Material box taking and placing device, material box robot and warehousing system

Abstract

The utility model provides a workbin taking and placing device which comprises a workbin supporting plate and a fixed base, the workbin supporting plate is arranged on the fixed base and provided with at least one material connecting end, the workbin taking and placing device further comprises a material hook and a material hook driving assembly, and the material hook driving assembly is arranged on the fixed base and provided with at least one material connecting end. The material hook driving assembly is arranged on the fixed base; and the material hook driving assembly is used for driving the material hook to move out of the range of the material box supporting plate from the range of the material box supporting plate through the material connecting end, and driving the material hook to move out of the range of the material box supporting plate through the material connecting end into the range of the material box supporting plate from the range of the material box supporting plate. The utility model further provides the workbin robot and a warehousing system.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of warehousing and logistics, and particularly relates to a material box taking and placing device, a material box robot comprising the material box taking and placing device and a warehousing system. BACKGROUND

[0002] The emergence of the material box robot greatly improves the efficiency of material transfer, sorting and other steps.

[0003] The material box robot generally comprises a moving platform, a portal installed on the moving platform, and a material box taking and placing device arranged on the portal.

[0004] When transferring materials, the material box robot reaches a target position where the materials are stored under the drive of the moving platform, and the material box taking and placing device moves the material box to a tray of the material box taking and placing device. Subsequently, the material box robot transfers the materials to the next material transfer position.

[0005] With the development of warehousing and logistics technology, how to reduce the warehousing cost has become a technical problem to be solved in the field. CONTENT OF THE UTILITY MODEL

[0006] The utility model aims to solve one of the technical problems in the related art to some extent. To this end, the utility model provides a material box taking and placing device, a material box robot comprising the material box taking and placing device and a warehousing system. The material box taking and placing device can take and place closely arranged material boxes, thereby improving the utilization rate of the warehouse and reducing the warehousing cost.

[0007] In order to achieve the above purpose, the utility model discloses a material box taking and placing device, which comprises a material box tray and a fixed base, the material box tray is arranged on the fixed base, wherein the material box tray has at least one material transfer end, the material box taking and placing device further comprises a material hook and a material hook driving assembly, the material hook driving assembly is arranged on the fixed base, and the material hook driving assembly is used to drive the material hook to move from the range of the material box tray via the material transfer end to the range outside the material box tray, and drive the material hook to move from the range outside the material box tray via the material transfer end to the range inside the material box tray.

[0008] Optionally, the material box tray comprises a first sub-tray and a second sub-tray arranged side by side, a gap is formed between the first sub-tray and the second sub-tray, the material transfer end is located at the end of the gap between the first sub-tray and the second sub-tray, the material hook driving assembly is used to drive the material hook to move along the length direction of the gap between the first sub-tray and the second sub-tray, and the material hook protrudes from the material receiving surfaces of the first sub-tray and the second sub-tray.

[0009] Optionally, the first sub-pallet includes a first sub-pallet body and a first guide limiting plate, the second sub-pallet includes a second sub-pallet body and a second guide limiting plate, the first sub-pallet body and the second sub-pallet body are arranged side by side and form a space therebetween, the first guide limiting plate is arranged on the outer side of the first sub-pallet body, the second guide limiting plate is arranged on the outer side of the second sub-pallet body, and the first guide limiting plate and the second guide limiting plate are arranged opposite to each other.

[0010] Optionally, the fixed base includes a first pallet frame and a second pallet frame arranged in a space, the first sub-pallet is arranged on the first pallet frame, and the second sub-pallet is arranged on the second pallet frame.

[0011] The material hook driving assembly includes a chain transmission driving motor and a chain transmission mechanism, the chain transmission mechanism is arranged in the space between the first pallet frame and the second pallet frame, and the material hook is arranged on the chain transmission mechanism.

[0012] The chain transmission driving motor is used to drive the chain transmission mechanism to operate.

[0013] Optionally, the first pallet frame includes a first pallet frame inner side plate, the first sub-pallet is fixed to the top end of the first pallet frame inner side plate, the second pallet frame includes a second pallet frame side plate, the second sub-pallet is fixed to the top end of the second pallet frame inner side plate, the first pallet frame inner side plate and the second pallet frame side plate are arranged opposite to each other, and the space between the first pallet frame inner side plate and the second pallet frame side plate is the space between the first pallet frame and the second pallet frame.

[0014] The chain transmission mechanism includes a first chain transmission mechanism and a second chain transmission mechanism, the first chain transmission mechanism is arranged on the surface of the first pallet frame inner side plate facing the side surface of the second pallet frame, the second chain transmission mechanism is arranged on the surface of the second pallet frame side plate facing the first pallet frame inner side plate, and the transmission chain of the first chain transmission mechanism and the transmission chain of the second chain transmission mechanism have a height difference.

[0015] The material hook is fixedly connected with the transmission chain of the first chain transmission mechanism through a first connecting piece, and the material hook is fixedly connected with the transmission chain of the second chain transmission mechanism through a second connecting piece.

[0016] Optionally, the chain transmission mechanism further includes a chain tensioning assembly, the chain tensioning assembly is arranged on the fixed base, and the chain tensioning assembly is used to tension the transmission chain of at least one of the first chain transmission mechanism and the second chain transmission mechanism.

[0017] Optionally, the material box taking and placing device further comprises a side moving assembly and a mounting base, the mounting base is used for being fixed on the portal frame;

[0018] The side moving assembly is connected between the fixed base and the mounting base, and is used for driving the fixed base to move along the moving direction of the material hook.

[0019] Optionally, the side moving assembly comprises a driving gear and a driving rack engaged with the driving gear;

[0020] The mounting base comprises a fixed connecting part and a bottom plate connected with the fixed connecting part, the fixed connecting part is used for being slidably fixed on the portal frame;

[0021] The fixed base is arranged on the bottom plate, and the fixed base is fixedly connected with the bottom plate through a guide rail guide groove;

[0022] The driving rack is arranged on the bottom plate, and the driving gear is arranged on the fixed base.

[0023] The material box taking and placing device further comprises a support rod assembly, the support rod assembly is located on one side of the material box supporting plate,

[0024] The support rod assembly comprises a support rod driving mechanism, a support rod mounting mechanism and at least one support rod, the support rod mounting mechanism is arranged on the fixed base, the support rod is movably arranged on the support rod mounting mechanism, and the support rod driving mechanism is used for driving the support rod to extend from the end of the material box supporting plate.

[0025] Optionally, the support rod assembly comprises two support rods.

[0026] The support rod driving mechanism comprises a support rod driving motor and a synchronous belt mechanism, the support rod driving motor is used for driving the synchronous belt mechanism to work;

[0027] The support rod mounting mechanism comprises a mounting bottom plate, a first connecting plate, a second connecting plate and two limiting frames, the limiting frames are fixedly arranged on the mounting bottom plate, the two limiting frames are arranged in a width direction of the mounting bottom plate, mounting portions of the two support rods are arranged in the two limiting frames respectively, and the support rods are slidably connected with the mounting bottom plate, and the extension direction of the support rods is consistent with the length direction of the mounting bottom plate;

[0028] Two transmission wheels of the synchronous belt mechanism are rotatably arranged on the mounting bottom plate and are located at two ends of the mounting bottom plate respectively, the first connecting plate and the second connecting plate are fixed at the top and the bottom of the synchronous belt respectively, and the first connecting plate and the second connecting plate are fixedly connected with the two support rods respectively.

[0029] As a second aspect of the utility model, provide a material box robot, the material box robot includes mobile platform, portal and material box taking and placing device, the portal is established on the mobile platform, the material box taking and placing device is established on the portal, wherein, the material box taking and placing device is the material box taking and placing device provided in the first aspect of the utility model.

[0030] As a second aspect of the utility model, provide a warehouse system, the warehouse system includes material box and material box robot, wherein, the material box robot is the material box robot described in the second aspect of the utility model, the bottom of the material box is formed with the flange for cooperating with the material hook.

[0031] The material box taking and placing device provided in the utility model embodiment needs to be used in cooperation with the material box, and the bottom of the material box is formed with the flange for cooperating with the material hook. And when the material box is placed on the shelf, the flange exceeds the edge of the shelf. When taking the material box, the material transfer end of the material box support plate is directed to the corresponding material box, and the material hook is driven by the material hook driving assembly to move from the range of the material box support plate to the flange at the bottom of the material box via the material transfer end. In the case that the material hook hooks the flange at the bottom of the material box, the material hook is driven by the material hook driving assembly to move from the range outside the material box support plate to the range inside the material box support plate via the material transfer end, so as to move the material box to the material support plate. The material hook is connected with the material box at the bottom of the material box, therefore, the interval between the material boxes does not affect the hooking and pulling of the material hook on the material. That is to say, the material boxes can be arranged more closely on the shelf, thereby improving the utilization rate of the warehouse and reducing the overall cost of warehouse logistics.

[0032] The features and advantages of the utility model will be disclosed in detail in the following specific embodiments and drawings. The best embodiment or means of the utility model will be fully manifested in combination with the drawings, but it is not a limitation on the technical scheme of the utility model. In addition, these features, elements and components appearing in each of the following text and drawings are multiple, and different symbols or numbers are marked for the convenience of representation, but all represent the same or similar structure or function parts. BRIEF DESCRIPTION OF DRAWINGS

[0033] The utility model will be further described below in combination with the drawings:

[0034] Figure 1 It is the structural schematic diagram of the material box taking and placing device provided in the utility model embodiment;

[0035] Figure 2 It is the three-dimensional structural schematic diagram of the material hook driving assembly;

[0036] Figure 3 It is the side view schematic diagram of the material hook driving assembly;

[0037] Figure 4 is a schematic diagram showing the movement mode of the material hook;

[0038] Figure 5a is a schematic diagram of a display mounting base and a side shift assembly;

[0039] Figure 5b is a schematic diagram of the structure of a display mounting base;

[0040] Figure 6 is a schematic diagram of the structure of an embodiment of the material box robot provided by the present application;

[0041] Figure 7 is a schematic diagram of the structure of a support rod assembly;

[0042] Figure 8 is a schematic diagram showing the material box robot picking up a material box.

[0043] Explanation of reference signs

[0044] 100: material box support plate 110: first sub-support plate

[0045] 120: second sub-support plate 200: fixed base

[0046] 210: first support plate holder 220: second support plate holder

[0047] 300: material hook 400: material hook driving assembly

[0048] 410: chain transmission mechanism 411: first chain transmission mechanism

[0049] 412: second chain transmission mechanism 420: chain transmission driving motor

[0050] 500: side shift assembly 510: driving gear

[0051] 520: driving rack 600: mounting base

[0052] 700: support rod assembly 710: support rod driving mechanism

[0053] 720: support rod 800: portal frame

[0054] 900: moving platform 10: material box DETAILED DESCRIPTION

[0055] Embodiments of the present application will be described in detail below, examples of which are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. Based on the embodiments in the embodiments, it is intended to explain the present application, and cannot be understood as a limitation of the present application.

[0056] Reference in this specification to "one embodiment" or "an embodiment" or "example" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the disclosure. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment.

[0057] In the related art, when the bin taking and placing device of the bin robot takes and places the bin, the pulling arm of the bin taking and placing device is controlled to move to the side of the bin, and finally the pulling arm is used to pull the material to the tray of the bin taking and placing device. The interval between the bins should be relatively large to allow the pulling arm to be inserted, thereby reducing the utilization rate of the warehouse.

[0058] Therefore, as a first aspect of the present application, a bin taking and placing device is provided, as shown in Figure 1 and Figure 2 The bin taking and placing device includes a bin tray 100 and a fixed base 200, and the bin tray 100 is arranged on the fixed base 200. The bin tray 100 has at least one material interface end. The bin taking and placing device further includes a material hook 300 and a hook driving assembly 400. The hook driving assembly 400 is arranged on the fixed base 200, and the hook driving assembly 400 is used to drive the material hook 300 to move from within the range of the bin tray 100 to outside the range of the bin tray 100 via the material interface end, and to drive the material hook 300 to move from outside the range of the bin tray 100 to within the range of the bin tray 100 via the material interface end.

[0059] It should be noted that the bin taking and placing device provided in the embodiments of the present application needs to be used in cooperation with the bin, and the bottom of the bin is formed with a flange cooperating with the material hook 300. When the bin is placed on the shelf, the flange exceeds the edge of the shelf. When the bin is taken, the material interface end of the bin tray 100 is directed towards the corresponding bin, and the hook driving assembly 400 is used to drive the material hook 300 to move from within the range of the bin tray 100 to the flange at the bottom of the bin via the material interface end. In the case that the material hook 300 hooks the flange at the bottom of the bin, the hook driving assembly 400 is used to drive the material hook 300 to move from outside the range of the bin tray 100 to within the range of the bin tray 100 via the material interface end, thereby moving the bin to the bin tray 100. The material hook 300 is connected to the bin at the bottom of the bin, and therefore, the interval between the bins does not affect the pulling of the material by the material hook 300. That is, the bins can be arranged more closely on the shelf, thereby improving the utilization rate of the warehouse and reducing the overall cost of the warehouse logistics.

[0060] As described above, the magazine pallet 100 has at least one material transfer end. In an alternative embodiment, the magazine pallet 100 has two material transfer ends, which are opposite and respectively located at two ends of the magazine pallet 100, so that the magazine located at the two ends of the magazine pallet 100 can be pulled onto the magazine pallet 100.

[0061] In the embodiment of the utility model, the specific structure of the magazine pallet 100 is not specially limited, as long as it can support the material. Alternatively, as shown in the figure, Figure 1 The magazine pallet 100 includes a first sub-pallet 110 and a second sub-pallet 120 arranged side by side, and a gap is formed between the first sub-pallet 110 and the second sub-pallet 120, and the material transfer end is located at the end of the gap.

[0062] The magazine hook driving assembly 400 is used to drive the movement of the magazine hook 300 in the gap between the first sub-pallet 110 and the second sub-pallet 120 along the length direction of the gap, and the magazine hook 300 protrudes from the material supporting surface of the first sub-pallet 110 and the second sub-pallet 120.

[0063] The magazine hook 300 is arranged between the first sub-pallet 110 and the second sub-pallet 120, which not only improves the compactness of the magazine taking and placing device, but also pulls the magazine to the middle of the magazine pallet 100, improving the stability of the magazine on the magazine pallet 100 in the subsequent material transportation process.

[0064] It should be noted that the material supporting surface is the surface for supporting the magazine, and is also Figure 1 the upper surface of the first sub-pallet 110 and the second sub-pallet 120.

[0065] In the embodiment of the utility model, the specific structure of the first sub-pallet 110 and the second sub-pallet 120 is not specially limited. As shown in the figure, Figure 1 The first sub-pallet 110 includes a first sub-pallet body 111 and a first guide limiting plate 112, and the second sub-pallet 120 includes a second sub-pallet body 121 and a second guide limiting plate 122, the first sub-pallet body 111 and the second sub-pallet body 121 are arranged side by side and form a gap therebetween, the first guide limiting plate 112 is arranged on the outer side of the first sub-pallet body 111, the second guide limiting plate 122 is arranged on the outer side of the second sub-pallet body 121, and the first guide limiting plate 112 and the second guide limiting plate 122 are arranged opposite to each other.

[0066] The main function of the first sub-pallet body 111 and the second sub-pallet body 121 is to support the magazine, and the main role of the first guide limiting plate 112 and the second guide limiting plate 122 is to limit the magazine on the first sub-pallet body 111 and the second sub-pallet body 121.

[0067] In order to guide the material box in the process of hooking the material box, optionally, the thickness of the end of the first sub-pallet body 111 is smaller than the thickness of the middle of the first sub-pallet body 111, so that the openings at both ends of the material box pallet 100 are formed in a substantially trumpet shape.

[0068] In the embodiment of the utility model, the specific structure of the fixed base 200 is not specially limited, and optionally, the fixed base 200 comprises a first pallet frame 210 and a second pallet frame 220 arranged at intervals, the first sub-pallet 110 is arranged on the first pallet frame 210, and the second sub-pallet 120 is arranged on the second pallet frame 220.

[0069] As shown in Figure 2 and Figure 3 As shown in the drawings, the material hook driving assembly 400 comprises a chain transmission mechanism 410 and a chain transmission driving motor 420, the chain transmission mechanism 410 is located in the interval between the first pallet frame 210 and the second pallet frame 220, the material hook 300 is arranged on the chain transmission mechanism 410, and the chain transmission driving motor 420 is used to drive the chain transmission mechanism 410 to operate.

[0070] The chain transmission mechanism 410 has a long stroke, and the material hook 300 can be moved to the back side of the material box pallet 100 along with the transmission chain of the chain transmission mechanism 410, so as to ensure that the material box can be completely hooked on the material box pallet 100.

[0071] As an optional implementation, the first pallet frame 210 comprises a first pallet frame inner side plate 211, the first sub-pallet 110 is fixed to the top end of the first pallet frame inner side plate 211, the second pallet frame 220 comprises a second pallet frame inner side plate 221, the second sub-pallet 120 is fixed to the top end of the second pallet frame inner side plate 221, the first pallet frame inner side plate 211 is arranged opposite to the second pallet frame inner side plate 221, and the interval between the first pallet frame inner side plate 211 and the second pallet frame inner side plate 221 is the interval between the first pallet frame 210 and the second pallet frame 220.

[0072] Correspondingly, the chain transmission mechanism 410 comprises a first chain transmission mechanism 411 and a second chain transmission mechanism 412, the first chain transmission mechanism 411 is arranged on the surface of the first pallet frame inner side plate 211 facing the second pallet frame inner side plate 221, the second chain transmission mechanism 412 is arranged on the surface of the second pallet frame inner side plate 221 facing the first pallet frame inner side plate 211, and the transmission chain of the first chain transmission mechanism 411 and the transmission chain of the second chain transmission mechanism 412 have a height difference.

[0073] In the embodiment of the utility model, the material hook driving assembly 400 further comprises a chain transmission driving motor 420, and the chain transmission driving motor 420 is used to drive the first chain transmission mechanism 411 and the second chain transmission mechanism 412 to act.

[0074] The material hook 300 is fixedly connected to the transmission chain of the first chain transmission mechanism 411 via the first connector, and the material hook 300 is fixedly connected to the transmission chain of the second chain transmission mechanism 412 via the second connector.

[0075] The height difference between the first connector and the second connector ensures that the material hook 300 will not rotate during the transmission of the drive chain.

[0076] Optionally, the chain drive mechanism 410 further includes a chain tensioning assembly 430, which is disposed on the fixed base 200. The chain tensioning assembly 430 is used to tension the drive chain of at least one of the first chain drive mechanism 411 and the second chain drive mechanism 412.

[0077] By tensioning the drive chain using the chain tensioning assembly 430, the maintenance frequency of the drive chain can be reduced. In this embodiment of the invention, the specific form of the chain tensioning mechanism 430 is not particularly limited; for example, the chain tensioning mechanism 430 may include a bar spring.

[0078] In this embodiment of the utility model, the specific structure of the first chain drive mechanism 411 and the second chain drive mechanism 412 is not specifically limited. For example... Figure 2 As shown, the first chain drive mechanism 411 may include a drive sprocket 411a, two idler wheels 411b fixed on the inner side plate 211 of the first pallet frame, and two tensioning wheels 411c fixed on the inner side plate 211 of the first pallet frame. The drive chain passes around the two idler wheels 411b, and the two tensioning wheels 411c are arranged outside the drive chain and are located on both sides of the drive sprocket 411a respectively. The chain drive drive motor 420 directly drives the drive sprocket 411a to rotate.

[0079] To reduce the overall weight, at least one weight-reducing hole can be provided on both the outer side plate 212 of the first pallet frame and the outer side plate 222 of the second pallet frame.

[0080] To improve the alignment accuracy between the material hook 300 and the flange at the bottom of the hopper, optionally, such as Figure 5a As shown, the bin loading and unloading device also includes a side-shifting component 500 and a mounting base 600, the mounting base 600 being used to fix it on the gantry 800.

[0081] The lateral shifting component 500 is connected between the fixed base 200 and the mounting base 600, and the lateral shifting component 500 is used to drive the fixed base 200 to move along the moving direction of the material hook.

[0082] like Figure 5bAs shown, the first pallet frame 210 also includes a first pallet frame outer side plate 212 and a first pallet frame connecting plate 213. The first pallet frame outer side plate 212 is disposed on the outside of the first pallet frame inner side plate 211. The first pallet frame connecting plate 213 is connected between the first pallet frame outer side plate 212 and the first pallet frame inner side plate 211. The first sub-pallet 110 is fixed at the top of the first pallet frame outer side plate 212 and the first pallet frame inner side plate 211.

[0083] The second pallet frame 220 also includes a second pallet frame outer side plate 222 and a second pallet frame connecting plate 223. The second pallet frame outer side plate 222 is disposed outside the second pallet frame inner side plate 221. The second pallet frame connecting plate 223 is connected between the second pallet frame outer side plate 222 and the second pallet frame inner side plate 221. The second sub-pallet 120 is fixed to the top of the second pallet frame outer side plate 222 and the second pallet frame inner side plate 221.

[0084] exist Figure 5b In the first pallet frame, a guide rail is provided on the bottom surface of the outer side plate 212, and correspondingly, a guide groove matching the guide rail is provided on the mounting base 600; a guide rail is provided on the bottom surface of the outer side plate 222 of the second pallet frame, and correspondingly, a guide groove matching the guide rail is provided on the mounting base 600.

[0085] The inner side plate 211 of the first pallet frame and the inner side plate 221 of the second pallet frame are connected by a connecting rod.

[0086] When the distance between the material transfer end of the material box pallet 100 and the material box is relatively large, and the material hook cannot hook the flange at the bottom of the material box, the lateral shift component 500 can be used to drive the fixed base 200 to move toward the material box so that the material hook 300 can successfully hook the flange at the bottom of the material box.

[0087] In this embodiment of the invention, the specific structure of the lateral displacement component 500 is not specifically limited, as long as it can drive the fixed base 200 to move linearly. For example, Figure 5a As shown, the lateral displacement assembly 500 may include a drive gear 510 and a drive rack 520 meshing with the drive gear 510.

[0088] like Figure 6 As shown, the mounting base 600 includes a fixed connection portion 610 and a base plate 620 connected to the fixed connection portion 610. The fixed connection portion 610 is slidably fixed to the gantry 800. Specifically, the fixed connection portion 610 can slide along the height direction of the gantry 800.

[0089] The fixed base 200 is mounted on the base plate 620, and the fixed base 200 is fixedly connected to the base plate 620 by means of guide rail and guide groove.

[0090] The driving rack 520 is arranged on the bottom plate 620, and the driving gear 510 is arranged on the fixed base 200.

[0091] By driving the driving gear 510 to rotate, the fixed base 200 can be linearly moved along the guide groove under the cooperation of the driving rack 520.

[0092] In the embodiment of the utility model, the driving gear 510 can be driven to rotate by the side moving motor 530.

[0093] In order to guarantee the stability of the material box robot in the process of hooking and pulling the material, optionally, as shown in Figure 7 and Figure 8 The material box taking and placing device further comprises a support rod assembly 700, and the support rod assembly 700 is located at one side of the material box supporting plate 100.

[0094] The support rod assembly 700 can comprise a support rod driving mechanism 710, a support rod mounting mechanism 730 and at least one support rod 720. The support rod mounting mechanism 730 is arranged on the fixed base 200, the support rod 720 is movably arranged on the support rod mounting mechanism 730, and the support rod driving mechanism 710 is used for driving the support rod 720 to extend from the end of the material box supporting plate 100.

[0095] After the support rod 720 extends from the end of the material box supporting plate 100, the support rod 720 can abut against the adjacent storage shelf, so as to guarantee the stability of the material box robot in the process of hooking and pulling the material box.

[0096] Optionally, the support rod assembly comprises two support rods 720, and the support rod driving mechanism 710 is used for moving the two support rods 720 in opposite directions.

[0097] Specifically, the support rod driving mechanism 710 comprises a support rod driving motor 711 and a synchronous belt mechanism 712, and the support rod driving motor 711 is used for driving the synchronous belt mechanism 712 to operate.

[0098] The support rod mounting mechanism 730 comprises a mounting bottom plate 731, a first connecting plate 733, a second connecting plate (not shown) and two limiting frames 732. The limiting frames 732 are fixedly arranged on the mounting bottom plate 731, the two limiting frames 732 are arranged in a width direction of the mounting bottom plate 731, the mounting portions of the two support rods 720 are arranged in the two limiting frames 732 respectively, the support rod 720 is slidably connected with the mounting bottom plate 731, and the extension direction of the support rod 720 is consistent with the length direction of the mounting bottom plate 731.

[0099] The two transmission wheels of the synchronous belt mechanism 712 are rotatably arranged on the mounting bottom plate 731 and are located at two ends of the mounting bottom plate 731 respectively, and the first connecting plate 733 and the second connecting plate are fixed at the top and bottom of the synchronous belt respectively, and the first connecting plate 733 and the second connecting plate are fixedly connected with the two supporting rods 720 respectively.

[0100] As shown in Figure 7 the first connecting plate 733 moves to the left and drives the corresponding supporting rod 720 to extend to the left, and correspondingly, the second connecting plate moves to the right and drives the corresponding supporting rod 720 to extend to the right.

[0101] In the embodiment of the utility model, the limiting frame 732 can avoid the supporting rod 720 from being pulled out of the mounting bottom plate 731, and maintain the stability and compactness of the overall structure of the supporting rod assembly 700.

[0102] It should be pointed out that the material box taking and placing device moves along the height direction of the portal frame 800, and correspondingly, a rolling wheel can be arranged at the free end of the supporting rod 720, so as to facilitate the movement of the supporting rod 720 along the storage rack on which the supporting rod 720 abuts.

[0103] In the embodiment shown in Figure 1 , the supporting rod assembly 700 further comprises an assembly housing 740 which cooperates with the mounting bottom plate 731 to define a containing cavity, and the limiting frame 732 and the supporting rod driving mechanism 710 are arranged in the containing cavity.

[0104] As a second aspect of the utility model, a material box robot is provided, as shown in Figure 6 and Figure 8 , the material box robot comprises a moving platform 900, a portal frame 800 and a material box taking and placing device, the portal frame 800 is arranged on the moving platform 900, and the material box taking and placing device is arranged on the portal frame, wherein the material box taking and placing device is the material box taking and placing device provided in the first aspect of the utility model.

[0105] As a third aspect of the utility model, a warehouse system is provided, the warehouse system comprises a material box 10 and a material box robot, wherein the material box robot is the material box robot provided in the second aspect of the utility model, and the bottom of the material box is provided with a flange for cooperating with the material hook.

[0106] The principle and beneficial effects of the material box taking and placing device have been described in detail above, and will not be repeated here.

[0107] The above merely illustrates the specific implementation of the present application, but the protection scope of the present application is not limited to this, and the skilled in the art should understand that the present application includes but is not limited to the content described in the drawings and the above specific implementation. Any modification not deviating from the function and structural principle of the present application will be included in the scope of the claims.

Claims

1. A magazine taking-out device comprising a magazine pallet (100) and a fixed base (200), the magazine pallet (100) being provided on the fixed base (200), characterized in that, The material box supporting plate (100) has at least one material transfer end, and the material box taking and placing device further comprises a material hook (300) and a material hook driving assembly (400), the material hook driving assembly (400) is arranged on the fixed base (200), and the material hook driving assembly (400) is used for driving the material hook (300) to move from the range of the material box supporting plate (100) to the range outside the material box supporting plate (100) via the material transfer end and to move from the range outside the material box supporting plate (100) to the range of the material box supporting plate (100) via the material transfer end.

2. The magazine handling apparatus according to claim 1, characterized in that The material box supporting plate (100) comprises a first sub-supporting plate (110) and a second sub-supporting plate (120) arranged side by side, a space is formed between the first sub-supporting plate (110) and the second sub-supporting plate (120), the material transfer end is located at the end of the space between the first sub-supporting plate (110) and the second sub-supporting plate (120), the material hook driving assembly (400) is used for driving the material hook (300) to move in the space between the first sub-supporting plate (110) and the second sub-supporting plate (120) along the length direction of the space, and the material hook (300) protrudes from the material receiving surfaces of the first sub-supporting plate (110) and the second sub-supporting plate (120).

3. The magazine handling apparatus of claim 2, wherein The first sub-supporting plate (110) comprises a first sub-supporting plate body (111) and a first guide limiting plate (112), the second sub-supporting plate (120) comprises a second sub-supporting plate body (121) and a second guide limiting plate (122), the first sub-supporting plate body (111) and the second sub-supporting plate body (121) are arranged side by side and form a space therebetween, the first guide limiting plate (112) is arranged outside the first sub-supporting plate body (111), the second guide limiting plate (122) is arranged outside the second sub-supporting plate body (121), and the first guide limiting plate (112) and the second guide limiting plate (122) are arranged oppositely.

4. The magazine handling apparatus of claim 2, wherein The fixed base (200) comprises a first supporting plate frame (210) and a second supporting plate frame (220) arranged in a space, the first sub-supporting plate (110) is arranged on the first supporting plate frame (210), the second sub-supporting plate (120) is arranged on the second supporting plate frame (220), The material hook driving assembly (400) comprises a chain transmission driving motor (420) and a chain transmission mechanism (410), the chain transmission mechanism (410) is located in the space between the first supporting plate frame (210) and the second supporting plate frame (220), and the material hook (300) is arranged on the chain transmission mechanism (410); The chain transmission driving motor (420) is used for driving the chain transmission mechanism (410) to operate.

5. The magazine handling apparatus of claim 4, wherein The first supporting plate frame (210) comprises a first supporting plate frame inner side plate (211), and the first sub-supporting plate (110) is fixed at the top end of the first supporting plate frame inner side plate (211); the second supporting plate frame (220) comprises a second supporting plate frame inner side plate (221), and the second sub-supporting plate (120) is fixed at the top end of the second supporting plate frame inner side plate (221); the first supporting plate frame inner side plate (211) is arranged opposite to the second supporting plate frame inner side plate (221), and the interval between the first supporting plate frame inner side plate (211) and the second supporting plate frame inner side plate (221) is the interval between the first supporting plate frame (210) and the second supporting plate frame (220); The chain transmission mechanism (410) comprises a first chain transmission mechanism (411) and a second chain transmission mechanism (412); the first chain transmission mechanism (411) is arranged on the surface of the first supporting plate frame inner side plate (211) facing the second supporting plate frame inner side plate (221); the second chain transmission mechanism (412) is arranged on the surface of the second supporting plate frame inner side plate (221) facing the first supporting plate frame inner side plate (211); and the transmission chain of the first chain transmission mechanism (411) has a height difference with the transmission chain of the second chain transmission mechanism (412). The material hook (300) is fixedly connected with the transmission chain of the first chain transmission mechanism (411) through a first connecting piece, and the material hook (300) is fixedly connected with the transmission chain of the second chain transmission mechanism (412) through a second connecting piece.

6. The magazine handling apparatus of claim 5, wherein The chain transmission mechanism (410) further comprises a chain tensioning assembly (430) arranged on the fixed base (200), and the chain tensioning assembly (430) is used for tensioning the transmission chain of at least one of the first chain transmission mechanism (411) and the second chain transmission mechanism (412).

7. The magazine handling apparatus according to any one of claims 1 to 6, characterized in that, The material box taking and placing device further comprises a side moving assembly (500) and a mounting base (600), and the mounting base (600) is used for being fixed on the portal frame (800); The side moving assembly (500) is connected between the fixed base (200) and the mounting base (600), and the side moving assembly (500) is used for driving the fixed base (200) to move along the moving direction of the material hook (300).

8. The magazine handling apparatus of claim 7, wherein The side moving assembly (500) comprises a driving gear (510) and a driving rack (520) engaged with the driving gear (510); The mounting base (600) comprises a fixed connecting part (610) and a bottom plate (620) connected with the fixed connecting part (610); the fixed connecting part is used for being slidably fixed on the portal frame (800); The fixed base (200) is arranged on the bottom plate (620), and the fixed base (200) is fixedly connected with the bottom plate (620) through a guide rail guide groove cooperation mode; The driving rack (520) is arranged on the bottom plate (620), and the driving gear is arranged on the fixed base (200).

9. The magazine handling apparatus according to any one of claims 1 to 6, characterized in that, The hopper taking and placing device further comprises a support rod assembly (700) located at one side of the hopper supporting plate (100), The support rod assembly (700) comprises a support rod driving mechanism (710), a support rod mounting mechanism (730) and at least one support rod (720), the support rod mounting mechanism (730) is arranged on the fixed base (200), the support rod (720) is movably arranged on the support rod mounting mechanism (730), and the support rod driving mechanism (710) is used for driving the support rod (720) to extend from the end of the hopper supporting plate (100).

10. The magazine handling apparatus of claim 9, wherein, The support rod assembly (700) comprises two support rods (720), The support rod driving mechanism (710) comprises a support rod driving motor (711) and a synchronous belt mechanism (712), the support rod driving motor (711) is used for driving the synchronous belt mechanism (712) to work; The support rod mounting mechanism (730) comprises a mounting bottom plate (731), a first connecting plate (733), a second connecting plate and two limiting frames (732), the limiting frames (732) are fixedly arranged on the mounting bottom plate (731), the two limiting frames (732) are arranged at intervals along the width direction of the mounting bottom plate (731), the mounting portions of the two support rods (720) are arranged in the two limiting frames (732) respectively, and the support rod (720) is slidably connected with the mounting bottom plate (731), the extension direction of the support rod (720) is consistent with the length direction of the mounting bottom plate (731); The two transmission wheels of the synchronous belt mechanism (712) are rotatably arranged on the mounting bottom plate (731) and are located at two ends of the mounting bottom plate (731) respectively, the first connecting plate (733) and the second connecting plate are fixed at the top and the bottom of the synchronous belt respectively, and the first connecting plate (733) and the second connecting plate are fixedly connected with the two support rods (720) respectively.

11. A magazine robot comprising a mobile platform (900), a portal (800) provided on the mobile platform (900), and a magazine taking and placing device provided on the portal (800) and movable in a height direction of the portal (800), characterized in that, The hopper taking and placing device is the hopper taking and placing device according to any one of claims 1 to 10.

12. A warehousing system comprising bins (10) and bin robots, characterized in that, The hopper robot is the hopper robot according to claim 11, and a flange for cooperating with the material hook (300) is formed at the bottom of the hopper (10).

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