperates with the end of the bin through the hook piece and the push rod piece, and the connecting bracket supports the hook piece and the push rod piece, so that when the taking and placing device takes and places the bin from the shelf, the hook piece and the push rod piece do not need to enter the inside of the shelf to clamp or lift the bin, but drive the bin to move by pulling and pushing, which improves the structural reliability of the taking and placing device, avoids occupying the space inside the shelf where the bin is stored, and thus the shelf can improve the storage density.

[0009] As an optional implementation, the claw member and the push rod member are located above the support base in a second direction, wherein the second direction is perpendicular to the first direction, the first direction is a taking and placing direction of the taking and placing device, and the second direction is a height direction of the taking and placing device; the device body has a bearing surface, and the height of the claw member and the push rod member in the second direction is higher than the bearing surface.

[0010] In this way, when the claw member and the push rod member pull and push the material box to move, the material box can be prevented from colliding with or interfering with the device body.

[0011] As an optional implementation, the connecting bracket is inclined to one end of the device body relative to the second direction to which the material box enters or exits.

[0012] In this way, when the material box is taken and placed, the front end of the device body can be prevented from colliding with or interfering with the shelf.

[0013] As an optional implementation, the claw member can include a connecting portion and a claw portion, the connecting portion is fixedly connected to the second end of the connecting bracket, and the claw portion is connected to the connecting portion, the claw portion is bent relative to the connecting portion and extends in the second direction.

[0014] In this way, the structural strength of the claw member can be improved, and the claw member can be conveniently inserted into the slot of the material box when taking goods.

[0015] As an optional implementation, the slot is located on the outer surface of one end of the material box facing the taking and placing device, and the slot opening is downwardly arranged; the claw portion extends upwardly relative to the connecting portion, and the claw portion is configured to be inserted into the slot from bottom to top.

[0016] As an optional implementation, the claw member and the push rod member are arranged in a staggered manner in the first direction, and the claw member is located at the front end of the claw mechanism facing the taking and placing direction relative to the push rod member; and / or, the claw member and the push rod member are arranged in a staggered manner in the second direction, and the push rod member is higher than the claw member.

[0017] In this way, when the claw member is inserted into the slot of the material box, the push rod member can be ensured to avoid the structure of the material box, and interference between the push rod member and the material box can be avoided.

[0018] As an optional implementation, the connecting bracket can be multiple, and the multiple connecting brackets are arranged in parallel and at intervals.

[0019] In this way, the structural strength of the claw mechanism can be improved.

[0020] As an optional implementation, the claw mechanism can further include a detection unit, the detection unit is connected to the second end of the connecting bracket, the detection unit is opposite to the claw member, and the detection unit is configured to detect whether the claw member is inserted into the slot.

[0021] In this way, the cooperation state of the hooking claw member and the hook groove of the material box can be accurately determined during the taking and placing of the goods.

[0022] As an optional implementation, the driving mechanism can include a first driving unit, a first transmission wheel, a second transmission wheel and a first transmission member, the first driving unit is connected with the device body, the first transmission wheel and the second transmission wheel are respectively rotatably connected to two ends of the device body along the first direction, and the first transmission member is arranged around the first transmission wheel and the second transmission wheel.

[0023] The support seat can be connected with the first transmission member; and the first driving unit is configured to drive any one of the first transmission wheel and the second transmission wheel to rotate, so as to drive the hooking claw mechanism to move along the first direction.

[0024] In this way, the driving structure of the hooking claw mechanism relative to the overall movement of the device body can be simplified, and the reliability of the transmission process can be improved.

[0025] As an optional implementation, the first transmission wheel and the second transmission wheel are both sprockets, and the first transmission member is a chain, which is arranged around the two sprockets; the bottom of the support seat is connected with a special-shaped link, and the special-shaped link is connected in the chain.

[0026] As an optional implementation, the device body can include a frame and two side plates connected to two sides of the frame respectively, a guide rail is connected to the frame, and a sliding block is connected to the side of the support seat facing the device body, and the sliding block is slidably connected with the guide rail.

[0027] In this way, the smoothness of the movement of the hooking claw mechanism relative to the device body can be improved.

[0028] As an optional implementation, the taking and placing device can further include a base support and a rotating mechanism, the device body is rotatably connected with the base support; the rotating mechanism includes a second driving unit, a third transmission wheel, a fourth transmission wheel and a second transmission member, the second driving unit is connected with the device body, the third transmission wheel is connected with the output end of the second driving unit, the fourth transmission wheel is fixedly connected with the base support, and the second transmission member is arranged around the third transmission wheel and the fourth transmission wheel; the second driving unit is configured to drive the device body to rotate relative to the base support.

[0029] In this way, the hooking claw mechanism can be operated to take and place the material box in different directions.

[0030] In the second aspect, the application provides a robot, which includes a robot body, a lifting mechanism and the taking and placing device in the above technical solution, the taking and placing device is connected with the lifting mechanism, and the lifting mechanism is configured to drive the taking and placing device to move along the height direction of the robot body.

[0031] The application provides a taking and placing device and a robot, wherein the taking and placing device is used for taking and placing a material box. The taking and placing device comprises a device main body, a driving mechanism and a claw mechanism, the claw mechanism is movably connected with the device main body, the driving mechanism is configured to drive the claw mechanism to move relative to the device main body along a first direction, the claw mechanism comprises a supporting seat, a connecting support, a claw piece and a push rod piece, the first end of the connecting support is connected with the supporting seat, and the claw piece and the push rod piece are connected to the second end of the connecting support; the material box has a claw groove, when the taking and placing device takes the material box, the claw piece is inserted into the claw groove, so that the claw mechanism drives the material box to move to the device main body; when the taking and placing device places the material box, the push rod piece abuts against the outer side wall of the material box, so that the claw mechanism pushes the material box to move out of the device main body, the structural reliability of the taking and placing device is improved, the space inside the shelf for storing the material box is avoided to be occupied, and the storage density of the shelf can be improved.

[0032] In addition to the technical problems solved by the embodiments of the application described above, the technical features constituting the technical solutions and the beneficial effects brought by the technical features, other technical problems solved by the taking and placing device and the robot provided by the application, other technical features included in the technical solutions and the beneficial effects brought by the technical features will be further described in detail in the specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can also be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0034] Figure 1 An exploded view of the taking and placing device provided by the embodiments of the application;

[0035] Figure 2 A structural schematic view of the claw mechanism in the taking and placing device provided by the embodiments of the application;

[0036] Figure 3 A structural schematic view of the device main body in the taking and placing device provided by the embodiments of the application;

[0037] Figure 4 A structural schematic view of the base support and the rotating mechanism in the taking and placing device provided by the embodiments of the application;

[0038] Figure 5 A schematic view of the taking and placing device cooperating with the material box provided by the embodiments of the application;

[0039] Figure 6A structural schematic diagram of a robot provided for an embodiment of the present application is shown in the figure;

[0040] Figure 7 A schematic diagram of a goods taking process of a robot provided for an embodiment of the present application is shown in the figure;

[0041] Figure 8 A schematic diagram of a goods placing process of a robot provided for an embodiment of the present application is shown in the figure.

[0042] Reference signs:

[0043] 10 - goods taking and placing device;

[0044] 100 - device main body; 101 - bearing surface; 110 - frame; 120 - side plate; 130 - guide rail; 140 - sliding block;

[0045] 200 - driving mechanism; 210 - first driving unit; 220 - first transmission wheel; 230 - second transmission wheel; 240 - first transmission member; 241 - special-shaped chain link;

[0046] 300 - claw mechanism; 310 - support seat; 320 - connecting bracket; 330 - claw member; 331 - connecting part; 332 - claw part; 340 - push rod member; 350 - detection unit;

[0047] 400 - base bracket; 410 - rotating support;

[0048] 500 - rotating mechanism; 510 - second driving unit; 520 - third transmission wheel; 530 - fourth transmission wheel; 540 - second transmission member;

[0049] 20 - robot main body;

[0050] 30 - lifting mechanism;

[0051] 40 - material box; 41 - hook groove. DETAILED DESCRIPTION

[0052] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described below in connection with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0053] First, those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present application, and are not intended to limit the protection scope of the present application. Those skilled in the art can adjust them as needed in order to adapt to specific application occasions.

[0054] Secondly, it needs to be explained that in the description of the present application, the terms indicating the direction or position relationship of "upper", "lower", "left", "right", "front", "rear", "inner", "outer" and the like are based on the direction or position relationship shown in the drawings, which is only for the convenience of description, and does not indicate or imply that the device or member must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0055] In addition, it also needs to be explained that in the description of the present application, unless otherwise explicitly specified and limited, the terms "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be the communication inside two components. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0056] Fixed connection can include but not limited to bolt connection, riveting, welding, gluing and the like, so that two structural members are firmly connected together. Hinge connection can include but not limited to circlip, nut, gasket, bearing and the like, so that the two connected parts can only rotate in the circumferential direction, and no axial and radial displacement occurs.

[0057] In the description of the present specification, the description referring to the terms "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0058] The warehouse system usually stores goods in bins on shelves, and uses robots to transport the bins. The robot takes and places the bins by docking with the shelves or the conveying line. The robot usually has a fork for taking and placing the bins, and the fork usually has a fork arm that can move in and out relative to the body of the robot. When the fork arm operates on the shelves to take and place the bins, the fork arm usually extends into the inside of the shelves from the side or the bottom of the bins, and takes the bins out of the shelves by clamping or lifting.

[0059] However, for the fork of the clamping type, when the box is stored on the shelf, a large box spacing is reserved between the boxes of the same height layer. For the fork of the lifting type, when the box is stored on the shelf, a large layer spacing is reserved between the upper and lower layers to avoid interference between the fork lifting the box and other boxes below. Therefore, the current fork structure of the robot occupies a large amount of internal space of the shelf when taking and placing goods, resulting in a decrease in the storage density of the shelf.

[0060] To solve the above problems, the embodiments of the present application provide a taking and placing device and a robot. Through the structural design of the hook mechanism on the taking and placing device and cooperating with the box, when the box is taken and placed, the box is pulled and pushed at the end of the box to enter or move out of the shelf. The structure of the hook mechanism does not need to enter the internal space of the shelf, thereby avoiding the taking and placing device from occupying the internal space of the shelf when taking and placing the box, so that the shelf has a smaller box spacing and layer spacing when storing the box, and the storage density and the capacity rate of the shelf are improved.

[0061] The capacity rate refers to the ratio of the volume of the goods stored in the warehouse to the total volume of the warehouse.

[0062] The technical solutions of the embodiments of the present application will be described in detail below.

[0063] Figure 1 An exploded view of the taking and placing device provided by the embodiments of the present application, Figure 2 A structural schematic view of the hook mechanism in the taking and placing device provided by the embodiments of the present application, Figure 3 A structural schematic view of the device main body in the taking and placing device provided by the embodiments of the present application, Figure 4 A structural schematic view of the base support and the rotating mechanism in the taking and placing device provided by the embodiments of the present application, Figure 5 A schematic view of the taking and placing device cooperating with the box provided by the embodiments of the present application.

[0064] Please refer to Figures 1 to 5 The present application provides a taking and placing device 10, which is used for taking and placing a box 40. The box 40 can be placed on a shelf, and the taking and placing device 10 can take the box 40 from the shelf or place the box 40 on the shelf.

[0065] The taking and placing device 10 includes a device main body 100, a driving mechanism 200, and a hook mechanism 300. The hook mechanism 300 is movably connected to the device main body 100, and the driving mechanism 200 is configured to drive the hook mechanism 300 to move relative to the device main body 100 in a first direction. The hook mechanism 300 can move between the two ends of the device main body 100 in the first direction. By moving the hook mechanism 300 relative to the device main body 100, the hook mechanism 300 can perform the operation of taking and placing the box 40 in the first direction.

[0066] The claw mechanism 300 comprises a support seat 310, a connecting bracket 320, a claw piece 330 and a push rod piece 340. The first end of the connecting bracket 320 is connected with the support seat 310, and the claw piece 330 and the push rod piece 340 are connected to the second end of the connecting bracket 320. The support seat 310 is used for mounting the connecting bracket 320, and the connecting bracket 320 can support the claw piece 330 and the push rod piece 340, thereby improving the structural strength of the claw mechanism 300 as a whole.

[0067] It can be understood that the material box 40 has a claw groove 41. When the taking and placing device 10 takes the material box 40, the claw piece 330 is inserted into the claw groove 41, so that the claw mechanism 300 drives the material box 40 to move to the device main body 100, thereby realizing the taking operation of the material box 40. When the taking and placing device 10 places the material box 40, the push rod piece 340 abuts against the outer surface of the side of the material box 40 where the claw groove is arranged, so that the claw mechanism 300 pushes the material box 40 to move out of the device main body 100, thereby realizing the placing operation of the material box 40.

[0068] It should be noted that when the material box 40 is stored in the storage location of the shelf, the storage location is a single deep location, that is, each storage location stores a single material box 40, and the taking and placing device 10 takes or places the material box 40 from the storage opening of the storage location. The material box 40 placed in the storage location of the shelf has an end facing the outside of the storage opening, and the claw groove 41 on the material box 40 is located at the end facing the outside of the storage opening. When the taking and placing device 10 takes the material box 40 from the storage location, the claw piece 330 only needs to cooperate with the end face of the end of the material box 40 facing the outside of the storage opening and be inserted into the corresponding claw groove 41, so as to pull the material box 40 out of the storage location and pull it to the device main body 100. When the taking and placing device 10 places the material box 40 on the device main body 100 into the storage location, the push rod piece 340 abuts against the end face of the material box 40, and with the movement of the claw mechanism 300, the push rod piece 340 pushes the material box 40 to move from the device main body 100 to the corresponding storage location of the shelf.

[0069] When the taking and placing device 10 takes or places the material box 40 from the shelf, the claw piece 330 and the push rod piece 340 do not need to enter the inside of the shelf to clamp or lift the material box 40, but pull and push the material box 40 to move, thereby improving the structural reliability of the taking and placing device 10, avoiding occupying the space inside the shelf where the material box 40 is stored, and enabling the shelf to store the material box 40 with smaller box spacing and layer spacing, thereby improving the storage density of the shelf.

[0070] The specific setting positions and structures of the claw piece 330 and the push rod piece 340 will be described in detail below.

[0071] Please continue to refer to Figures 1 to 5In a possible implementation, the claw member 330 and the push rod member 340 are located above the support seat 310 along a second direction, where the second direction is perpendicular to the first direction, the first direction is a direction in which the goods taking and placing device 10 takes and places goods, and the second direction is a height direction of the goods taking and placing device 10. The device main body 100 has a bearing surface 101, and the claw member 330 and the push rod member 340 are higher than the bearing surface 101 along the second direction.

[0072] The first direction is defined as an X direction, and the claw mechanism 300 can move relative to the device main body 100 along the X direction. The second direction is defined as a Y direction, and the bin 40 is located above the bearing surface 101 along the Y direction when the bin 40 is on the device main body 100, and the bearing surface 101 supports the bin 40.

[0073] It can be understood that the claw member 330 and the push rod member 340 can cooperate with the side end surface of the bin 40, and the bottom surface of the bin 40 can be flush with or slightly higher than the bearing surface 101 of the device main body 100 when the bin 40 is taken and placed, so that the bin 40 can be prevented from colliding with or interfering with the device main body 100 when the claw member 330 and the push rod member 340 pull and push the bin 40 to move.

[0074] In some embodiments, the connecting bracket 320 is inclined relative to one end of the device main body 100 through which the bin 40 enters or exits. The connecting bracket 320 is inclined relative to the Y direction, and when the claw mechanism 300 moves to the one end of the device main body 100 through which the bin 40 enters or exits, the inclined connecting bracket 320 can make the positions of the claw member 330 and the push rod member 340 connected to the end of the connecting bracket 320 beyond the end of the device main body 100, so that the front end of the device main body 100 can be prevented from colliding with or interfering with the shelf when the bin 40 is taken and placed.

[0075] For example, the connecting bracket 320 can be a sheet metal member, or the connecting bracket 320 can be a profile. The connecting bracket 320 can be welded to the support seat 310, or the connecting bracket 320 can be connected to the support seat 310 by bolts or other fasteners. The connecting bracket 320 can be a rod structure, and the cross section of the connecting bracket 320 can be square, circular, or other shapes. The embodiments of the present application do not limit the specific material, fixing method, and shape of the connecting bracket 320.

[0076] It should be noted that when the claw member 330 pulls the bin 40 to move or the push rod member 340 pushes the bin 40 to move, the claw mechanism 300 in movement will bear the counteracting force of the bin 40, and the connecting bracket 320 can improve the structural strength and rigidity of the claw mechanism 300.

[0077] In some embodiments, the hook member 330 may include a connecting portion 331 and a hook portion 332. The connecting portion 331 is fixedly connected to the second end of the connecting bracket 320. The hook portion 332 is connected to the connecting portion 331, and the hook portion 332 is bent relative to the connecting portion 331 and extends in a second direction, thereby improving the structural strength of the hook member and facilitating the insertion and engagement of the hook member 330 with the hook groove 41 of the material box 40 during picking up goods.

[0078] It is understandable that the opening of the groove 41 at the end of the material box 40 is oriented in the same direction, and the hook part 332 is oriented upward relative to the connecting part 331. When picking up goods, the hook part 332 can be inserted into the groove from bottom to top.

[0079] For example, the hook groove 41 is located on the outer surface of the end of the material box 40 facing the loading and unloading device 10, and the opening of the hook groove 41 is set downward; the hook part 332 extends upward relative to the connecting part 331, and the hook part 332 is configured to be inserted into the hook groove 41 from bottom to top.

[0080] For example, the hook portion 332 and the connecting portion 331 can be integrally molded parts, such as sheet metal parts. For example, the push rod 340 can be a sheet metal part.

[0081] In some embodiments, the claw 330 and the push rod 340 can be offset along a first direction, with the claw 330 located at the front end of the claw mechanism 300 in the direction of picking up and placing goods relative to the push rod 340. The insertion and engagement of the claw 330 with the groove 41 of the material box 40 ensures that the push rod 340 avoids the structure of the material box 40, preventing interference between the push rod 340 and the material box 40.

[0082] In some embodiments, the claw member 330 and the push rod member 340 are offset along a second direction, with the push rod member 340 being higher than the claw member 330. The claw member 330 engages with the groove 41 of the material box 40, ensuring that the push rod member 340 avoids the structure of the material box 40 and prevents interference between the push rod member 340 and the material box 40.

[0083] In the cargo handling device 10 provided in this application embodiment, there can be multiple connecting brackets 320, which are arranged in parallel and spaced apart, thereby improving the structural strength of the hook mechanism 300.

[0084] For example, there can be two connecting brackets 320, and the tilt angle of the two connecting brackets 320 relative to the Y direction can be 5°, 10°, 11°, 20°, 30°, 45°, 60°, 80°, 89°, 90°, etc. The embodiments of this application do not specifically limit this.

[0085] In some embodiments, the claw mechanism 300 may further include a detection unit 350, which is connected to the second end of the connecting bracket 320 and is opposite to the claw component 330. It is understood that during the picking and placing of goods, the engagement state between the claw component 330 and the hook groove 41 of the material box 40 can be accurately determined.

[0086] For example, the detection unit 350 can be a photoelectric sensor. When the hook 330 is not inserted into the hook groove 41 of the material box 40, the detection light of the detection unit 350 is not blocked and can directly illuminate the hook 330. However, when the hook 330 is inserted into the hook groove 41 of the material box 40, the detection light of the detection unit 350 will be blocked by the outer wall of the hook groove 41, so that it can be accurately determined that the hook 330 has been inserted into the hook groove 41.

[0087] It should be noted that a zero-position plate can be connected to the support base 310. The zero-position plate can limit the movement of the claw mechanism 300. When the claw mechanism 300 moves to the initial position, the zero-position plate can abut against the structure on the main body 100 of the device to ensure the accuracy of the zero position of the claw mechanism 300.

[0088] The following is a detailed description of the specific structure by which the drive mechanism 200 drives the claw mechanism 300 to move relative to the main body 100 of the device.

[0089] Please continue to refer to Figures 1 to 5 In one possible implementation, the drive mechanism 200 may include a first drive unit 210, a first transmission wheel 220, a second transmission wheel 230, and a first transmission member 240. The first drive unit 210 is connected to the device body 100. The first transmission wheel 220 and the second transmission wheel 230 are rotatably connected to the two ends of the device body 100 along a first direction, respectively. The first transmission member 240 is wound around the first transmission wheel 220 and the second transmission wheel 230.

[0090] The support base 310 can be connected to the first transmission member 240. The first drive unit 210 is configured to drive either the first transmission wheel 220 or the second transmission wheel 230 to rotate, so that the first transmission member 240 drives the hook mechanism 300 to move in a first direction. This simplifies the drive structure for the overall movement of the hook mechanism 300 relative to the device body 100 and improves the reliability of the transmission process.

[0091] It is understood that the first transmission component 240 is a flexible transmission component. For example, the first transmission component 240 can be a synchronous belt, chain, etc. Taking a chain as an example, the first transmission wheel 220 and the second transmission wheel 230 are sprockets, one of which is the driving sprocket and the other is the driven sprocket. One of the links of the first transmission component 240 can be a non-circular link 241. The pitch of the non-circular link 241 is equal to the pitch of the other links, and it can be connected to the bottom of the support base 310 by fasteners such as screws or welding to ensure good connection reliability between the first transmission component 240 and the support base 310.

[0092] For example, the first drive unit 210 can be a motor, the output end of which is connected to a reducer. The output end of the reducer, the first transmission wheel 220, the second transmission wheel 230 and the first transmission component 240 constitute a transmission group. The drive mechanism 200 has two transmission groups, which are respectively arranged on both sides of the device body 100. The drive sprockets of the two transmission groups are connected by a transmission shaft. The power output by the reducer can drive the transmission shaft to rotate, thereby making the drive sprockets of the two transmission groups rotate synchronously, and thus realizing that the first transmission components 240 on both sides drive the hook mechanism 300 to move synchronously.

[0093] In some embodiments, the device body 100 may include a frame 110 and two side plates 120 respectively connected to both sides of the frame 110. A guide rail 130 is connected to the frame 110, and a slider 140 is connected to the side of the support base 310 facing the device body 100. The slider 140 is slidably connected to the guide rail 130, thereby improving the smoothness of the movement of the claw mechanism 300 relative to the device body 100.

[0094] For example, the guide rail 130 extends in the X direction, and the slider 140 can be connected to the bottom of the support 310 by fasteners such as screws.

[0095] For example, there can be two guide rails 130, which can be arranged in parallel and spaced apart. The support base 310 is slidably connected to both guide rails 130 through sliders 140, which can improve the reliability of the support for the claw mechanism 300.

[0096] It should be noted that the frame 110 of the main body 100 of the device may include a profile bracket and a mounting plate. The mounting plate is fixedly connected to both sides of the profile bracket, and the guide rail 130 can be fixedly connected to the mounting plates on both sides.

[0097] The following is a detailed description of the structure by which the loading and unloading device 10 rotates.

[0098] Please continue to refer to Figures 1 to 5In one possible implementation, the picking and placing device 10 may further include a base support 400 and a rotating mechanism 500, with the device body 100 rotatably connected to the base support 400. The rotating mechanism 500 can drive the device body 100 to rotate relative to the base support 400, thereby adjusting the orientation of the device body 100 in picking and placing the material box 40, so that the hook mechanism 300 can pick and place the material box 40 in different directions.

[0099] The rotating mechanism 500 includes a second drive unit 510, a third transmission wheel 520, a fourth transmission wheel 530, and a second transmission member 540. The second drive unit 510 is connected to the device body 100, the third transmission wheel 520 is connected to the output end of the second drive unit 510, the fourth transmission wheel 530 is fixedly connected to the base support 400, and the second transmission member 540 is arranged around the third transmission wheel 520 and the fourth transmission wheel 530. The second drive unit 510 is configured to drive the device body 100 to rotate relative to the base support 400.

[0100] For example, the second drive unit 510 may include a motor and a reducer, which are mounted on the device body 100 via a tensioning seat so that the motor's mounting position can be tensioned and adjusted. The second transmission component 540 may be a flexible transmission component such as a chain or a synchronous belt. Taking a synchronous belt as an example, the third transmission wheel 520 and the third transmission wheel 520 are synchronous pulleys, and the third transmission wheel 520 is the driving wheel. The second drive unit 510 can drive the driving wheel to rotate, thereby enabling the second transmission component 540 to transmit power, and thus causing the device body 100 and the hook mechanism 300 to rotate as a whole relative to the base support 400.

[0101] For example, the device body 100 can be connected to the base bracket 400 via a rotating support 410, and the rotating support 410 is connected to the base bracket 400 via a support bearing.

[0102] Figure 6 This is a schematic diagram of the robot provided in an embodiment of this application.

[0103] Please refer to Figure 6 and combined Figures 1 to 5 This application provides a robot, which includes a robot body 20, a lifting mechanism 30, and a picking and placing device 10 as described above. The picking and placing device 10 is connected to the lifting mechanism 30, and the lifting mechanism 30 is configured to drive the picking and placing device 10 to move along the height direction of the robot body 20.

[0104] It should be noted that the robot provided in this application embodiment includes all the technical solutions and technical effects of the aforementioned picking and placing device 10, which will not be repeated here.

[0105] The following examples illustrate the robot's picking and placing processes.

[0106] Pickup process:

[0107] Figure 7 This is a schematic diagram of the robot's pickup process provided in an embodiment of this application.

[0108] Please refer to Figure 7 and combined Figures 1 to 5 When picking up goods, the robot's recognition unit (camera, etc.) can identify the identification code on the shelf, allowing the robot to adjust the height of the picking and placing device 10 so that its height is level with the storage location. Next, it checks if there is a material box 40 in the storage location. If there is no material box 40, the target storage location is changed, and the previous step is repeated. If there is a material box 40, the height of the picking and placing device 10 is adjusted, lowering it to a certain height, the hook mechanism 300 extends a preset picking distance, and then the picking and placing device 10 is raised to a certain height. Afterwards, the detection unit 350 determines whether the hook part 330 has been inserted into the hook slot 41. If not, the previous steps are repeated, or manual insertion is prompted. If successfully inserted, the hook mechanism 300 retracts, pulling the material box 40 onto the device body 100. Finally, it checks if there is a material box 40 on the device body 100. If there is, the picking is successful; otherwise, the previous picking steps are repeated.

[0109] Goods release process:

[0110] Figure 8 This is a schematic diagram of the robot's cargo delivery process provided in an embodiment of this application.

[0111] Please refer to Figure 8 and combined Figures 1 to 5 When picking up goods, the robot's recognition unit (camera, etc.) can identify the identification code on the shelf, allowing the robot to adjust the height of the picking and placing device 10 so that its height is level with the storage location. Next, it checks if there is a material box 40 in the storage location. If there is, the target storage location is changed, and the previous step is repeated. If there is no material box 40, the height of the picking and placing device 10 is adjusted, raising it to a certain height, the hook mechanism 300 extends a preset placing distance, and then the picking and placing device 10 is lowered to a certain height. Then, the detection unit 350 determines whether the hook component 330 has moved out of the hook groove 41. If it has not disengaged, the previous step is repeated or manual intervention is requested. If it has successfully disengaged, the hook mechanism 300 retracts. Finally, it checks whether there is a material box 40 on the device body 100. If not, the placing is successful; if so, the previous placing steps are repeated or manual intervention is requested.

[0112] This application provides a picking and placing device and a robot, wherein the picking and placing device is used to pick and place material boxes. The picking and placing device includes a device body, a drive mechanism, and a claw mechanism. The claw mechanism is movably connected to the device body. The drive mechanism is configured to drive the claw mechanism to move relative to the device body along a first direction. The claw mechanism includes a support base, a connecting bracket, a claw component, and a push rod component. The first end of the connecting bracket is connected to the support base, and the claw component and the push rod component are connected to the second end of the connecting bracket. The material box has a hook groove. When the picking and placing device picks up the material box, the claw component engages with the hook groove, so that the claw mechanism moves the material box onto the device body. When the picking and placing device places the material box, the push rod component abuts against the outer wall of the material box, so that the claw mechanism pushes the material box out of the device body. This improves the structural reliability of the picking and placing device, avoids occupying the internal space of the shelf where the material box is stored, and thus allows the shelf to increase storage density.

[0113] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A loading and unloading device (10), characterized in that, For picking up and placing materials (40); the picking and placing device (10) includes a device body (100), a drive mechanism (200) and a claw mechanism (300), the claw mechanism (300) being movably connected to the device body (100), and the drive mechanism (200) being configured to drive the claw mechanism (300) to move relative to the device body (100) in a first direction; The hook mechanism (300) includes a support base (310), a connecting bracket (320), a hook component (330), and a push rod component (340). The first end of the connecting bracket (320) is connected to the support base (310), and the hook component (330) and the push rod component (340) are connected to the second end of the connecting bracket (320). The material box (40) has a hook groove (41). When the picking and placing device (10) picks up the material box (40), The hook (330) is inserted into the hook groove (41) so that the hook mechanism (300) drives the material box (40) to move onto the device body (100); when the picking and placing device (10) places the material box (40), the push rod (340) abuts against the outer surface of the material box (40) on the side where the hook groove (41) is located so that the hook mechanism (300) pushes the material box (40) out of the device body (100).

2. The picking and placing device (10) according to claim 1, characterized in that, The hook (330) and the push rod (340) are located above the support base (310) along a second direction, wherein the second direction is perpendicular to the first direction, the first direction is the picking and placing direction of the picking and placing device (10), and the second direction is the height direction of the picking and placing device (10); the device body (100) has a bearing surface (101), and the height of the hook (330) and the push rod (340) along the second direction is higher than the bearing surface (101).

3. The picking and placing device (10) according to claim 2, characterized in that, The connecting bracket (320) is inclined relative to the end of the material box (40) that moves into or out of the device body (100) in the second direction.

4. The picking and placing device (10) according to claim 2, characterized in that, The hook member (330) includes a connecting part (331) and a hook part (332). The connecting part (331) is fixedly connected to the second end of the connecting bracket (320). The hook part (332) is connected to the connecting part (331), and the hook part (332) is bent relative to the connecting part (331) and extends along the second direction.

5. The picking and placing device (10) according to claim 4, characterized in that, The hook groove (41) is located on the outer surface of the material box (40) facing the end of the picking and placing device (10), and the opening of the hook groove (41) is set downward; the hook part (332) extends upward relative to the connecting part (331), and the hook part (332) is configured to be inserted into the hook groove (41) from bottom to top.

6. The picking and placing device (10) according to claim 2, characterized in that, The hook (330) and the push rod (340) are offset along the first direction, and the hook (330) is located at the front end of the hook mechanism (300) in the direction of picking up and placing goods relative to the push rod (340); and / or, the hook (330) and the push rod (340) are offset along the second direction, and the push rod (340) is higher than the hook (330).

7. The picking and placing device (10) according to any one of claims 1-6, characterized in that, There are multiple connecting brackets (320), and the multiple connecting brackets (320) are arranged in parallel at intervals.

8. The picking and placing device (10) according to any one of claims 1-6, characterized in that, The hook mechanism (300) further includes a detection unit (350), which is connected to the second end of the connecting bracket (320). The detection unit (350) is opposite to the hook member (330) and is configured to detect whether the hook member (330) is inserted into the hook groove (41).

9. The picking and placing device (10) according to any one of claims 1-6, characterized in that, The drive mechanism (200) includes a first drive unit (210), a first transmission wheel (220), a second transmission wheel (230), and a first transmission member (240). The first drive unit (210) is connected to the device body (100). The first transmission wheel (220) and the second transmission wheel (230) are rotatably connected to the two ends of the device body (100) along the first direction, respectively. The first transmission member (240) is wound around the first transmission wheel (220) and the second transmission wheel (230). The support base (310) is connected to the first transmission member (240); the first drive unit (210) is configured to drive either the first transmission wheel (220) or the second transmission wheel (230) to rotate, so that the first transmission member (240) drives the hook mechanism (300) to move along the first direction.

10. The picking and placing device (10) according to claim 9, characterized in that, The first transmission wheel (220) and the second transmission wheel (230) are both sprockets, and the first transmission component (240) is a chain, which is wound around the two sprockets; the bottom of the support base (310) is connected to a shaped chain link (241), which is connected in the chain.

11. The picking and placing device (10) according to any one of claims 1-6, characterized in that, The main body (100) of the device includes a frame (110) and two side plates (120) respectively connected to both sides of the frame (110). A guide rail (130) is connected to the frame (110). A slider (140) is connected to the side of the support base (310) facing the main body (100). The slider (140) is slidably connected to the guide rail (130).

12. The picking and placing device (10) according to any one of claims 1-6, characterized in that, The loading and unloading device (10) further includes a base support (400) and a rotating mechanism (500). The device body (100) is rotatably connected to the base support (400). The rotating mechanism (500) includes a second drive unit (510), a third transmission wheel (520), a fourth transmission wheel (530), and a second transmission member (540). The second drive unit (510) is connected to the device body (100). The third transmission wheel (520) is connected to the output end of the second drive unit (510). The fourth transmission wheel (530) is fixedly connected to the base support (400). The second transmission member (540) is wound around the third transmission wheel (520) and the fourth transmission wheel (530). The second drive unit (510) is configured to drive the device body (100) to rotate relative to the base support (400).

13. A robot, characterized in that, The robot includes a robot body (20), a lifting mechanism (30), and a picking and placing device (10) as described in any one of claims 1-12, wherein the picking and placing device (10) is connected to the lifting mechanism (30), and the lifting mechanism (30) is configured to drive the picking and placing device (10) to move along the height direction of the robot body (20).

Images