Pick-and-place device and carrying equipment

Abstract

The embodiment of the utility model provides a pick-and-place device and carrying equipment, and the pick-and-place device comprises a base, a roller assembly, a side blocking assembly and a carrying assembly; the roller assembly is arranged on the base and provided with a first material inlet and outlet, a bearing area and a second material inlet and outlet which are sequentially distributed in the first direction, and the first direction is parallel to the conveying direction of the roller assembly; the side baffle assembly comprises a first side baffle, a second side baffle and a first driver, the first side baffle and the second side baffle are arranged on the two sides of the bearing area in a spaced mode in the second direction, the second direction is perpendicular to the first direction, and the first driver is arranged on the base and used for driving the first side baffle and the second side baffle to be close to or away from each other; the moving assembly comprises two telescopic material moving mechanisms arranged in the second direction in a spaced mode, one telescopic material moving mechanism is connected with the first side baffle, and the other telescopic material moving mechanism is connected with the second side baffle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pick-and-place device design, and in particular to a pick-and-place device and a handling equipment. BACKGROUND

[0002] In a warehouse system, materials are stored on shelves, and sometimes need to be taken out by a handling equipment. In the process of taking out the materials, the handling equipment first moves to a taking-out position so that the inlet and outlet of the pick-and-place device of the handling equipment are opposite to the materials. Then the materials are moved to the accommodation area of the pick-and-place device through the inlet and outlet. The pick-and-place device in the related art only has one inlet and outlet. Thus, when the materials are opposite to the inlet and outlet of the pick-and-place device, the orientation of the pick-and-place device needs to be adjusted. Therefore, the pick-and-place device in the related art has the problem of inconvenient use. CONTENT OF THE UTILITY MODEL

[0003] The present application provides a pick-and-place device and a handling equipment to solve the problem of how to improve the convenience of use of the pick-and-place device.

[0004] To solve the above technical problem, the present application is implemented as follows:

[0005] In a first aspect, the present application provides a pick-and-place device.

[0006] The pick-and-place device provided by the present application comprises a base, a roller assembly, a side stop assembly and a moving assembly. The roller assembly is arranged on the base. The roller assembly is provided with a first material inlet and outlet, a carrying area and a second material inlet and outlet which are arranged in sequence along a first direction. The first direction is parallel to the conveying direction of the roller assembly. The side stop assembly comprises a first side stop and a second side stop. The first side stop and the second side stop are arranged on both sides of the carrying area along a second direction. The second direction is perpendicular to the first direction. The moving assembly comprises two telescopic material moving mechanisms which are arranged in sequence along the second direction. One of the telescopic material moving mechanisms is connected with the first side stop, and the other telescopic material moving mechanism is connected with the second side stop.

[0007] Optionally, the side stop assembly further comprises a first driver, a first ball screw and a second ball screw. The first ball screw comprises a first screw rod and a first nut, and the second ball screw comprises a second screw rod and a second nut. The rotation direction of the thread of the first screw rod is opposite to the rotation direction of the thread of the second screw rod. The first screw rod is coaxially connected with the second screw rod. The first driver is drivingly connected with the first screw rod. The first nut is connected with the first side stop, and the second nut is connected with the second side stop. The first driver is used to drive the first side stop and the second side stop to move close to or away from each other.

[0008] Optionally, the side stop assembly further comprises a first sliding assembly, the first sliding assembly comprising a first sliding rail, a first sliding seat and a second sliding seat; the first sliding rail is connected with the base, the first sliding seat and the second sliding seat are respectively connected with the first sliding rail in sliding fit along the second direction; the first side stop is connected with the first sliding seat, and the second side stop is connected with the second sliding seat.

[0009] Optionally, the roller assembly comprises a plurality of rollers arranged at intervals, and the first sliding rail is arranged between two adjacent rollers.

[0010] Optionally, at least one of the plurality of rollers is a driving roller, and at least one of the plurality of rollers is a driven roller, and the driving roller is used to drive the rotation of each driven roller.

[0011] Optionally, the telescopic material moving mechanism comprises a first support, a second support, a third side stop and a second driver; the second support is connected with the first support in sliding fit along the first direction, the third side stop is connected with the second support in sliding fit along the first direction, and the second driver is used to drive the third side stop and the second support to extend or retract relative to the first support; the first support of one telescopic material moving mechanism is connected with the first side stop, and the first support of another telescopic material moving mechanism is connected with the second side stop.

[0012] Optionally, the telescopic material moving mechanism further comprises a first pulley, a second pulley, a first transmission belt, a third pulley, a fourth pulley and a second transmission belt; the first pulley and the second pulley are respectively rotatably connected to the first support, the first pulley and the second pulley are arranged at intervals along the first direction, the second driver is drivingly connected with the first pulley, the first transmission belt, the first pulley and the second pulley are drivingly connected, and a first connecting portion of the first transmission belt is fixedly connected with the second support; the third pulley and the fourth pulley are respectively rotatably connected to the second support, the third pulley and the fourth pulley are arranged at intervals along the first direction, the second transmission belt, the third pulley and the fourth pulley are drivingly connected; a second connecting portion and a third connecting portion of the second transmission belt are respectively located on two sides of a line connecting the third pulley and the fourth pulley, the second connecting portion is fixedly connected with the first support, and the third connecting portion is fixedly connected with the third side stop.

[0013] Optionally, the first side stop is provided with a first side surface opposite to the second side stop, the second side stop is provided with a second side surface opposite to the first side surface, and a clamping area is formed between the first side surface and the second side surface; in the second direction, the third side stop opposite to the first side surface is located on a side of the second side surface away from the first side surface; and the third side stop opposite to the second side surface is located on a side of the first side surface away from the second side surface.

[0014] Optionally, the telescopic material moving mechanism further comprises a first stop, a second stop, a third driver and a fourth driver; the first stop and the second stop are arranged at two ends of the third side stop in the first direction, the third driver is in driving connection with the first stop and is used to drive the first stop to switch between a shielding position and an avoiding position, and the fourth driver is in driving connection with the second stop and is used to drive the second stop to switch between the shielding position and the avoiding position.

[0015] In a second aspect, the embodiments of the present application provide a carrying device.

[0016] The carrying device provided by the embodiments of the present application comprises a carrying vehicle and any one of the taking and placing devices provided by the embodiments of the present application, and the taking and placing device is connected with the carrying vehicle.

[0017] The above at least one technical scheme adopted by the embodiments of the present application can achieve the following beneficial effects:

[0018] In the embodiments of the present application, the taking and placing device comprises a roller assembly, and the roller assembly is provided with a first material inlet and outlet, a carrying area and a second material inlet and outlet which are sequentially distributed in the first direction. In this way, the material can be moved to the carrying area through the first material inlet and outlet or the second material inlet and outlet, or the material located in the carrying area can be moved out through the first material inlet and outlet or the second material inlet and outlet. In this way, the use convenience of the taking and placing device can be improved by increasing the material inlet and outlet.

[0019] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related art, the following will briefly introduce the drawings needed to be used in the embodiments or the related art description. Obviously, the drawings in the following description are only some embodiments described in the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0021] Figure 1A schematic view of a pick-and-place device according to an embodiment of the present application, showing the pick-and-place device with the moving assembly in a retracted state;

[0022] Figure 2 A schematic view of a base and a roller assembly according to an embodiment of the present application;

[0023] Figure 3 A schematic view of a base, a roller assembly and a side stop assembly according to an embodiment of the present application;

[0024] Figure 4 A schematic view of a base and a side stop assembly according to an embodiment of the present application;

[0025] Figure 5 A schematic view of a base and a side stop assembly according to an embodiment of the present application; Figure 4 A schematic view of a base and a side stop assembly according to an embodiment of the present application, from another angle;

[0026] Figure 6 A schematic view of a side stop assembly according to an embodiment of the present application;

[0027] Figure 7 A schematic view of a side stop assembly and a moving assembly according to an embodiment of the present application;

[0028] Figure 8 A schematic view of a pick-and-place device according to an embodiment of the present application, showing the pick-and-place device with the moving assembly in an extended state;

[0029] Figure 9 A schematic view of a telescopic moving mechanism according to an embodiment of the present application, showing the telescopic moving mechanism in an extended state;

[0030] Figure 10 A schematic view of a telescopic moving mechanism according to an embodiment of the present application, from another angle; Figure 9 A partial schematic view of a telescopic moving mechanism according to an embodiment of the present application;

[0031] Figure 11 A schematic view of a second support, a third pulley, a fourth pulley and a second transmission belt according to an embodiment of the present application;

[0032] Figure 12 A schematic view of a telescopic moving mechanism according to an embodiment of the present application, from another angle; Figure 9 A schematic view of a telescopic moving mechanism according to an embodiment of the present application, from another angle;

[0033] Figure 13 A schematic view of an extension principle of a telescopic moving mechanism according to an embodiment of the present application;

[0034] Figure 14 A schematic view of a retraction principle of a telescopic moving mechanism according to an embodiment of the present application;

[0035] Figure 15A schematic view of a pick-and-place device according to an embodiment of the present application;

[0036] Figure 16 A schematic view of a pick-and-place device according to an embodiment of the present application, showing the first stop in the blocking position and the second stop in the avoiding position;

[0037] Figure 17 A schematic view of a handling equipment according to an embodiment of the present application.

[0038] BRIEF DESCRIPTION OF DRAWINGS

[0039] 1 - handling equipment;

[0040] 100 - pick-and-place device;

[0041] 110 - base;

[0042] 120 - roller assembly; 120a - first material inlet / outlet; 120b - carrying area; 120c - second material inlet / outlet; 121 - roller; 121a - driving roller; 121b - driven roller; 121c - non-powered roller;

[0043] 130 - side stop assembly; 131 - first side stop; 1311 - first side face; 132 - second side stop; 1321 - second side face; 133 - first driver; 134 - first ball screw; 1341 - first screw rod; 1342 - first nut; 135 - second ball screw; 1351 - second screw rod; 1352 - second nut; 136 - first sliding assembly; 1361 - first sliding rail; 1362 - first sliding base; 1363 - second sliding base; 1371 - first bracket; 1372 - second bracket;

[0044] 140 - moving assembly; 140a - telescopic moving mechanism; 1411 - first support; 1412 - second support; 1413 - third side stop; 1414 - second driver; 1421 - first pulley; 1422 - second pulley; 1423 - first transmission belt; 14231 - first connecting portion; 1424 - third pulley; 1425 - fourth pulley; 1426 - second transmission belt; 14261 - second connecting portion; 14262 - third connecting portion; 1431 - first stop; 1432 - second stop; 1433 - third driver; 1434 - fourth driver;

[0045] 200 - handling cart;

[0046] 300 - lifting driver. DETAILED DESCRIPTION

[0047] In order to make the objects, technical solutions and advantages of the present application clearer, the following will be clearly and completely described with reference to the specific embodiments of the present application and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0048] In the description of the present application, it should be noted that unless specifically defined and limited, the terms "mounting", "connection", "linking" should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integral connection; it can be direct connection, or indirect connection through intermediate medium, or internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0049] In addition, although the terms used in the present application are selected from the commonly known and used terms, some terms mentioned in the specification of the present application may be selected by the applicant according to his or her judgment, and the detailed meaning of which is described in the relevant part of the description.

[0050] In addition, the present application is required to be understood not only by the actual terms used, but also by the meaning implied by each term.

[0051] The technical solutions provided by the embodiments of the present application will be described in detail below with reference to the drawings.

[0052] The embodiments of the present application provide a taking and placing device. Referring to Figures 1 to 16 The taking and placing device 100 provided by the embodiments of the present application comprises a base 110, a roller assembly 120, a side blocking assembly 130 and a moving assembly 140.

[0053] The base 110 is the installation basis of other assemblies of the taking and placing device 100 except the base 110. In other words, other assemblies of the taking and placing device 100 can be connected with the base 110.

[0054] Referring to Figure 1 and Figure 2 The roller assembly 120 is arranged on the base 110. The roller assembly 120 is provided with a first material inlet and outlet 120a, a carrying area 120b and a second material inlet and outlet 120c which are sequentially distributed along a first direction, wherein the first direction is parallel to the conveying direction of the roller assembly 120. Figure 2 The conveying direction of the roller assembly 120 is the front-back direction, and the first material inlet and outlet 120a, the carrying area 120b and the second material inlet and outlet 120c are sequentially distributed along the front-back direction.

[0055] Thus, exemplarily, when the first material inlet and outlet 120a of the roller assembly 120 is opposite to the first conveying device, the first conveying device can convey the material to the carrying area 120b of the roller assembly 120 through the first material inlet and outlet 120a. Further, when the second material inlet and outlet 120c is opposite to the second conveying device, the roller assembly 120 can convey the material in the carrying area 120b to the second conveying device through the second material inlet and outlet 120c. Thus, since the roller assembly 120 is provided with the first material inlet and outlet 120a and the second material inlet and outlet 120c on both sides of the carrying area 120b, compared with the solution of providing only one material inlet and outlet, when the pick-and-place device 100 is located between the first conveying device and the second conveying device, the transfer of the material can be performed without rotating the pick-and-place device 100.

[0056] With reference to Figure 3 and Figure 4 , the side blocking assembly 130 includes a first side blocking 131 and a second side blocking 132. The first side blocking 131 and the second side blocking 132 are arranged on both sides of the carrying area 120b along the second direction. The first side blocking 131 and the second side blocking 132 are used to prevent the material from falling off from the side of the roller assembly 120 located on the side of the first side blocking 131 or the side of the second side blocking 132 during the conveying of the material on the roller assembly 120.

[0057] With reference to Figure 1 , Figure 7 and Figure 8 , the moving assembly 140 includes two retractable material moving mechanisms 140a arranged along the second direction. One of the retractable material moving mechanisms 140a is connected with the first side blocking 131, and the other retractable material moving mechanism 140a is connected with the second side blocking 132. Thus, the material on the shelf can be transferred to the roller assembly 120 by retracting the retractable material moving mechanisms 140a, and the material on the roller assembly 120 can be pushed to the shelf by extending the retractable material moving mechanisms 140a. It should be noted that the structure of the retractable material moving mechanisms 140a can refer to related technologies. The embodiments of the present application do not limit the structure of the retractable material moving mechanisms 140a, as long as they can move the material.

[0058] In this way, in the embodiments of the present application, the taking and placing device 100 comprises the roller assembly 120, which is provided with the first material inlet and outlet 120a, the carrying area 120b and the second material inlet and outlet 120c arranged in sequence along the first direction. In this way, the material can be moved to the carrying area 120b through the first material inlet and outlet 120a or the second material inlet and outlet 120c; or the material located in the carrying area 120b can be moved out through the first material inlet and outlet 120a or the second material inlet and outlet 120c. In this way, by increasing the material inlet and outlet, the use convenience of the taking and placing device 100 can be improved.

[0059] Reference Figure 5 and Figure 6 In some embodiments, the side blocking assembly 130 further comprises a first driver 133, a first ball screw 134 and a second ball screw 135. The first driver 133 is used to drive the first side block 131 and the second side block 132 to approach or move away from each other.

[0060] The first ball screw 134 comprises a first screw rod 1341 and a first nut 1342. The second ball screw 135 comprises a second screw rod 1351 and a second nut 1352. The rotation direction of the thread of the first screw rod 1341 is opposite to the rotation direction of the thread of the second screw rod 1351. For example, the rotation direction of the thread of the first screw rod 1341 is left-handed, and the rotation direction of the thread of the second screw rod 1351 is right-handed. Alternatively, the rotation direction of the thread of the first screw rod 1341 is right-handed, and the rotation direction of the thread of the second screw rod 1351 is left-handed.

[0061] The first screw rod 1341 is coaxially connected with the second screw rod 1351, and the first driver 133 is drivingly connected with the first screw rod 1341. Since the first screw rod 1341 is coaxially connected with the second screw rod 1351, the first driver 133 can drive the first screw rod 1341 and the second screw rod 1351 to rotate coaxially. The first nut 1342 is connected with the first side block 131, and the second nut 1352 is connected with the second side block 132. In this way, during the coaxial rotation of the first screw rod 1341 and the second screw rod 1351, the first nut 1342 and the second nut 1352 can approach or move away from each other.

[0062] Therefore, when the first driver 133 is in a working state, the first driver 133 drives the first screw rod 1341 and the second screw rod 1351 to rotate, respectively, so that the first nut 1342 and the second nut 1352 approach or move away from each other. Further, the first nut 1342 drives the first side block 131 to move, and the second nut 1352 drives the second side block 132 to move, so that the first side block 131 and the second side block 132 can approach or move away from each other.

[0063] In addition, since one telescopic material moving mechanism 140a is connected with the first side stop 131 and the other telescopic material moving mechanism 140a is connected with the second side stop 132, the two telescopic material moving mechanisms 140a arranged oppositely can move towards or away from each other along with the first side stop 131 and the second side stop 132, so that the material taking and placing device 100 is suitable for moving materials with different widths.

[0064] Reference Figure 3 and Figure 4 In some embodiments, the side stop assembly 130 further comprises a first sliding assembly 136. The first sliding assembly 136 comprises a first sliding rail 1361, a first sliding seat 1362 and a second sliding seat 1363. The first sliding rail 1361 is connected with the base 110, and the first sliding seat 1362 and the second sliding seat 1363 are respectively connected with the first sliding rail 1361 in sliding fit along a second direction. The first side stop 131 is connected with the first sliding seat 1362, and the second side stop 132 is connected with the second sliding seat 1363. In this way, the first sliding assembly 136 can be arranged to guide the sliding of the first sliding seat 1362 and the second sliding seat 1363.

[0065] In some embodiments, the roller assembly 120 comprises a plurality of rollers 121 arranged at intervals, and the first sliding rail 1361 is arranged between two adjacent rollers 121. In this way, the compactness of the material taking and placing device 100 can be improved by arranging the first sliding rail 1361 between two adjacent rollers 121.

[0066] In some embodiments, the number of the first sliding assemblies 136 can be one or at least two. Figure 4 The case where the first sliding assembly 136 is two is shown. In the case where the first sliding assembly 136 is two, the first sliding seat 1362 and the second sliding seat 1363 can slide relative to the base 110 more stably.

[0067] In combination Figure 2 In some embodiments, at least one of the plurality of rollers 121 is a driving roller 121a, and at least one of the plurality of rollers 121 is a driven roller 121b. The driving roller 121a is used to drive the rotation of the driven rollers 121b.

[0068] It should be noted that the driving roller 121a can be an electric roller. The electric roller comprises a rotating motor. The electric roller drives the rotation of the roller through the rotating motor. The driving roller 121a can be connected with the driven roller 121b through a transmission belt, so as to drive the rotation of the driven roller 121b.

[0069] Reference Figure 2In some embodiments, the plurality of rollers 121 further comprises two unpowered rollers 121c. The two unpowered rollers 121c are respectively arranged at two sides of the powered roller 121a and the passive roller 121b.

[0070] With reference to Figures 9 to 14 In some embodiments, the telescopic material moving mechanism 140a comprises a first support 1411, a second support 1412, a third side stop 1413, and a second driver 1414. The second support 1412 is slidingly connected with the first support 1411 along the first direction, and the third side stop 1413 is slidingly connected with the second support 1412 along the first direction. The second driver 1414 is configured to drive the third side stop 1413 and the second support 1412 to extend or retract relative to the first support 1411.

[0071] In combination Figures 6 to 8 In some embodiments, the first support 1411 of one telescopic material moving mechanism 140a is connected with the first side stop 131, and the first support 1411 of another telescopic material moving mechanism 140a is connected with the second side stop 132.

[0072] In some embodiments, the telescopic material moving mechanism 140a further comprises a second sliding assembly. The second sliding assembly comprises a second sliding rail and a third sliding seat which are slidingly connected. The second sliding rail is connected with the first support 1411, and the third sliding seat is connected with the second support 1412, so that the second support 1412 is slidingly connected with the first support 1411 along the first direction.

[0073] In some embodiments, the telescopic material moving mechanism 140a further comprises a third sliding assembly. The third sliding assembly comprises a third sliding rail and a fourth sliding seat which are slidingly connected. The third sliding rail is connected with the second support 1412, and the fourth sliding seat is connected with the third side stop 1413, so that the third side stop 1413 is slidingly connected with the second support 1412 along the first direction.

[0074] In some embodiments, the first nut 1342 is connected with the first side stop 131 via the first bracket 1371, and the second nut 1352 is connected with the second side stop 132 via the second bracket 1372. In some embodiments, the first support 1411 of the telescopic material moving mechanism 140a located at the left side (e.g., which can be referred to as the first telescopic material moving mechanism) is connected with the first bracket 1371, and the first support 1411 of the telescopic material moving mechanism 140a located at the right side (e.g., which can be referred to as the second telescopic material moving mechanism) is connected with the second bracket 1372. In this way, the telescopic material moving mechanism 140a located at the left side can be indirectly connected with the first side stop 131 via the first bracket 1371, so that the telescopic material moving mechanism 140a located at the left side moves synchronously with the first side stop 131. The telescopic material moving mechanism 140a located at the right side can be indirectly connected with the second side stop 132 via the second bracket 1372, so that the telescopic material moving mechanism 140a located at the right side moves synchronously with the second side stop 132.

[0075] Referring to Figures 9 to 14 In some embodiments, the telescopic material moving mechanism 140a further comprises a first pulley 1421, a second pulley 1422, a first transmission belt 1423, a third pulley 1424, a fourth pulley 1425 and a second transmission belt 1426.

[0076] The first pulley 1421 and the second pulley 1422 are respectively rotatably connected to the first support 1411. The first pulley 1421 and the second pulley 1422 are spaced apart along the first direction. The second driver 1414 is drivingly connected to the first pulley 1421. The first transmission belt 1423, the first pulley 1421 and the second pulley 1422 are belt drivingly connected. A first connecting portion 14231 of the first transmission belt 1423 is fixedly connected to the second support 1412. In this way, during the rotation of the first pulley 1421 driven by the second driver 1414, the first connecting portion 14231 moves linearly along the first direction, thereby driving the second support 1412 to move linearly along the first direction.

[0077] The third pulley 1424 and the fourth pulley 1425 are respectively rotatably connected to the second support 1412. The third pulley 1424 and the fourth pulley 1425 are spaced apart along the first direction. The second transmission belt 1426, the third pulley 1424 and the fourth pulley 1425 are belt drivingly connected. A second connecting portion 14261 and a third connecting portion 14262 of the second transmission belt 1426 are respectively located on two sides of a line connecting the third pulley 1424 and the fourth pulley 1425. The second connecting portion 14261 is fixedly connected to the first support 1411, and the third connecting portion 14262 is fixedly connected to the third side stop 1413.

[0078] Referring to Figure 10 and Figure 13 When the second driver 1414 drives the second support 1412 to extend, the third pulley 1424 and the fourth pulley 1425 move with the second support 1412 towards the extending direction. Since the second connecting portion 14261 of the second transmission belt 1426 is fixedly connected to the first support 1411, the right side of the second transmission belt 1426 will move towards the extending direction, thereby driving the third connecting portion 14262 fixedly connected to the third side stop 1413 to move towards the extending direction.

[0079] Referring to Figure 10 and Figure 14In the case that the second driver 1414 drives the second support 1412 to retract, the third pulley 1424 and the fourth pulley 1425 move with the second support 1412 in the retracting direction. Since the second connecting portion 14261 of the second transmission belt 1426 is fixedly connected with the first support 1411, the right side of the second transmission belt 1426 moves in the retracting direction, thereby driving the third connecting portion 14262 fixedly connected with the third side stop 1413 to move in the retracting direction.

[0080] Reference Figure 15 In some embodiments, the first side stop 131 is provided with a first side surface 1311 opposite to the second side stop 132. The second side stop 132 is provided with a second side surface 1321 opposite to the first side surface 1311. A clamping region is formed between the first side surface 1311 and the second side surface 1321. The clamping region is used to accommodate the material.

[0081] In the second direction, the third side stop 1413 opposite to the first side surface 1311 is located on the side of the second side surface 1321 away from the first side surface 1311; the third side stop 1413 opposite to the second side surface 1321 is located on the side of the first side surface 1311 away from the second side surface 1321. In other words, in combination with the first side surface 1311 and the second side surface 1321, the third side stop 1413 forms a clamping region. Figure 15 In the second direction, the left third side stop 1413 is located on the left side of the first side surface 1311, and the right third side stop 1413 is located on the right side of the third side stop 1413.

[0082] In this way, for example, the width of the material is 200 mm, the distance between the first side surface 1311 and the second side surface 1321 is 220 mm, and the distance between the left third side stop 1413 and the right third side stop 1413 is 240 mm. Thus, in the case that the left third side stop 1413 and the right third side stop 1413 extend to the left side and the right side of the material respectively, the left third side stop 1413 and the right third side stop 1413 do not easily touch the material. Further, in the case that the material is hooked back by the moving assembly 140, the material can move to the clamping region between the first side surface 1311 and the second side surface 1321.

[0083] Reference Figure 12 In some embodiments, the telescopic material moving mechanism 140a further comprises a first stop 1431, a second stop 1432, a third driver 1433, and a fourth driver 1434.

[0084] The first stopper 1431 and the second stopper 1432 are arranged at both ends of the third side fence 1413 in the first direction. The third driver 1433 is in driving connection with the first stopper 1431, and is configured to drive the first stopper 1431 to switch between the shielding position and the avoiding position. The fourth driver 1434 is in driving connection with the second stopper 1432, and is configured to drive the second stopper 1432 to switch between the shielding position and the avoiding position.

[0085] Exemplarily, in combination with Figure 8 When the first stopper 1431 is located at the avoiding position, the first stopper 1431 is in the vertical state. In combination with Figure 16 When the first stopper 1431 is located at the shielding position, the first stopper 1431 is in the horizontal state. Similarly, when the second stopper 1432 is located at the avoiding position, the second stopper 1432 is in the vertical state. When the second stopper 1432 is located at the shielding position, the second stopper 1432 is in the horizontal state.

[0086] The embodiment of the present application provides a carrying device. Referring to Figure 17 The carrying device 1 provided by the embodiment of the present application comprises a carrying vehicle 200 and any one of the taking and placing devices 100 provided by the embodiment of the present application, and the taking and placing device 100 is connected with the carrying vehicle 200.

[0087] In some embodiments, the carrying device 1 further comprises a lifting driver 300. The lifting driver 300 is arranged on the carrying vehicle 200, and the lifting driver 300 is in driving connection with the taking and placing device 100, so as to drive the taking and placing device 100 to lift. In this way, the carrying device 1 can transfer materials on shelves of different heights.

[0088] It should be noted that, in the process of moving the materials on the shelf to the taking and placing device 100 by using the carrying device 1, the carrying vehicle 200 can be first moved to a position opposite to the materials. Then, the first stopper 1431 located in front can be located at the avoiding position.

[0089] Further, referring to Figure 8 The third side fence 1413 can be driven to extend. When the front end of the third side fence 1413 is located behind the materials, the first stopper 1431 can be located at the avoiding position or the shielding position. Further, in combination with Figure 14 The third side fence 1413 can be driven to retract, so that the first stopper 1431 can hook the back of the materials, so that in the process of retracting the third side fence 1413, the materials are moved to the bearing area 120b of the roller assembly 120.

[0090] Conversely, in the process of moving the material on the carrying area 120b to the shelf by the carrying device 1, the carrying vehicle 200 can be first moved to a position opposite to the material placing area on the shelf. When the first stopper 1431 at the front is in the avoiding position and the second stopper 1432 at the rear is in the shielding position, the third side stop 1413 is driven to extend. In this way, the second stopper 1432 can be used to push the material to the material placing area on the shelf.

[0091] In addition, in the process of docking the carrying device 1 with the conveying device such as the conveying belt, for example, in the process of receiving the material output by the conveying belt by the carrying device 1, the roller assembly 120 can be operated, so that the material output by the conveying belt is transferred to the carrying area 120b of the roller assembly 120 through the first material inlet and outlet 120a or the second material inlet and outlet 120c by the rotating roller assembly 120. In the process of outputting the material to the conveying belt by the carrying device 1, the roller assembly 120 can be operated, so that the material is output to the conveying belt by the rotating roller assembly 120 through the first material inlet and outlet 120a or the second material inlet and outlet 120c.

[0092] It should be noted that the relational terms herein such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any such actual relationship or order between such entities or actions. Moreover, the terms "comprising", "including", or any other variant thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0093] Although the embodiments of the present application have been shown and described, it is understood that various changes, modifications, substitutions and variations can be made to the embodiments without departing from the principles and spirit of the embodiments of the present application, and the scope of the embodiments of the present application is defined by the appended claims and their equivalents.

Claims

1. A pick-and-place device, characterized in that The application relates to a material conveying device, which comprises a base (110), a roller assembly (120), a side stop assembly (130) and a moving assembly (140). The roller assembly (120) is arranged on the base (110), and is provided with a first material inlet and outlet (120a), a bearing area (120b) and a second material inlet and outlet (120c) arranged in sequence along a first direction, wherein the first direction is parallel to the conveying direction of the roller assembly (120). The side stop assembly (130) comprises a first side stop (131) and a second side stop (132), and the first side stop (131) and the second side stop (132) are arranged on the two sides of the bearing area (120b) along a second direction, wherein the second direction is perpendicular to the first direction. The moving assembly (140) comprises two telescopic material moving mechanisms (140a) arranged along the second direction, one of the telescopic material moving mechanisms (140a) is connected with the first side stop (131), and the other telescopic material moving mechanism (140a) is connected with the second side stop (132). The side stop assembly (130) further comprises a first driver (133), a first ball screw (134) and a second ball screw (135).

2. The pick-and-place apparatus of claim 1, wherein The first ball screw (134) comprises a first screw rod (1341) and a first nut (1342), the second ball screw (135) comprises a second screw rod (1351) and a second nut (1352), the rotation direction of the thread of the first screw rod (1341) is opposite to that of the thread of the second screw rod (1351), the first screw rod (1341) is coaxially connected with the second screw rod (1351), the first driver (133) is drivingly connected with the first screw rod (1341), the first nut (1342) is connected with the first side stop (131), the second nut (1352) is connected with the second side stop (132), and the first driver (133) is used for driving the first side stop (131) and the second side stop (132) to move close to or away from each other. The side stop assembly (130) further comprises a first sliding assembly (136), and the first sliding assembly (136) comprises a first sliding rail (1361), a first sliding seat (1362) and a second sliding seat (1363).

3. The pick-and-place apparatus of claim 2, wherein, The first sliding rail (1361) is connected with the base (110), and the first sliding seat (1362) and the second sliding seat (1363) are slidingly connected with the first sliding rail (1361) along the second direction. The first side stop (131) is connected with the first sliding seat (1362), and the second side stop (132) is connected with the second sliding seat (1363). The roller assembly (120) comprises a plurality of spaced rollers (121), and the first sliding rail (1361) is arranged between two adjacent rollers (121).

4. The pick-and-place apparatus of claim 3, wherein ​ 5. The pick-and-place apparatus of claim 4, wherein, At least one of the plurality of rollers (121) is an active roller (121a), and at least one of the plurality of rollers (121) is a passive roller (121b), the active roller (121a) being configured to drive rotation of each passive roller (121b).

6. The pick-and-place apparatus of claim 1, wherein, The telescopic material moving mechanism (140a) comprises a first support (1411), a second support (1412), a third side stop (1413) and a second driver (1414); The second support (1412) is in sliding fit connection with the first support (1411) along the first direction, the third side stop (1413) is in sliding fit connection with the second support (1412) along the first direction, and the second driver (1414) is configured to drive the third side stop (1413) and the second support (1412) to extend and retract relative to the first support (1411); The first support (1411) of one of the telescopic material moving mechanisms (140a) is connected with the first side stop (131), and the first support (1411) of another telescopic material moving mechanism (140a) is connected with the second side stop (132).

7. The pick-and-place apparatus of claim 6, wherein, The telescopic material moving mechanism (140a) further comprises a first pulley (1421), a second pulley (1422), a first transmission belt (1423), a third pulley (1424), a fourth pulley (1425) and a second transmission belt (1426); The first pulley (1421) and the second pulley (1422) are respectively rotatably connected to the first support (1411), the first pulley (1421) and the second pulley (1422) are spaced apart along the first direction, the second driver (1414) is in driving connection with the first pulley (1421), the first transmission belt (1423), the first pulley (1421) and the second pulley (1422) are in belt transmission connection, and a first connecting portion (14231) of the first transmission belt (1423) is in fixed connection with the second support (1412); The third pulley (1424) and the fourth pulley (1425) are respectively rotatably connected to the second support (1412), the third pulley (1424) and the fourth pulley (1425) are spaced apart along the first direction, and the second transmission belt (1426), the third pulley (1424) and the fourth pulley (1425) are in belt transmission connection; A second connecting portion (14261) and a third connecting portion (14262) of the second transmission belt (1426) are respectively located on two sides of a line connecting the third pulley (1424) and the fourth pulley (1425), the second connecting portion (14261) is in fixed connection with the first support (1411), and the third connecting portion (14262) is in fixed connection with the third side stop (1413).

8. The pick-and-place apparatus of claim 6, wherein, The first side stop (131) is provided with a first side surface (1311) opposite to the second side stop (132), the second side stop (132) is provided with a second side surface (1321) opposite to the first side surface (1311), and a clamping area is formed between the first side surface (1311) and the second side surface (1321); In the second direction, the third side stop (1413) opposite to the first side surface (1311) is located on a side of the second side surface (1321) away from the first side surface (1311), and the third side stop (1413) opposite to the second side surface (1321) is located on a side of the first side surface (1311) away from the second side surface (1321).

9. The pick-and-place apparatus of claim 6, wherein, The telescopic material moving mechanism (140a) further comprises a first stop (1431), a second stop (1432), a third driver (1433) and a fourth driver (1434); The first stop (1431) and the second stop (1432) are arranged at both ends of the third side stop (1413) in the first direction, the third driver (1433) is in driving connection with the first stop (1431) and is used to drive the first stop (1431) to switch between a shielding position and an avoiding position, and the fourth driver (1434) is in driving connection with the second stop (1432) and is used to drive the second stop (1432) to switch between a shielding position and an avoiding position.

10. A handling apparatus, characterised in that, Comprise: A carrying vehicle (200) and the pick-and-place device according to any one of claims 1 to 9, wherein the pick-and-place device is connected to the carrying vehicle (200).

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