Pick-and-place device, transfer robot and supporting device

Abstract

The utility model relates to a taking and placing device, a carrying robot and a supporting device. The taking and placing device comprises a mounting platform, a supporting structure capable of moving relative to the mounting platform, a locking structure matched with the supporting structure and a driving structure matched with the locking structure. The locking structure can be switched between a locking state and an unlocking state relative to the mounting platform. When the supporting structure needs to stretch out, the locking structure is driven to be switched from the locking state to the unlocking state, the supporting structure is driven to move towards the target carrier through the locking structure, and when the supporting structure makes contact with the target carrier, driving of the locking structure is stopped so that the locking structure can be switched from the unlocking state to the locking state; the driving structure is further configured to drive the locking structure to be switched from the locking state to the unlocking state when the supporting structure needs to be withdrawn, and the supporting structure is driven by the locking structure to be withdrawn from the mounting platform. The pick-and-place device adopts a mechanical structure for self-locking, so that the dependence on a driving structure during locking is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of logistics and storage equipment, and particularly relates to a taking and placing device, a carrying robot and a supporting device. BACKGROUND

[0002] The carrying robot is an important equipment in storage, which can automatically place target objects (such as boxes) on target carriers (such as shelves) to complete the feeding process (such as the box returning process), and can also take the target objects from the target carriers and then transport them to a designated location.

[0003] In order to make the carrying robot more accurate and stable in the process of taking and placing the target objects, a supporting structure for stabilizing the relative position between the shelf and the carrying robot is arranged on the carrying robot. The existing supporting structure is mostly locked by a motor. Specifically, the output of the motor current is controlled to increase the load, trigger the motor power-off mechanism, and thus achieve the purpose of locking the supporting structure. Alternatively, the motor continuously outputs current to make the supporting structure always abut against the shelf to achieve the purpose of locking the supporting structure.

[0004] However, the locking methods of the above two supporting structures are too dependent on the motor, which may affect the service life and working efficiency of the motor and adversely affect the overall stability of the supporting structure over a long period of time. Inventive content

[0005] The present application provides a taking and placing device, a carrying robot and a supporting device to solve the problems in the prior art.

[0006] According to a first aspect of the present application, a taking and placing device is provided, comprising:

[0007] a mounting platform;

[0008] a supporting structure, which is movable relative to the mounting platform to extend from the mounting platform and contact a target carrier;

[0009] a locking structure, which cooperates with the supporting structure and is switchable between a locked state and an unlocked state relative to the mounting platform; when the locking structure is in the unlocked state, it can drive the supporting structure to move relative to the mounting platform, and when the locking structure is in the locked state, it locks the supporting structure to the mounting platform;

[0010] a driving structure configured to cooperate with the locking structure, and when it is required to extend the support structure, drive the locking structure to switch from the locking state to the unlocking state, and drive the support structure to move towards the target carrier through the locking structure, and when the support structure contacts the target carrier, stop driving the locking structure, so that the locking structure switches from the unlocking state to the locking state; the driving structure is further configured to drive the locking structure to switch from the locking state to the unlocking state when it is required to retract the support structure, and drive the support structure to retract the mounting platform through the locking structure.

[0011] In an embodiment of the present application, the locking structure comprises:

[0012] a connecting portion cooperating with the support structure, and provided with a limiting portion;

[0013] a locking portion selectively cooperating with or disengaging from the limiting portion, so that the locking structure switches between the locking state and the unlocking state;

[0014] the locking portion is configured to disengage from the limiting portion when the connecting portion moves outwards relative to the mounting platform, and move relative to the mounting platform under the driving of the connecting portion;

[0015] the locking portion is configured to move relative to the connecting portion when the driving structure stops driving the locking structure, so as to cooperate with the limiting portion.

[0016] In an embodiment of the present application, the locking portion comprises a locking ball and a ball retainer, and the limiting portion has an inclined surface cooperating with the locking ball.

[0017] the ball retainer is configured to drive the locking ball to move on the inclined surface, so that the locking ball locks or unlocks the connecting portion relative to the mounting platform, and switches the locking structure between the locking state and the unlocking state.

[0018] In an embodiment of the present application, the locking structure further comprises a first elastic member, two ends of the first elastic member respectively cooperate with the locking portion and the connecting portion,

[0019] one of the locking portion and the connecting portion moves relative to the other one of the locking portion and the connecting portion at least under the action of the first elastic member when it is not subjected to external force, so that the locking portion cooperates with the connecting portion.

[0020] In an embodiment of the present application, a first flange extends on a side wall of the locking portion; a second flange extends on a side wall of the connecting portion, and the first flange and the second flange are oppositely arranged.

[0021] Two ends of the first elastic member are respectively matched with the first flange and the second flange.

[0022] In an embodiment of the present application, the driving structure is configured to drive the locking part when the support structure needs to be retracted, drive the first elastic member and the connecting part to retract the support structure to the mounting platform, and stop driving the locking part when the support structure moves to an initial position, so that the connecting part moves to the locking state relative to the locking part at least under the elastic force of the first elastic member.

[0023] In an embodiment of the present application, the driving structure is configured to drive the connecting part when the support structure needs to be extended, drive the first elastic member and the locking part to move to the target carrier, and stop driving the connecting part when the support structure moves to a target position, so that the locking part moves to the locking state relative to the connecting part at least under the elastic force of the first elastic member.

[0024] The target position at least includes a position of the support structure when the support structure is in contact with the target carrier.

[0025] In an embodiment of the present application, the driving structure includes:

[0026] a driving assembly;

[0027] a driving block connected with the driving assembly and matched with the locking structure under the driving of the driving assembly, so that the locking structure is switched from the locking state to the unlocking state and the locking structure moves relative to the mounting platform.

[0028] In an embodiment of the present application, at least part of the driving block is located between the locking part and the connecting part, so as to selectively drive the locking part or the connecting part under the driving of the driving assembly.

[0029] In an embodiment of the present application, the mounting platform includes a guide member, the connecting part is sleeved on the guide member, and the locking part is arranged between the connecting part and the guide member.

[0030] In an embodiment of the present application, the support structure further includes:

[0031] a guide part matched with the locking structure and sleeved on the guide member in a sliding manner;

[0032] a connecting rod arranged side by side with the guide member and connected with the guide part;

[0033] The support part is connected with the connecting rod and is configured to extend out of the mounting platform and contact the target carrier under the driving of the guide part;

[0034] The guide part is configured to move along the guide under the driving of the locking structure and drive the connecting rod and the support part to extend out of or retract into the mounting platform.

[0035] In an embodiment of the present application, the guide part includes a first guide block and a second guide block arranged on both sides of the locking structure. When the support part needs to be extended, the locking structure is configured to drive the first guide block to move along the guide, so as to drive the connecting rod and the support part to move out of the mounting platform through the first guide block. When the support part needs to be retracted, the locking structure is configured to drive the second guide block to move along the guide, so as to drive the connecting rod and the support part to move into the mounting platform through the second guide block.

[0036] In an embodiment of the present application, the mounting platform further includes an end support seat, and the end support seat is provided with a guide hole through which the connecting rod passes.

[0037] In an embodiment of the present application, the mounting platform is provided with a position sensor, and the position sensor is triggered when the support structure contacts the target carrier. The driving structure stops driving the locking structure based on a triggering signal of the position sensor.

[0038] In an embodiment of the present application, the pick-and-place device further includes a buffer structure, and the buffer structure is configured to be deformed when contacting the target carrier, so as to trigger the position sensor.

[0039] In an embodiment of the present application, the buffer structure includes:

[0040] A fixed block matched with the locking structure;

[0041] A connecting block matched with the support structure;

[0042] A second elastic member having two ends matched with the fixed block and the connecting block, respectively, and being configured to be deformed when the support structure contacts the target carrier, so as to trigger the position sensor.

[0043] In an embodiment of the present application, a zero position sensor is arranged on the mounting platform, the zero position sensor is triggered when the support structure is retracted on the mounting platform and moves to an initial position, and the driving structure is configured to stop driving the locking part based on a triggering signal of the zero position sensor, so that the connecting part moves to the locking state relative to the locking part at least under the elastic force of the first elastic member.

[0044] In an embodiment of the present application, a limit sensor is arranged on the mounting platform, the limit sensor is triggered when the support structure moves to a limit extended position relative to the target carrier, and the driving structure stops driving the connecting part based on a triggering signal of the limit sensor, so that the locking part moves to the locking state relative to the connecting part at least under the elastic force of the first elastic member.

[0045] According to a second aspect of the present application, a carrying robot is also provided, comprising:

[0046] a chassis assembly;

[0047] a portal assembly arranged on the chassis assembly;

[0048] a mounting platform;

[0049] a support structure movable relative to the mounting platform to extend from the mounting platform and contact a target carrier;

[0050] a locking structure cooperating with the support structure and switchable between a locking state and an unlocking state relative to the mounting platform, the locking structure drives the support structure to move relative to the mounting platform when in the unlocking state, and the locking structure locks the support structure on the mounting platform when in the locking state;

[0051] a driving structure configured to cooperate with the locking structure to drive the locking structure to switch from the locking state to the unlocking state when the support structure needs to be extended, and drive the support structure to move relative to the target carrier through the locking structure, and stop driving the locking structure when the support structure contacts the target carrier, so that the locking structure switches from the unlocking state to the locking state; the driving structure is also configured to drive the locking structure to switch from the locking state to the unlocking state when the support structure needs to be retracted, and drive the support structure to retract on the mounting platform through the locking structure.

[0052] According to a third aspect of the present application, a support device is also provided, comprising:

[0053] The support structure is movable relative to the mounting platform to extend beyond the mounting platform and contact the target carrier;

[0054] The locking structure cooperates with the support structure and is switchable between a locked state and an unlocked state relative to the mounting platform; when the locking structure is in the unlocked state, the locking structure can drive the support structure to move relative to the mounting platform, and when the locking structure is in the locked state, the locking structure locks the support structure to the mounting platform;

[0055] The driving structure is configured to cooperate with the locking structure and drive the locking structure to switch from the locked state to the unlocked state when the support structure needs to be extended, and drive the support structure to move towards the target carrier through the locking structure, and stop driving the locking structure when the support structure contacts the target carrier, so that the locking structure switches from the unlocked state to the locked state; the driving structure is also configured to drive the locking structure to switch from the locked state to the unlocked state when the support structure needs to be retracted, and retract the support structure to the mounting platform through the locking structure.

[0056] The locking structure cooperates with the support structure, and the locking structure is switchable between a locked state and an unlocked state relative to the mounting platform, so that after the support structure contacts the target carrier, the driving structure disconnects the connection between the driving structure and the locking structure, the locking structure can switch from the unlocked position to the locked position to lock the support structure at the position currently contacting the target carrier, so that the support structure can stably abut against the target carrier, and the transfer device of the transfer robot can stably transfer the target container, the process of switching the locking structure from the unlocked state to the locked state does not require the driving structure to continuously output, which is conducive to prolonging the service life of the driving motor, and can reduce the cost of the support structure to a certain extent, and will not cause additional impact on the target carrier due to the continuous output of the driving structure.

[0057] Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments thereof, taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0058] The accompanying drawings incorporated in and forming a part of the specification, illustrate embodiments of the present application and, together with the description, serve to explain the principles of the present application.

[0059] Figure 1 is a structure schematic view of a transfer robot and a carrier provided by an embodiment of the present application;

[0060] Figure 2is a structural schematic view of a carrying robot provided by an embodiment of the present application;

[0061] Figure 3 is a structural schematic view of a chassis assembly provided by an embodiment of the present application;

[0062] Figure 4 is a structural schematic view of a taking and placing device provided by an embodiment of the present application;

[0063] Figure 5 is a structural schematic view of a taking and placing device provided by another embodiment of the present application;

[0064] Figure 6 is a structural schematic view of a taking and placing device provided by another embodiment of the present application;

[0065] Figure 7 is a structural schematic view of a taking and placing device provided by another embodiment of the present application;

[0066] Figure 8 is a structural schematic view of a taking and placing device provided by another embodiment of the present application;

[0067] Figure 9 is a schematic view of a locking structure provided by an embodiment of the present application;

[0068] Figure 10 is an A-A sectional view of the locking structure provided by an embodiment of the present application.

[0069] Figures 1 to 10 The one-to-one correspondence between the names of the components and the reference numerals in the above table is as follows:

[0070] 1, mounting platform; 10, bottom plate; 11, guide member; 12, end support seat; 121, guide hole; 13, in-place sensor; 14, zero sensor; 15, limit sensor; 16, lifting mechanism; 17, bearing portion; 18, taking and placing member;

[0071] 2, support structure; 21, limiting portion; 211, inclined surface; 22, second flange; 231, mounting groove; 241, connecting rod; 242, support portion; 243, guide portion; 2431, first guide block; 2432, second guide block; 25, buffer structure; 251, fixed block; 252, connecting block; 253, second elastic member;

[0072] 3, locking structure; 31, locking portion; 311, locking ball; 312, ball retainer; 313, first flange; 314, stop portion; 32, first elastic member; 33, connecting portion; 331, connecting portion body;

[0073] 4, drive structure; 40, drive assembly; 41, drive motor; 411, driving wheel; 412, drive synchronous belt; 413, driven wheel; 42, shifting block;

[0074] 5, chassis assembly; 51, drive wheel; 52, radar; 53, chassis camera;

[0075] 6, gantry assembly; 61, temporary storage site; 62, fixed gantry; 63, movable gantry; 64, cross beam;

[0076] 7, carrier. DETAILED DESCRIPTION

[0077] Various exemplary embodiments of the present application will now be described in detail with reference to the figures. It should be noted that the relative arrangements, numerical expressions, and numerical values of the components and steps set forth in these embodiments are not limiting to the scope of the present application unless specifically stated otherwise.

[0078] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way limiting to the scope of the application or its applications or uses.

[0079] Techniques, methods, and apparatus known to those of ordinary skill in the relevant art can not be discussed in detail herein, but should be considered as part of the specification, where appropriate.

[0080] It should be noted that like reference numerals and letters refer to like items throughout the attached drawings, and as a result, further discussion of such items is unnecessary in subsequent drawings.

[0081] The specific embodiments of the present application will be described below with reference to the drawings.

[0082] In this document, "upper", "lower", "front", "back", "left", "right", and the like are used to denote relative positions among the relevant parts, and do not limit the absolute positions of the relevant parts.

[0083] In this document, "first", "second", and the like are used to distinguish between the relevant parts from each other, and do not indicate importance and order, and a prerequisite for each other.

[0084] In this document, "equal", "same", and the like are not strictly limited in the mathematical and / or geometric sense, but also include errors that can be understood by those skilled in the art and allowed in manufacturing or use, etc.

[0085] The application provides a taking and placing device which can be applied to a carrying robot in a warehouse field, through which a target container on a target carrier in a warehouse area can be transferred, for example, between different target carriers, or between different storage positions of the same target carrier, or between the target carrier and other positions. Of course, the taking and placing device of the application can also be used in other application scenarios, for example, it can be applied to a shopping mall, a hotel, a workshop and other scenarios known to those skilled in the art that need to be carried and transferred, which will not be specifically described herein.

[0086] The taking and placing device of the application comprises a mounting platform, a support structure, a locking structure and a driving structure. The support structure is movable relative to the mounting platform to extend from the mounting platform and contact the target carrier. The locking structure is connected with the support structure and is switchable between a locked state and an unlocked state relative to the mounting platform to switch between a locked position and an unlocked position; when the locking structure is in the unlocked position, the locking structure is in an unlocked state, and the locking structure can drive the support structure to move relative to the mounting platform; when the locking structure is in the locked position, the locking structure is in a locked state, and the support structure is locked to the mounting platform, and the relative position between the support structure and the mounting platform remains unchanged. The driving structure is configured to cooperate with the locking structure, and when the support structure needs to be extended, the driving structure drives the locking structure to switch from the locked state to the unlocked state, and drives the support structure to move towards the target carrier through the locking structure, and when the support structure contacts the target carrier, the driving of the locking structure is stopped to switch the locking structure from the unlocked state to the locked state; the driving structure is also configured to drive the locking structure to switch from the locked state to the unlocked state when the support structure needs to be retracted, and drive the support structure to retract the mounting platform through the locking structure.

[0087] When the carrying robot needs to transfer the target container, the support structure in the taking and placing device cooperates with the target carrier to achieve auxiliary support. The support structure extends from the mounting platform until it abuts against the target carrier on the side of the carrying robot. After the support structure contacts the target carrier, the driving structure disconnects the connection between the support structure and the driving structure, so that when the driving structure does not exert external force on the support structure, the locking structure can switch from the unlocked state to the locked state, thereby locking the support structure at the position contacting the target carrier, so that the support structure can assist in supporting the target carrier, which is beneficial to keeping the relative position between the taking and placing device and the target carrier stable at all times, and improving the success rate of the taking and placing device in taking and placing the target container.

[0088] The driving structure of the present application stops driving the support structure after the support structure contacts the target carrier, so that the locking structure is switched from the unlocked state to the locked state to lock the support structure on the mounting platform to assist the support of the transfer robot to transfer the target container, without the driving structure continuously outputting to keep the support structure in abutting state with the target carrier, and the process of switching the locking structure from the unlocked state to the locked state does not require the driving structure to continuously output, which is beneficial to prolong the service life of the driving motor, and to reduce the cost of the support structure to a certain extent, and the support structure will not cause additional impact on the target carrier due to the continuous output of the driving structure.

[0089] For the sake of convenience, the specific structure and working principle of the taking and placing device of the present application will be described in detail below with reference to Figures 1 to 10 an embodiment. It should be noted that the present application also provides a transfer robot, and in order to keep the text concise, the transfer robot is introduced when the taking and placing device is described. The specific embodiments of the present application will be described below with reference to the accompanying drawings.

[0090] Figure 1 is a structural schematic diagram of a transfer robot and a carrier provided by an embodiment of the present application, Figure 2 is a structural schematic diagram of a transfer robot provided by an embodiment of the present application, Figure 3 is a structural schematic diagram of a chassis assembly provided by an embodiment of the present application, Figure 4 and Figure 5 are structural schematic diagrams of taking and placing devices provided by different embodiments of the present application. Referring to Figures 1 to 5 , the present application provides a transfer robot. The transfer robot is configured to move to a storage area to perform taking and placing work on target objects. Specifically, the storage area can include multiple carriers and passages formed by adjacent carriers. The objects stored on the carriers can include, but are not limited to, goods, containers, pallets, original boxes, packaging boxes, cargo boxes, storage boxes, etc., which are not limited by the present application.

[0091] Referring to Figures 1 to 5 , the transfer robot of the embodiment of the present application includes a chassis assembly 5, a gantry assembly 6, and a taking and placing device. The taking and placing device includes a mounting platform 1, a support structure 2, a locking structure 3, and a driving structure 4.

[0092] As shown in Figure 3 , the chassis assembly 5 is configured to support the transfer robot on a working surface, which can include passages between the carriers 7 and ground outside the storage area. The chassis assembly 5 can be provided with driving wheels 51 and / or universal wheels cooperating with the driving wheels 51. The driving wheels 51 and / or universal wheels cooperate together to drive the transfer robot to walk and turn on the working surface, facilitating subsequent taking and placing work of the transfer robot on the target objects.

[0093] In some examples, radars 52 can be installed at both ends of the chassis assembly 5 in the direction of travel, and chassis cameras 53 can also be installed on the chassis assembly 5. When the handling robot receives an instruction to pick up or return an item, it can move to the target location based on the positioning of the radars 52. During the movement, the chassis cameras 53 can scan the QR codes set on the ground of the storage system in real time to confirm the movement path of the handling robot. The radars 52 also have obstacle avoidance functions. The radars 52 can sense whether there are obstacles in the movement path of the handling robot. When encountering obstacles, the handling robot needs to avoid them based on the signal feedback from the radars 52.

[0094] The chassis assembly 5 is also configured to support other components of the handling robot, such as the gantry assembly 6, the mounting platform 1, the pick-and-place device, and the motion assembly. The gantry assembly 6 is mounted on the chassis assembly 5 and is configured to extend upward from the chassis assembly 5. Typically, the extension height of the gantry assembly 6 is the same as or exceeds the height of the carrier 7, which facilitates the handling robot in accessing and retrieving target objects located at different positions on the carrier 7.

[0095] In some examples, reference Figure 2 As shown, since the height of the handling robot needs to be adjusted according to the height of the carrier 7, if the non-adjustable gantry assembly 6 is set too high, it will not only affect the handling robot's entry and exit from the warehouse, but also its stability during movement. Therefore, in this embodiment, the gantry assembly 6 also includes a fixed gantry 62 and a movable gantry 63 that moves along the height direction of the fixed gantry 62. Both the fixed gantry 62 and the movable gantry 63 can be equipped with crossbeams 64 to improve the rigidity of the gantry assembly 6. The pick-and-place device is configured to move along the movable gantry 63 in the height direction to pick up and place target items.

[0096] In some examples, the pick-and-place device can be mounted on the final movable gantry 63 via a lifting platform, enabling the pick-and-place device to operate within the height space of both the fixed gantry 62 and the movable gantry 63. In the handling robot provided in this embodiment, the lifting platform is the mounting platform 1. In other application scenarios, the lifting platform and the mounting platform 1 can also be two independently configured structures. The pick-and-place device is configured to move along the gantry assembly 6 in the height direction to pick up and place target items.

[0097] The gantry assembly 6 has a height adapted to the carrier 7, so that the taking and placing device can access target objects at any position on the carrier 7 without dead angles. During movement of the carrier robot driven by the chassis assembly 5, all movable gantries 63 in the gantry assembly 6 can be in a retracted state relative to the fixed gantries 62 in the gantry assembly 6, that is, all movable gantries 63 are in the lowest matching position relative to the upper gantry, and the overall height of the gantry assembly 6 is in the lowest state. In this state, compared with a carrier robot with a non-adjustable gantry assembly 6 set higher, the carrier robot of the present application can maintain the stability of the movement of the carrier robot when the movable gantries 63 are in the retracted state. In addition to the above-mentioned scenario of the carrier robot taking and placing target objects on the high carrier 7, the carrier robot can also take and place target objects on the low carrier 7, so the carrier robot of the present application can adjust the overall height of the gantry assembly 6 to adapt to different height carriers 7, thereby improving the application range of the carrier robot.

[0098] When the taking and placing device is arranged on the last movable gantry 63 through the mounting platform 1, the mounting platform 1 can be guided and matched with the last movable gantry 63, and the movement of the movable gantry 63 and the mounting platform 1 can be independent of each other, that is, the movement of the movable gantry 63 and the movement of the mounting platform 1 are not coupled, thereby improving the flexibility of the movement of the mounting platform 1 and the taking and placing device itself. Of course, for those skilled in the art, the movement of the movable gantry 63 and the taking and placing device can be synchronized, that is, the movement of the movable gantry 63 and the movement of the taking and placing device are coupled together, which is not limited in the present application.

[0099] Reference Figure 5 The taking and placing device is rotationally connected to the mounting platform 1, and the mounting platform 1 is configured to drive the taking and placing device to ascend or descend along the gantry assembly 6. The mounting platform 1 can move in the height direction along the gantry assembly 6, thereby driving the taking and placing device to different target heights and taking and placing different target objects. The side of the mounting platform 1 adjacent to the gantry assembly 6 is configured to be connected to the gantry assembly 6 through the lifting mechanism 16. The mounting platform 1 can be matched with the gantry assembly 6 through the lifting mechanism 16, which enables the mounting platform 1 and the taking and placing device located on the mounting platform 1 to be synchronously raised or lowered to the target position under the drive of the lifting mechanism 16. The present application does not specifically limit the matching mode of the lifting mechanism 16 and the gantry assembly 6.

[0100] The taking and placing device can be rotated to different angles relative to the mounting platform 1 to take and place target objects in different directions. For example, referring to Figure 1As shown, when the taking and placing device needs to be docked with the carrier 7 on the left side of the aisle, the taking and placing device can be rotated to face the left side relative to the mounting platform 1 to extend into the target storage position of the carrier 7 on the left side to take and place the target article. When the taking and placing device needs to be docked with the carrier 7 on the right side of the aisle, the taking and placing device can be moved to face the right side relative to the mounting platform 1 to extend into the target storage position of the carrier 7 on the right side to take and place the target article.

[0101] In some examples, the taking and placing device includes a carrying part 17 for carrying the article, and further includes a taking and placing member 18 for taking and placing the article, which can take the article to the carrying part 17 or carry the article on the carrying part 17 to other positions. The taking and placing member 18 can be a telescopic fork, a clamping fork, a mechanical arm, a hook structure, a suction cup, or other mechanical structures that can realize the taking and placing operation of the article, and the specific structure of the taking and placing member 18 is not limited in the embodiments of the present application.

[0102] In order to improve the working efficiency of the carrying robot, in some examples, referring to Figure 2 and Figure 4 , the gantry assembly 6 can be provided with a temporary storage position 61, and the taking and placing device is configured to be rotated to face the temporary storage position 61 relative to the mounting platform 1, so that the article is directly transferred between the taking and placing device and the temporary storage position 61. At least one temporary storage position 61 can be arranged on the side of the gantry assembly 6 opposite to the taking and placing device, and the article taken out by the taking and placing device can be temporarily stored in the temporary storage position 61, and then the taking and placing device can continue to take and place the article.

[0103] In some examples, the taking and placing device further includes a movement assembly, and the taking and placing device is connected with the mounting platform 1 through the movement assembly, and the taking and placing device can be rotated relative to the mounting platform 1 under the driving of the movement assembly.

[0104] In the related art, the movement assembly includes a driving mechanism and a transmission mechanism, and the driving mechanism drives the taking and placing device to rotate through the transmission mechanism. For example, the taking and placing device can be driven to rotate through the chain, belt, or other transmission mechanisms by the motor, and the present application does not make too many limitations in this regard.

[0105] It should be noted that the taking and placing device provided in the embodiments of the present application can be applied to a carrying robot in the warehouse field, and the target article in the warehouse area can be transferred through the taking and placing device, for example, between different carriers 7, or between different storage positions of the same carrier 7, or between the carrier 7 and other positions. Of course, the taking and placing device of the embodiments of the present application can also be used in other application scenarios, for example, it can be applied to a shopping mall, a hotel, a workshop, or other scenarios known to those skilled in the art that need to be carried and transferred, and the embodiments of the present application will not be described in detail here.

[0106] The specific structure of the taking and placing device provided by the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0107] Figures 6 to 8 is a structural schematic diagram of the taking and placing device provided by different embodiments of the present application, Figure 9 is a schematic diagram of the support structure and the locking structure provided by an embodiment of the present application, Figure 10 is an A-A sectional view of the support structure and the locking structure provided by an embodiment of the present application. With reference to Figures 6 to 10 , the taking and placing device comprises a mounting platform 1, a support structure 2, a locking structure 3 and a driving structure 4.

[0108] In one embodiment of the present application, the support structure 2 can be provided only one, and one support structure 2 can extend to the position of the target carrier, thereby providing support for the taking and placing device during the process of taking and placing the container. The end of the support structure 2 towards the carrier can be provided with a suction assembly, which can be an electromagnet assembly that realizes suction through magnetic force, or a vacuum chuck assembly that realizes suction through negative pressure, and the present application does not limit this. The suctioned support structure 2 can provide stable support for the taking and placing device.

[0109] In another embodiment of the present application, with reference to Figures 6 to 8 , the support structure 2 can be provided with two, respectively denoted as a first support structure for extending in a first direction, and a second support structure for extending in an opposite direction. With reference to Figure 6 the view direction, the arrow at the right end of the line segment points to the first direction, and the arrow at the opposite end points to the second direction, and the support structure 2 is configured to extend in the first direction or the second direction to complete the support of the target carrier in the first direction or the second direction. The first direction and the second direction in the present application are defined for the purpose of clearly illustrating the support direction of the support structure 2, and the first direction and the second direction can be two opposite directions. The specific structure of the first support structure and the second support structure is completely identical, and the only difference is the different extending direction. The first support structure and the second support structure are configured to extend outward in a mutually away manner to respectively abut against the target carriers on the opposite sides of the lane, so as to support the support structure 2 on the target carriers. At this time, whether the taking and placing device takes or returns the container in the first direction or the second direction, the support structure 2 on both sides will provide support for the container during the process of taking or returning the container, so as to enhance the stability of the carrying robot.

[0110] In an embodiment of the present application, the support structure 2 can be mounted on the mounting platform 1 and configured to move relative to the mounting platform 1 to extend beyond the mounting platform 1 and contact the target carrier. By enabling the support structure 2, the handling robot can be kept in a relatively stable state with the target carrier during the process of transferring the target container in cooperation with the target carrier, which is conducive to the transfer of the target container by the handling robot and improves the success rate and efficiency of the transfer.

[0111] The locking structure 3 cooperates with the support structure 2 and can be switched between the locked state and the unlocked state relative to the mounting platform 1. When the locking structure 3 is in the unlocked state, it can drive the support structure 2 to move relative to the mounting platform 1. When the locking structure 3 is in the locked state, it locks the support structure 2 to the mounting platform 1.

[0112] In some examples, the locking structure 3 drives the support structure 2 to move by directly contacting the support structure 2. Specifically, as the locking structure 3 moves, it gradually contacts the support structure 2 and then pushes the support structure 2 to move together after the contact. Of course, the locking structure 3 can be connected to the support structure 2, for example, the locking structure 3 can be directly connected to the support structure 2, or indirectly connected to the support structure 2 through other structures, so that the locking structure 3 can drive the support structure 2 to move together during the movement.

[0113] The driving structure 4 is configured to cooperate with the locking structure 3, and when it is necessary to extend the support structure 2, the driving structure 4 drives the locking structure 3 to switch from the locked state to the unlocked state, and drives the support structure 2 to move towards the target carrier through the locking structure 3, and when the support structure 2 contacts the target carrier, the driving structure 4 stops driving the locking structure 3, so that the locking structure 3 switches from the unlocked state to the locked state; the driving structure 4 is also configured to drive the locking structure 3 to switch from the locked state to the unlocked state when it is necessary to retract the support structure 2, and drive the support structure 2 to retract the mounting platform 1 through the locking structure 3. As mentioned above, the locking structure 3 can drive the support structure 2 to move together by direct contact, or can drive the support structure 2 to move together through a connecting member, which is not limited in the present application.

[0114] When the support structure 2 of the present application contacts the target carrier, the driving structure 4 stops driving the locking structure 3, the locking structure 3 switches from the unlocked state to the locked state, and then locks the support structure 2 at the position contacting the target carrier. The entire locking process can achieve the locking of the support structure 2 without additional output power of the driving structure 4, which to some extent reduces the dependence on the driving structure 4, is conducive to prolonging the service life of the driving structure 4, and to some extent can reduce the cost of the support structure 2, and will not cause additional impact on the target carrier by the continuous output of the driving structure 4.

[0115] In a specific application scenario, the transport robot moves to a target position in the lane, and the support structure 2 in the taking and placing device will be driven by the driving structure 4 to extend from the mounting platform 1 until it contacts the target carrier on one side of the lane. When the support structure 2 contacts the target carrier, the driving structure 4 stops driving the support structure 2, and the locking structure 3 not driven by the driving structure 4 will switch from the unlocked state to the locked state, locking the support structure 2 in the current position, so that the support structure 2 and the target carrier are always in abutting state, thereby assisting in supporting the target carrier through the support structure 2 to improve the success rate of taking and placing the target container by the taking and placing device.

[0116] In an embodiment of the present application, in order to improve the safety of the transport robot and make the support structure 2 more accurately cooperate with the target carrier, the mounting platform 1 is provided with a position sensor 13, which is triggered when the support structure 2 contacts the target carrier. The driving structure 4 stops driving the locking structure 3 based on the trigger signal of the position sensor 13, so that the locking structure 3 is in the locked state.

[0117] In an application scenario of the present application, referring to Figure 9 、 Figure 10 The taking and placing device can further include a buffer structure 25, which can be deformed after the support structure 2 contacts the target carrier. The position sensor 13 is configured to be triggered by the buffer structure 25, for example, the buffer structure 25 is configured to be deformed when the support structure 2 contacts the target carrier to trigger the position sensor 13.

[0118] In some examples, the buffer structure 25 can be arranged at one end of the support structure 2 that contacts the target carrier, and the buffer structure 25 abuts the target carrier when the support structure 2 moves to the position in the first direction. When the buffer structure 25 abuts the target carrier, the target carrier will apply a force to the buffer structure 25 in the second direction, and the buffer structure 25 will be deformed after being stressed, thereby triggering the position sensor 13, so that the position sensor 13 sends a trigger signal to the driving structure 4, and the driving structure 4 stops driving the locking structure 3 based on the trigger signal of the position sensor 13, so that the locking structure 3 moves to the locked state. Wherein, the deformation can effectively offset the force applied by the target carrier to the buffer structure 25, so that the buffer structure 25 always abuts the target carrier.

[0119] In other examples, the buffer structure 25 can be arranged between the support structure 2 and the locking structure 3. After the support structure 2 contacts the target carrier, the buffer structure 25 between the support structure 2 and the locking structure 3 can be deformed to trigger the in-place sensor 13, and can effectively block the reaction force of the target carrier fed back to the support structure 2, so that the support structure 2 is kept in abutment with the target carrier. In this way, after the driving structure 4 stops driving the locking structure 3, the locking structure 3 switches from the unlocked state to the locked state, so that the support structure 2 is locked at the current position, so as to achieve the purpose of stably taking and placing the target container by the support structure 2.

[0120] Of course, the buffer structure 25 can also be arranged at other positions, as long as the buffer structure 25 can be deformed after the support structure 2 contacts the target carrier. The present disclosure does not make too many limitations on the position of the buffer structure 25.

[0121] In some examples, the buffer structure 25 can be a spring, a rubber buffer pad, an air bag, a plastic buffer, or the like, which has a buffering effect. The present application does not make too many limitations here.

[0122] In other examples, the buffer structure 25 includes a fixed block 251, a connecting block 252, and a second elastic member 253. The fixed block 251 cooperates with the locking structure 3. The connecting block 252 cooperates with the support structure 2. The two ends of the second elastic member 253 are respectively matched with the fixed block 251 and the connecting block 252.

[0123] In addition, after the support structure 2 moves to the position in contact with the target carrier, the target carrier contacts the support structure 2 and exerts an action force on the support structure 2 in the second direction. The action force is fed back to the second elastic member 253 through the fixed block 251, and the second elastic member 253 can be deformed to trigger the in-place sensor 13. In addition, the second elastic member 253 can provide a spring force to the target carrier through the support structure 2, so that the support structure 2 always keeps in abutment with the target carrier.

[0124] In some embodiments, the in-place sensor 13 can be a physical trigger, for example, a press switch is arranged at the end of the support portion 242 in the first direction, and when the support portion 242 contacts the target carrier, the press switch is pressed, thereby triggering the in-place sensor 13. The in-place sensor 13 can be a detection trigger, for example, the in-place sensor 13 detects the distance between the fixed block 251 and the connecting block 252, and when the distance between the fixed block 251 and the connecting block 252 changes, the in-place sensor 13 is triggered. The present application does not make too many limitations.

[0125] In some embodiments, the buffer structure 25 is configured to trigger the in-place sensor 13 when the support portion 242 contacts the target carrier. The in-place sensor 13 can be triggered by detecting the deformation of the second elastic member 253, or triggered by detecting the distance variation between the fixed block 251 and the connecting block 252, which is not limited in the present application.

[0126] In some examples, the fixed block 251 is connected to the support structure 2, the connecting block 252 is connected to the locking structure 3, and the second elastic member 253 between the fixed block 251 and the connecting block 252 is configured to be connected to the fixed block 251 and the connecting block 252, so that the locking structure 3 can drive the support structure 2 to extend out of the mounting platform 1 or retract into the mounting platform 1 through the fixed block 251, the second elastic member 252 and the connecting block 252 in sequence.

[0127] In some embodiments, the two ends of the buffer structure 25 can also abut between the support structure 2 and the locking structure 3, for example, the fixed block 251 of the buffer structure 25 can abut on the support structure 2, the connecting block 252 can abut on the locking structure 3, one end of the second elastic member 253 can abut on the support structure 2, and the other end of the second elastic member 253 can abut on the support structure 2. The specific implementation can be described below with reference to the scheme that the support structure 2 includes the first guide block 2431 and the second guide block 2432. In an embodiment of the present application, for example, the locking structure 3 is an elastic clamping piece sliding on the mounting platform 1, which has elastic force in the direction perpendicular to the movement direction of the mounting platform 1 or the support structure 2. When the elastic clamping piece is in the locked state, the two ends of the elastic clamping piece in the elastic direction abut on the mounting platform 1 and the support structure 2 respectively. When the support structure 2 is subjected to external force to move in the first direction out of the mounting platform 1, the elastic clamping piece will be deflected, so that the compression amount of the elastic clamping piece is reduced, and the two ends of the elastic clamping piece are released from the abutment on the mounting platform 1 and the support structure 2, so that the elastic clamping piece is switched from the locked state to the unlocked state, and then the support structure 2 can drive the elastic clamping piece to move relative to the mounting platform 1.

[0128] When the elastic clamping piece is in the unlocked state, the two ends of the elastic clamping piece in the elastic direction are not in contact with the mounting platform 1 and the support structure 2. Under the elastic force of the elastic clamping piece itself, the compression amount of the elastic clamping piece is restored until the two ends of the elastic clamping piece abut on the mounting platform 1 and the support structure 2 respectively, so that the elastic clamping piece is switched from the unlocked state to the locked state, and then the support structure 2 is locked to the mounting platform 1 under the action of the elastic clamping piece.

[0129] In an embodiment of the present application, referring to Figure 6 , Figure 10The locking structure 3 comprises a connecting portion 33 and a locking portion 31. The connecting portion 33 is configured to cooperate with the support structure 2 and is provided with the limiting portion 21. The locking portion 31 is selectively cooperated with or separated from the limiting portion 21, so as to switch the locking structure 3 between the locked state and the unlocked state. The locking portion 31 is configured to be separated from the limiting portion 21 when the connecting portion 33 moves outwards of the mounting platform 1, and is configured to move relative to the mounting platform 1 under the driving of the connecting portion 33. The locking portion 31 is configured to move outwards relative to the connecting portion 33 when the driving structure 4 stops driving the locking structure 3, so as to cooperate with the limiting portion 21.

[0130] In some embodiments, continuing to refer to Figure 10 The limiting portion 21 is gradually inclined downwards from the first direction to the second direction. The locking portion 31 moves on the slope of the limiting portion 21, so as to switch between the locked state and the unlocked state.

[0131] In one application scenario of the present application, when the support structure 2 needs to be extended, the driving structure 4 drives the connecting portion 33 and the limiting portion 21 to move towards the first direction. During the movement, the locking portion 31 moves from the locked position to the bottom of the limiting portion 21 along the slope of the limiting portion 21, the gap between the locking portion 31 and the limiting portion 21 gradually widens, and the two gradually separate, until the locking portion 31 is in the unlocked state, so that the locking structure 3 can move freely relative to the mounting platform 1.

[0132] When the support structure 2 contacts the target carrier, the locking portion 31 moves from the bottom of the limiting portion 21 to the top of the limiting portion 21 along the slope of the limiting portion 21, until it moves to the locked state, so as to lock the support structure 2 to the mounting platform 1 through the locking structure 3.

[0133] When the support structure 2 needs to be retracted, the driving structure 4 drives the locking portion 31 and the connecting portion 33 to move towards the second direction. During the movement, the locking portion 31 moves from the locked position to the bottom of the limiting portion 21 along the slope of the limiting portion 21, the gap between the locking portion 31 and the limiting portion 21 gradually widens, and the two gradually separate, until the locking portion 31 is in the unlocked state, so that the support structure 2 can move freely relative to the mounting platform 1.

[0134] It can be understood that the movement of the locking portion 31 relative to the connecting portion 33 can be that the connecting portion 33 is stationary and the locking portion 31 moves, or that the locking portion 31 is stationary and the connecting portion 33 moves.

[0135] For example, during the process of extending the support structure 2, the driving structure 4 drives the connecting portion 33 and the locking portion 31 to move in the first direction. When the support structure 2 is moved to the position, such as the position where the support structure 2 contacts the target carrier, or the support structure 2 is moved to the limit position of the extension in the first direction, the driving structure 4 stops driving the connecting portion 33. At this time, the locking portion 31 moves relative to the connecting portion 33, so that the locking structure 3 is switched from the unlocked state to the locked state.

[0136] During the process of retracting the support structure 2, the driving structure 4 drives the locking portion 31 and the connecting portion 33 to move in the second direction. When the support structure 2 is moved to the position, such as the initial position, the driving structure 4 stops driving the locking portion 31. At this time, the connecting portion 33 moves relative to the locking portion 31, so that the locking structure is switched from the unlocked state to the locked state.

[0137] In some examples, the locking portion 31 can be an elastic buckle, and the limiting portion 21 can be a groove matched with the elastic buckle. The locking portion 31 is matched with the limiting portion 21, which can be understood as the elastic buckle matched with the groove. Specifically, the elastic buckle is not in contact with the groove in the initial state, and the two can move freely. At this time, the locking portion 31 is in the unlocked state. When the elastic buckle is stressed, the end of the elastic buckle extends into the groove. At this time, the elastic buckle is matched with the groove, so that the locking portion 31 is in the locked state.

[0138] In another embodiment of the present application, referring to Figure 10 , the locking portion 31 includes a locking ball 311 and a ball retainer 312, and the limiting portion 21 has an inclined surface 211 matched with the locking ball 311. The ball retainer 312 is configured to drive the locking ball 311 to move on the inclined surface 211, so that the locking ball 311 locks or unlocks the connecting portion 33 to the mounting platform 1, and switches the locking structure 3 between the locked state and the unlocked state. In one embodiment, the ball retainer 312 is configured to drive the locking ball 311 to move on the inclined surface 211, so that the locking ball 311 abuts or releases the mounting platform 1 and the inclined surface 211, and switches the locking structure 3 between the locked state and the unlocked state. The inclined surface 211 is configured to be gradually inclined downward from the first direction to the second direction.

[0139] In one application scenario of the present application, when the locking structure 3 is in the locking position, the ball retainer 312 limits the locking ball 311 on the inclined surface 211, that is, the locking ball 311 is in the locked state, and the two sides of the locking ball 311 abut against the inclined surface 211 and the mounting platform 1, respectively. When it is necessary to unlock the locking part 31 and retract the support structure 2, the ball retainer 312 is driven by the driving structure 4 to drive the locking ball 311 to move along the inclined surface 211. The locking ball 311 moves along the inclined surface 211 to the bottom of the inclined surface 211 in the locking position, and moves to a position below the inclined surface 211 and between the mounting platform 1 in the unlocked state, at which time the inclined surface 211 of the limiting part 21 and the mounting platform 1 can move freely, and the support structure 2 is in the unlocked state relative to the mounting platform 1.

[0140] In one embodiment of the present application, when the support robot walks in the roadway, due to the need for the support robot to turn and other large movements, or uneven working surface and other factors, the support robot will sway during walking. In view of safety and prevention of the support structure 2 from swaying to affect the normal walking of the support robot and other factors, when the support structure 2 is in the initial position, that is, the support structure 2 is retracted in the mounting platform 1, the support structure 2 is configured to be in the locked state relative to the mounting platform 1. Specifically, the two ends of the first elastic member 32 are respectively matched with the locking part 31 and the connecting part 33, and are configured to keep the locking part 31 in the locked state under the elastic force of the first elastic member 32 when the locking structure 3 is in the initial position. The locking ball 311 moves from the bottom of the inclined surface 211 to the locking position along the inclined surface 211 of the limiting part 21 under the elastic force of the first elastic member 32, so as to lock the support structure 2.

[0141] Reference Figure 6 , Figure 10 When the locking structure 3 is in the initial position, since the first elastic member 32 is in the compressed state, the locking part 31 and the support structure 2 connected with the two ends of the first elastic member 32, respectively, will drive the locking part 31 to be in the locked state at all times, that is, the locking ball 311 is in the locked state on the inclined surface 211. It is worth noting that when the support structure 2 is in the initial position, the first elastic member 32 is in the compressed state, but not in the limit compression state. Therefore, if the limiting part 21 is subjected to a force in the first direction by the driving structure 4 at this time, the limiting part 21 can continue to compress the first elastic member 32 to move in the first direction, so as to move the locking ball 311 along the inclined surface 211 from the locking position to the bottom of the inclined surface 211, so that the locking ball 311 is in the unlocked state, and the locking part 31 is driven to move in the first direction together with the movement of the limiting part 21.

[0142] When the support structure 2 is in contact with the target carrier, the driving structure 4 stops driving the limiting part 21, and under the elastic force of the first elastic member 32, the locking ball 311 moves along the inclined surface 211 from the unlocking state to the locking state, that is, moves from the bottom of the inclined surface 211 to the top of the inclined surface, so as to lock the limiting part 21.

[0143] In a specific application scenario of the present application, in addition to the support structure 2 extending to the position in contact with the target carrier relative to the mounting platform 1 and retracting to the initial position relative to the mounting platform 1, the support structure 2 also has a movement condition, that is, when the carrying robot is not moved to the position, or when the support structure 2 needs to be maintained, cleaned, and the like, the support structure 2 needs to be in the extended state, but the support structure 2 does not need to be in contact with the target carrier, the driving structure 4 is configured to drive the connecting part 33 to drive the support structure 2, the first elastic member 32 and the locking part 31 to move towards the target carrier, and after the support structure 2 moves to the target position, the driving of the connecting part 33 is stopped, so that the locking part 31 and the support structure 2 move to the locking position relative to the connecting part 33 at least under the action of the first elastic member 32, so that the locking structure 3 is in the locking state. The application scenario is similar to the foregoing application scenario, and the relative position between the locking part 31 and the connecting part 33 can be adjusted only by the first elastic member 32, so that the locking structure 3 can be in the locking state, so as to lock the support structure 2 in the current position, that is, under the action of the first elastic member 32, the locking ball 311 moves along the inclined surface 211 from the unlocking position to the locking position, that is, moves from the bottom of the inclined surface 211 to the top of the inclined surface, so as to lock the locking structure 3. In this way, the first elastic member 32 can ensure that the support structure 2 can be locked after being extended from the mounting platform 1 even if it is not in contact with the target carrier, so that it can adapt to more application scenarios.

[0144] The support structure 2 moves to the target position, which is any position of the support structure 2 extending relative to the mounting platform 1, of course, also including the position of the support structure 2 in contact with the target carrier, which is not limited by the present application.

[0145] After the box is taken out or the box is returned, the support structure needs to be retracted to the initial position, and the driving structure 4 is configured to drive the locking part 31 to retract the locking part 31, the first elastic member 32 and the connecting part 33 to the mounting platform 1 when the support structure 2 needs to be retracted, and after the support structure 2 moves to the initial position, the driving of the locking part 31 is stopped, so that the connecting part 33 moves to the locking position relative to the locking part 31 at least under the action of the first elastic member 32, so that the locking structure 3 is in the locking state.

[0146] Specifically, the driving structure 4 applies a force to the locking ball 311 in the second direction to switch the locking ball 311 from the locking state to the unlocking state along the inclined surface 211, that is, in the direction from the top of the inclined surface 211 to the bottom. When the locking ball 311 moves to the unlocking state, the first elastic member 32 continues to move in the second direction, and the limiting portion 21 moves in the second direction together with the first elastic member 32 to achieve the purpose of retracting the support structure 2.

[0147] During the movement, when the driving structure 4 stops driving the locking ball 311, the first elastic member 32 moves the locking ball 311 along the inclined surface 211 to the locking position based on the elastic force of the first elastic member 32 to lock the limiting portion 21.

[0148] In an embodiment of the present application, with reference to Figure 10 , in order to better cooperate the first elastic member 32 with the locking portion 31 and the support structure 2, the side wall of the locking portion 31 extends a first flange 313; the side wall of the connecting portion 33 extends a second flange 22, the first flange 313 and the second flange 22 are oppositely arranged; the two ends of the first elastic member 32 are respectively matched with the first flange 313 and the second flange 22.

[0149] By arranging the first flange 313 and the second flange 22, the contact area between the first elastic member 32 and the locking portion 31 and the support structure 2 is increased, so that the first elastic member 32 can better play a resetting role.

[0150] The first elastic member 32 can be at least one of a compression spring, a tension spring, a torsion spring, a coil spring, and an elastic washer, as long as it can reset the relative position between the locking portion 31 and the connecting portion 33 to the initial state when the support structure 2 is not subjected to external force, which is not limited in the present application.

[0151] With reference to Figure 10 , the connecting portion 33 includes a connecting portion body 331, and the limiting portion 21 is detachably arranged on the connecting portion body 331, for example, the connecting portion body 331 is provided with a mounting groove 231, and the limiting portion 21 is arranged in the mounting groove 231. When the driving structure 4 drives the connecting portion 33 to move the locking portion 31 in the direction of extending from the mounting platform 1, the limiting portion 21 moves synchronously with the connecting portion body 331 under the driving of the mounting groove 231. The mounting groove 231 is arranged in a whole inverted L shape, and when the connecting portion 33 moves in the direction of extending from the mounting platform 1, the side wall of the mounting groove 231 can drive the limiting portion 21 to move together.

[0152] The limiting portion 21 is detachably arranged on the connecting portion body 331, so that the limiting portion 21 can be directly replaced after the inclined surface 211 of the limiting portion 21 is worn, without replacing the entire connecting portion 33.

[0153] Of course, in other examples, the connecting portion body 331 and the limiting portion 21 can be an integral piece integrally formed, so as to simplify the assembly process of the connecting portion 33 and improve the structural strength of the connecting portion 33.

[0154] In one embodiment of the present application, referring to Figures 8 to 10 , in order to make the movement direction of the support portion 242 more accurately controllable, the mounting platform 1 comprises a base plate 10 and a guide piece 11, the guide piece 11 is arranged on the base plate 10, and in combination with Figure 7 , the guide piece 11 is configured to be suspended on the base plate 10. The connecting portion 33 is sleeved on the guide piece 11, and the locking portion 31 of the locking structure 3 is arranged between the connecting portion 33 and the guide piece 11 in the circumferential direction of the guide piece 11, so as to lock the connecting portion 33 to the guide piece 11 in the circumferential direction of the guide piece 11. The locking portion 31 is configured to lock or unlock the connecting portion 33 on the guide piece 11, so as to lock or unlock the locking structure 3 on the mounting platform 1. In one specific embodiment, the locking balls 311 in the locking portion 31 move relative to the connecting portion 33 and the guide piece 11, so as to make the support structure 2 drive the locking structure 3 to move relative to the guide piece 11 in the circumferential direction of the guide piece 11. Based on the guide cooperation between the connecting portion 33 and the guide piece 11, the connecting portion 33 can only move in the arrangement direction of the guide piece 11, so that the support portion 242 which moves synchronously with the connecting portion 33 can also only move in the arrangement direction of the guide piece 11.

[0155] In another embodiment, the mounting platform 1 can be a strip-shaped piece, and the locking structure 3 is directly sleeved on the strip-shaped piece and cooperates with the strip-shaped piece to switch between the locked state and the unlocked state. When the locking structure 3 is in the locked state, the locking structure 3 is locked to the strip-shaped piece, and when the locking structure 3 is in the unlocked state, the locking structure 3 moves along the strip-shaped piece.

[0156] Referring to Figure 7 , the support structure 2 further comprises a connecting rod 241, a support portion 242 and a guide portion 243, wherein the guide portion 243 cooperates with the locking structure 3, and the guide portion 243 is sleeved on the guide piece 11 in a sliding manner. The connecting rod 241 is arranged side by side with the guide piece 11 and is connected with the guide portion 243. The support portion 242 is connected with the connecting rod 241 and is configured to extend out of the mounting platform 1 and contact the target carrier under the driving of the guide portion 243. The guide portion 243 is configured to move along the guide piece 11 under the driving of the locking structure 3, and drive the connecting rod 241 and the support portion 242 to extend out of or retract into the mounting platform 1.

[0157] In one embodiment of the present disclosure, the connecting rod 241 is arranged on the mounting platform 1 in parallel with the guide 11, the support portion 242 is matched with the end of the connecting rod 241, and the guide portion 243 is provided with two through holes, so that the guide portion 243 is sleeved on the guide 11 and the connecting rod 241. Among them, the guide portion 243 is movably sleeved on the guide 11, and the guide portion 243 is fixedly sleeved on the connecting rod 241. Referring to Figure 6 From the direction close to the support portion 242 to the direction away from the support portion 242, the guide portion 243, the buffer structure 25 and the locking structure 3 are sequentially sleeved on the guide 11. Among them, the guide portion 243 is also sleeved on the connecting rod 241, so that the connecting rod 241 is driven to move together with the guide portion 243 in the process that the driving structure 4 drives the locking structure 3 to move, so as to drive the support portion 242 to extend or retract the mounting platform 1.

[0158] In one embodiment of the present disclosure, the guide portion 243 is fixedly connected with the locking structure 3, so that the guide portion 243 fixedly connected with the locking structure 3 moves together with the locking structure 3 in the process that the driving structure 4 drives the locking structure 3 to move in the first direction. Similarly, in the process that the driving structure 4 drives the locking structure 3 to move in the second direction, the guide portion 243 can also move together with the locking structure 3, so as to achieve the purpose of extending or retracting the support portion 242 relative to the mounting platform 1.

[0159] In some other embodiments, the guide portion 243 can be abutted with the locking structure 3.

[0160] For example, the guide portion 243 includes a first guide block 2431 and a second guide block 2432 arranged on both sides of the locking structure 3, the first guide block 2431 and the second guide block 2431 are movably sleeved on the guide 11, and the first guide block 2431 and the second guide block 2431 are fixedly sleeved on the connecting rod 241, so as to drive the connecting rod 241 to move together, thereby driving the support portion 242 to extend or retract the mounting platform 1.

[0161] When the support portion 242 needs to be extended, the locking structure 3 is configured to drive the first guide block 2431 to move along the guide 11, so as to drive the connecting rod 241 and the support portion 242 to move outward of the mounting platform 1 through the first guide block 2431; when the support portion 242 needs to be retracted, the locking structure 3 is configured to drive the second guide block 2432 to move along the guide 11, so as to drive the connecting rod 241 and the support portion 242 to move inward of the mounting platform 1 through the second guide block 2432.

[0162] Continuing to refer to Figure 7Since the first guide block 2431 and the second guide block 2432 in the guide part 243 are respectively located at the left and right ends of the locking structure 3, the first guide block 2431 can abut against the left side wall of the locking structure 3, so that in the process of driving the locking structure 3 to move in the first direction by the driving structure 4, the locking structure 3 pushes the first guide block 243 to drive the connecting rod 241 and the support part 242 to move in the first direction together. Similarly, the second guide block 2432 can abut against the right side wall of the locking structure 3, so that in the process of driving the locking structure 3 to move in the second direction by the driving structure 4, the locking structure 3 pushes the second guide block 2432 to drive the connecting rod 241 and the support part 242 to move in the second direction together.

[0163] In some examples, the first guide block 2431 and the second guide block 2431 can be connected with the locking structure 3, and the cooperation mode between the guide part 243 and the locking structure 3 is not limited in the embodiments of the present application.

[0164] In some examples, when the taking and placing device includes the buffer structure 25, the buffer structure 25 can be arranged between the first guide block 2431 and the locking structure 3. For example, one end of the buffer structure 25 can abut against the first guide block 2431, and the other end of the buffer structure 25 can abut against the locking structure 3. For another example, one end of the buffer structure 25 can be connected to the first guide block 2431, and the other end of the buffer structure 25 can be connected to the locking structure 3.

[0165] For example, one end of the buffer structure 25 can abut against the first guide block 2431, and the other end of the buffer structure 25 can abut against the locking structure 3. When the support part 242 needs to be extended, the locking structure 3 is configured to drive the first guide block 2431 to move along the guide piece 11, so as to drive the buffer structure 25, the connecting rod 241 and the support part 242 to move in the first direction through the first guide block 2431; after the support structure 2 contacts with the target carrier, the buffer structure 25 can be deformed to trigger the in-place sensor 13, so that the driving structure 4 stops driving the locking structure 3, and the first elastic member 32 in the locking structure 3 pushes the locking part 31 to the locking position, so as to realize the locking of the locking structure 3. When the support part 242 needs to be retracted, the locking structure 3 is configured to drive the second guide block 2432 to move along the guide piece 11, so as to drive the connecting rod 241, the first guide block 2432, the support part 242 and the buffer structure 25 to move in the second direction through the second guide block 2432.

[0166] In one embodiment of the present disclosure, in order to make the displacement of the support portion 242 shorter and better match the target carrier, the guide member 11 is configured to be arranged perpendicular to the direction in which the carrying robot moves. In this way, the support portion 242 extends relative to the mounting platform 1, and during the process of contacting the target carrier, can be approximately regarded as a straight line motion, which is beneficial to shorten the displacement of the support portion 242. Further, the support portion 242 extends perpendicularly to the target carrier until it contacts the target carrier, which is also beneficial to increase the contact area between the support portion 242 and the target carrier, and is beneficial to further improve the abutting stability between the two.

[0167] In one embodiment of the present application, in order to make the displacement of the support portion 242 and the guide portion 243 smooth, the mounting platform 1 further comprises an end support seat 12, which is configured to be provided with a guide hole 121 through which the guide portion 243 passes. The end support seat 12 can further limit the displacement direction of the support portion 242 by guiding cooperation with the guide portion 243 through the guide hole 121, avoiding the influence of the displacement direction of the support portion 242 due to the deviation of the guide portion 243 being too long and other factors.

[0168] In a specific embodiment of the present application, the guide hole 121 is configured to be concentrically arranged with the support portion 242 and the guide portion 243. In this way, the guide hole 121 can avoid hindering the displacement of the support portion 242 and the guide portion 243, so that the support portion 242 and the guide portion 243 can move more smoothly relative to the mounting platform 1.

[0169] Reference Figure 6 , Figure 8 , the end support seat 12 is configured to be arranged perpendicular to the mounting platform 1. The support portion 242 can be arranged perpendicularly to the end support seat 12. The mounting platform 1, the end support seat 12 and the guide portion 243 form a "box" shape.

[0170] In one embodiment of the present application, the mounting platform 1 is provided with a zero position sensor 14, which is triggered when the support structure 2 is retracted on the mounting platform 1 and moves to the initial position. The driving structure 4 is configured to stop driving the locking portion 31 based on the trigger signal of the zero position sensor 14, so that the connecting portion 33 moves to the locking state relative to the locking portion 31 at least under the elastic force of the first elastic member 32.

[0171] In some embodiments, the zero position sensor 14 can be a detection trigger, for example, when the support portion 242 is located at the initial position, the position of the connecting portion 33 at this time is provided with a zero position sensor 14 on the mounting platform 1, when the connecting portion 33 moves to the zero position sensor 14, the zero position sensor 14 is triggered, which is not limited by the present application.

[0172] In one embodiment of the present application, the mounting platform 1 is provided with a limit sensor 15, which is triggered when the support structure 2 moves to the limit extension position relative to the target carrier, and the driving structure 4 stops the driving connection portion 33 based on the triggering signal of the limit sensor 15, so that the locking portion 31 moves to the locking state relative to the connection portion 33 under the action of the first elastic member 32.

[0173] In some embodiments, the limit sensor 15 can be a detection trigger, for example, when the support portion 242 is located at the limit position, corresponding to the position of the connection portion 33 at this time, the mounting platform 1 is provided with a limit sensor 15, which is triggered when the connection portion 33 moves to the limit sensor 15, and the triggering mode of the limit sensor 15 can be referred to the foregoing, which will not be described in detail herein.

[0174] In some embodiments of the present application, the driving structure includes a driving assembly 40 and a toggle block 42, the toggle block 42 is connected with the driving assembly 40 and cooperates with the locking structure 3 under the driving of the driving assembly 40, so as to switch the locking structure 3 from the locking state to the unlocking state and drive the locking structure 3 to move relative to the mounting platform 1.

[0175] At least part of the toggle block 42 is located between the locking portion 31 and the connection portion 33, so as to selectively drive the locking portion 31 or the connection portion 33 under the driving of the driving assembly 40.

[0176] In some embodiments, referring to Figure 9 , Figure 10 The locking portion 31 is provided with a stop portion 314, which is configured to extend outwardly from the side wall of the ball cage 312 and is fixedly connected with the ball cage 312. There is a gap between the connection portion 33 and the stop portion 314, and the toggle block 42 is arranged in the gap. The toggle block 42 can abut against the connection portion 33 and the stop portion 314 in different directions under the driving of the driving assembly 40, and by pushing the connection portion 33 and the stop portion 314, the connection portion 33 and the locking portion 31 are pushed, so that the locking structure 3 is switched from the locking state to the unlocking state.

[0177] In some embodiments, the toggle block 42 is configured to directly extend into the gap between the connection portion 33 and the stop portion 314. In other embodiments, the toggle block 42 is configured to be slidingly sleeved in the gap between the connection portion 33 and the stop portion 314, i.e., slidingly sleeved on the outer wall of the ball cage 312 between the connection portion 33 and the stop portion 314.

[0178] In one application scenario of the present application, referring to Figure 10When it is needed to retract the support part 242 from the mounting platform 1, the driving assembly 40 is configured to drive the lock structure 3 and the support structure 2 to move towards the mounting platform 1 by pushing the block 42 against the stop part 314 on the lock part 31. With the continuous movement of the lock part 31 driven by the block 42, the lock part 31 further stretches the first elastic member 32, so that the first elastic member 32 drives the connecting part 33 to move towards the mounting platform 1 together until the target position is reached. After the support part 242 moves to the target position, the zero position sensor 14 is triggered, so that the driving structure 4 is powered off to stop driving the block 42. At this time, the connecting part 33 moves relative to the lock part 31 under the action of the first elastic member 32, so that the lock structure 3 is in the locked state to complete the reset of the support part 242.

[0179] In one application scenario of the present application, with reference to the above Figure 10 When it is needed to retract the support part 242 from the mounting platform 1, the driving assembly 40 is configured to drive the lock structure 3 and the support structure 2 to move towards the mounting platform 1 by pushing the block 42 against the stop part 314 on the lock part 31. With the continuous movement of the lock part 31 driven by the block 42, the lock part 31 further stretches the first elastic member 32, so that the first elastic member 32 drives the connecting part 33 to move towards the mounting platform 1 together until the target position is reached. After the support part 242 moves to the target position, the zero position sensor 14 is triggered, so that the driving structure 4 is powered off to stop driving the block 42. At this time, the connecting part 33 moves relative to the lock part 31 under the action of the first elastic member 32, so that the lock structure 3 is in the locked state to complete the reset of the support part 242.

[0180] In some examples, the driving assembly 40 includes a driving motor 41, a driving wheel 411, a driving synchronous belt 412 and a driven wheel 413. The driving motor 41 is connected with the driving wheel 411, the driving wheel 411 and the driven wheel 413 are arranged on the mounting platform 1 in a spaced manner, and the driving synchronous belt 412 is sleeved on the driving wheel 411 and the driven wheel 413. In operation, the driving motor 41 can drive the driving wheel 411 to rotate, so as to drive the driving synchronous belt 412 and the driven wheel 413 to move.

[0181] The driving block 42 is fixedly connected with the driving synchronous belt 412, and is configured to cooperate with the locking structure 3 after the driving structure 4 is installed on the mounting platform 1, so as to push the locking part 31 and the connecting part 33 in the first direction and the second direction. For example, the driving synchronous belt 412 can be driven by the driving motor 41 to selectively drive the locking part 31 and the connecting part 33 to switch the locking structure 3 from the locked state to the unlocked state, and drive the locking structure 3 to move relative to the mounting platform 1.

[0182] Reference Figure 7 、 Figure 8 The driving motor 41 cooperates with the driving wheel 411, the driving synchronous belt 412 and the driven wheel 413 to change the output direction of the driving motor 41, so that the driving block 42 can move along the setting direction of the mounting platform 1 under the driving of the driving synchronous belt 412. When it is needed to extend the supporting part 242, the output end of the driving motor 41 cooperates with the driving wheel 411 to drive the driving block 42 fixedly connected with the driving synchronous belt 412 to move through the driving wheel 411, the driving synchronous belt 412 and the driven wheel 413. Specifically, the driving motor 41 drives the driving block 42 to cooperate with the connecting part 33 to unlock the locking structure 3, and moves the supporting part 242 away from the mounting platform 1. When the supporting part 242 is moved to the position, the driving motor 41 is powered off to stop running, and the driving wheel 411, the driving synchronous belt 412, the driven wheel 413 and the driving block 42 also stop moving. At this time, the locking part 31 moves relative to the connecting part 33 under the action of the first spring 32, so that the locking structure 3 is switched from the unlocked state to the locked state. When it is needed to retract the supporting part 242, the output end of the driving motor 41 cooperates with the driving wheel 411 to drive the driving block 42 fixedly connected with the driving synchronous belt 412 to move through the driving wheel 411, the driving synchronous belt 412 and the driven wheel 413. Specifically, the driving motor 41 drives the driving block 42 to cooperate with the locking part 31 to unlock the locking structure 3, and moves the locking part 31 towards the mounting platform 1. When the supporting part 242 is moved to the position, the driving motor 41 is powered off to stop running, and the driving wheel 411, the driving synchronous belt 412, the driven wheel 413 and the driving block 42 also stop moving. At this time, the connecting part 33 moves relative to the locking part 31 under the action of the first spring 32, so that the locking structure 3 is switched from the unlocked state to the locked state.

[0183] In some other examples, the driving assembly 40 can also be a driving motor 41 and a gear and rack cooperation structure. For example, a gear is connected with the output shaft of the driving motor 41 to rotate under the driving of the driving motor 41, a rack is engaged with the gear to move in the first direction or the second direction when the gear rotates, and the driving block 42 is connected with the rack to selectively move in the first direction and the second direction.

[0184] In some examples, the driving assembly 40 can comprise a driving motor 41, which can be a linear motor, and a dial block 42 connected to the linear motor to selectively move in the first direction and the second direction. The present application does not limit the arrangement of the driving assembly 40.

[0185] In some examples, the taking and placing device comprises two support structures 2 arranged on the mounting platform 1, and correspondingly, two driving structures 4 and two locking structures 3. Both of the two support structures 2 are movable relative to the mounting platform 1 to extend out of the mounting platform 1 to contact the target carrier. Both of the two support structures 2 have the corresponding locking structures 3, and both of the two locking structures 3 are switchable between the locked state and the unlocked state relative to the mounting platform 1. One of the driving structures 4, for example, the left driving structure 4, drives the left locking structure 3 to move to drive the left support structure 2 to extend out of the mounting platform 1 in the first direction to support the target carrier on the left side of the lane. Correspondingly, the right driving structure 4 drives the right locking structure 3 to move to drive the right support structure 2 to extend out of the mounting platform 1 in the second direction to support the target carrier on the right side of the lane. The specific operation principle of the taking and placing device has been described in detail above, and the present disclosure will not be described in detail here.

[0186] According to the second aspect of the present application, a carrying robot is also provided, which comprises a chassis assembly, a portal assembly, a mounting platform 1, a support structure 2, a locking structure 3, and a driving structure 4. The portal assembly is arranged on the chassis assembly, the support structure 2 is movable relative to the mounting platform 1 to extend out of the mounting platform 1 and contact the target carrier. The locking structure 3 cooperates with the support structure 2 and is switchable between the locked state and the unlocked state relative to the mounting platform 1; when the locking structure 3 is in the unlocked state, it drives the support structure 2 to move relative to the mounting platform 1, and when the locking structure 3 is in the locked state, it locks the support structure 2 to the mounting platform 1. The driving structure 4 is configured to cooperate with the locking structure 3 to drive the locking structure 3 to switch from the locked state to the unlocked state when it is necessary to extend the support structure 2, and to drive the support structure 2 to move towards the target carrier through the locking structure 3, and to stop driving the locking structure 3 when the support structure 2 contacts the target carrier, so that the locking structure 3 switches from the unlocked state to the locked state; the driving structure 4 is also configured to drive the locking structure 3 to switch from the locked state to the unlocked state when it is necessary to retract the support structure 2, and to drive the support structure 2 to retract into the mounting platform 1 through the locking structure 3.

[0187] In the present embodiment, the connection relationship and the working principle of the carrying robot composed of the mounting platform 1, the support structure 2, the locking structure 3, and the driving structure 4 have been described in detail above, and will not be described in detail here.

[0188] According to the third aspect of the present application, a support device is also provided, which comprises a support structure 2, a locking structure 3 and a driving structure 4. The support structure 2 is movable relative to the mounting platform 1 to extend from the mounting platform 1 and contact the target carrier. The locking structure 3 cooperates with the support structure 2 and is switchable between a locked state and an unlocked state relative to the mounting platform 1. When the locking structure 3 is in the unlocked state, the locking structure 3 can drive the support structure 2 to move relative to the mounting platform 1, and when the locking structure 3 is in the locked state, the locking structure 3 locks the support structure 2 to the mounting platform 1. The driving structure 4 is configured to cooperate with the locking structure 3, and when it is necessary to extend the support structure 2, the driving structure 4 drives the locking structure 3 to switch from the locked state to the unlocked state, and drives the support structure 2 to move towards the target carrier through the locking structure 3, and when the support structure 2 contacts the target carrier, the driving of the locking structure 3 is stopped to switch the locking structure 3 from the unlocked state to the locked state. The driving structure 4 is also configured to drive the locking structure 3 to switch from the locked state to the unlocked state when it is necessary to retract the support structure 2, and drive the support structure 2 to retract to the mounting platform 1 through the locking structure 3.

[0189] In the present embodiment, the connection relationship and working principle of the support structure 2, the locking structure 3 and the driving structure 4 are described in detail above, and will not be described in detail here.

[0190] The above has described the embodiments of the present application, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes are obvious to those skilled in the art without departing from the scope and spirit of the described embodiments. The selection of the terms used herein is intended to best explain the principles of the embodiments, practical applications or improvements to the technology in the market, or to enable other ordinary skilled persons in the art to understand the embodiments disclosed herein. The scope of the present application is defined by the appended claims.

Claims

1. A pick-and-place device, characterized by include: Installation platform (1); The support structure (2) is movable relative to the mounting platform (1) to extend out of the mounting platform (1) and contact the target vehicle; The locking structure (3) cooperates with the support structure (2) and can switch between a locked state and an unlocked state relative to the mounting platform (1); when the locking structure (3) is in the unlocked state, it can drive the support structure (2) to move relative to the mounting platform (1); when the locking structure (3) is in the locked state, it locks the support structure (2) to the mounting platform (1). The drive structure (4) is configured to cooperate with the locking structure (3) and, when the support structure (2) needs to be extended, drive the locking structure (3) to switch from the locked state to the unlocked state, and drive the support structure (2) toward the target vehicle through the locking structure (3). When the support structure (2) contacts the target vehicle, stop driving the locking structure (3) so that the locking structure (3) switches from the unlocked state to the locked state. The drive structure (4) is also configured to, when the support structure (2) needs to be retracted, drive the locking structure (3) to switch from the locked state to the unlocked state, and drive the support structure (2) to retract the mounting platform (1) through the locking structure (3).

2. The pick-and-place apparatus of claim 1, wherein, The locking structure (3) includes: The connecting part (33) cooperates with the supporting structure (2) and is provided with a limiting part (21); The locking part (31) selectively engages with and disengages from the limiting part (21) so that the locking structure (3) switches between the locked state and the unlocked state; The locking part (31) is configured to disengage from the limiting part (21) when the connecting part (33) moves outward from the mounting platform (1), and move relative to the mounting platform (1) under the drive of the connecting part (33); The locking part (31) is configured to move relative to the connecting part (33) when the driving structure (4) stops driving the locking structure (3) to cooperate with the limiting part (21).

3. The pick-and-place apparatus of claim 2, wherein, The locking part (31) includes a locking ball (311) and a ball retainer (312), and the limiting part (21) has an inclined surface (211) that cooperates with the locking ball (311); The ball retainer (312) is configured to drive the locking ball (311) to move on the inclined surface (211) so that the locking ball (311) locks or unlocks the connecting part (33) to the mounting platform (1), and the locking structure (3) switches between the locked state and the unlocked state.

4. The pick-and-place apparatus of claim 2, wherein, The locking structure (3) further includes a first elastic element (32), the two ends of which respectively cooperate with the locking part (31) and the connecting part (33). One of the locking part (31) and the connecting part (33) moves relative to the other one under the action of the first elastic member (32) at least when no external force is applied, so that the locking part (31) cooperates with the connecting part (33).

5. The pick-and-place apparatus of claim 4, wherein, A first flange (313) extends on the side wall of the locking part (31); a second flange (22) extends on the side wall of the connecting part (33), and the first flange (313) and the second flange (22) are oppositely arranged. The two ends of the first elastic member (32) are respectively matched with the first flange (313) and the second flange (22).

6. The pick-and-place apparatus of claim 4, wherein, The driving structure (4) is configured to drive the locking part (31) when the support structure (2) needs to be retracted, drive the first elastic member (32) and the connecting part (33) to retract the support structure (2) to the mounting platform (1), and stop driving the locking part (31) after the support structure (2) moves to the initial position, so that the connecting part (33) moves relative to the locking part (31) under the action of the elastic force of the first elastic member (32) to the locking state.

7. The pick-and-place apparatus of claim 4, wherein, The driving structure (4) is configured to drive the connecting part (33) when the support structure (2) needs to be extended, drive the first elastic member (32) and the locking part (31) to move towards the target carrier, and stop driving the connecting part (33) after the support structure (2) moves to the target position, so that the locking part (31) moves relative to the connecting part (33) under the action of the elastic force of the first elastic member (32) to the locking state. The target position at least includes the position of the support structure (2) when it is in contact with the target carrier.

8. The pick-and-place apparatus of any one of claims 1-7, wherein, The driving structure (4) comprises: a driving assembly (40); a toggle block (42) connected with the driving assembly (40) and matched with the locking structure (3) under the driving of the driving assembly (40), so as to switch the locking structure (3) from the locking state to the unlocking state and drive the locking structure (3) to move relative to the mounting platform (1).

9. The pick-and-place apparatus of claim 8, wherein, At least part of the toggle block (42) is located between the locking part (31) and the connecting part (33) of the locking structure (3), so as to selectively drive the locking part (31) or the connecting part (33) under the driving of the driving assembly (40).

10. The pick-and-place apparatus of any of claims 2-7, wherein, The mounting platform (1) comprises a guide member (11), the connecting part (33) is sleeved on the guide member (11), and the locking part (31) is arranged between the connecting part (33) and the guide member (11). The locking part (31) is configured to lock or unlock the connecting part (33) on the guide member (11), so as to lock or unlock the locking structure (3) on the mounting platform (1).

11. The pick-and-place apparatus of claim 10, wherein, The support structure (2) comprises: A guide part (243) is matched with the locking structure (3) and sleeved on the guide member (11); A connecting rod (241) is arranged side by side with the guide member (11) and connected with the guide part (243); A support part (242) is connected with the connecting rod (241) and configured to extend out of the mounting platform (1) and contact the target carrier under the driving of the guide part (243); The guide part (243) is configured to move along the guide member (11) under the driving of the locking structure (3) and drive the connecting rod (241) and the support part (242) to extend out of or retract into the mounting platform (1).

12. The pick-and-place apparatus of claim 11, wherein, The guide part (243) includes a first guide block (2431) and a second guide block (2432) arranged on both sides of the locking structure (3), when the support part (242) needs to be extended, the locking structure (3) is configured to drive the first guide block (2431) to move along the guide member (11) to drive the connecting rod (241) and the support part (242) to move out of the mounting platform (1) through the first guide block (2431); when the support part (242) needs to be retracted, the locking structure (3) is configured to drive the second guide block (2432) to move along the guide member (11) to drive the connecting rod (241) and the support part (242) to move into the mounting platform (1) through the second guide block (2432).

13. The pick-and-place apparatus of claim 12, wherein, The mounting platform (1) further comprises an end support seat (12) having a guide hole (121) for the connecting rod (241) to pass through.

14. The pick-and-place apparatus of any one of claims 1-7, wherein, A position sensor (13) is arranged on the mounting platform (1) and triggered when the support structure (2) contacts the target carrier, and the driving structure (4) stops driving the locking structure (3) based on the trigger signal of the position sensor (13).

15. The pick-and-place apparatus of claim 14, wherein, The pick-and-place device further comprises a buffer structure (25) configured to be deformed when contacting the target carrier to trigger the position sensor (13).

16. The pick-and-place apparatus of claim 15, wherein, The buffer structure (25) comprises: A fixed block (251) matched with the locking structure (3); A connecting block (252) matched with the support structure (2); A second elastic member (253) having two ends matched with the fixed block (251) and the connecting block (252) respectively and configured to be deformed when the support structure (2) contacts the target carrier to trigger the position sensor (13).

17. The pick-and-place apparatus of any one of claims 4-7, wherein, The installation platform (1) is provided with a zero position sensor (14), which is triggered when the support structure (2) is retracted on the installation platform (1) and moves to the initial position, and the driving structure (4) is configured to stop driving the locking part (31) based on the trigger signal of the zero position sensor (14), so that the connecting part (33) moves to the locking state relative to the locking part (31) at least under the elastic force of the first elastic member (32).

18. The pick-and-place apparatus of any one of claims 4-7, wherein, The installation platform (1) is provided with a limit sensor (15), which is triggered when the support structure (2) moves to the limit extension position relative to the target vehicle, and the driving structure (4) stops driving the connecting part (33) based on the trigger signal of the limit sensor (15), so that the locking part (31) moves to the locking state relative to the connecting part (33) at least under the elastic force of the first elastic member (32).

19. A transport robot characterized by Comprising: Chassis assembly; Portal assembly, provided on the chassis assembly; Installation platform (1); Support structure (2), movable relative to the installation platform (1) to extend from the installation platform (1) and contact the target vehicle; Locking structure (3), cooperating with the support structure (2) and being switchable relative to the installation platform (1) between a locking state and an unlocking state; when the locking structure (3) is in the unlocking state, the support structure (2) can be moved relative to the installation platform (1), and when the locking structure (3) is in the locking state, the support structure (2) is locked on the installation platform (1); Driving structure (4), configured to cooperate with the locking structure (3), drive the locking structure (3) to switch from the locking state to the unlocking state when the support structure (2) needs to be extended, and drive the support structure (2) to move to the target vehicle through the locking structure (3), and stop driving the locking structure (3) when the support structure (2) contacts the target vehicle, so that the locking structure (3) switches from the unlocking state to the locking state; the driving structure (4) is also configured to drive the locking structure (3) to switch from the locking state to the unlocking state when the support structure (2) needs to be retracted, and drive the support structure (2) to retract on the installation platform (1) through the locking structure (3).

20. A support device, characterized by Comprising: Support structure (2), movable relative to the installation platform (1) to extend from the installation platform (1) and contact the target vehicle; A locking structure (3) is matched with the support structure (2) and can be switched between a locking state and an unlocking state relative to the mounting platform (1); when the locking structure (3) is in the unlocking state, the locking structure (3) can drive the support structure (2) to move relative to the mounting platform (1); when the locking structure (3) is in the locking state, the locking structure (3) locks the support structure (2) to the mounting platform (1); A driving structure (4) is configured to cooperate with the locking structure (3), and when the support structure (2) needs to be extended, the driving structure (4) drives the locking structure (3) to switch from the locking state to the unlocking state, and drives the support structure (2) to move towards the target carrier through the locking structure (3), and when the support structure (2) contacts the target carrier, the driving of the locking structure (3) is stopped, so that the locking structure (3) switches from the unlocking state to the locking state; the driving structure (4) is also configured to drive the locking structure (3) to switch from the locking state to the unlocking state when the support structure (2) needs to be retracted, and drive the support structure (2) to retract the mounting platform (1) through the locking structure (3).

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