Photographing device and workbin taking and placing robot

Abstract

The utility model provides a photographing device and a work bin taking and placing robot, relates to the field of automatic material transportation, and aims to improve the range of bar code recognition of a camera. The photographing device comprises a bearing base, a first support, a second support, a camera, a first driving mechanism and a second driving mechanism. The bearing base comprises a bearing top plate. The first support is connected with a bearing top plate of the bearing base. The second support is connected with the first support. The camera is connected with the surface of the second support away from the first support. The first driving mechanism is connected with the bearing base and the first support, the first driving mechanism is configured to drive the first support to rotate around a first axis relative to the bearing base, and the direction of the first axis is perpendicular to the plane of the bearing top plate. The second driving mechanism is connected with the first support and the second support, the second driving mechanism is configured to drive the second support to rotate around a second axis, and the second axis is parallel to the extending direction of the bearing top plate and perpendicular to the first axis.

Description

Technical Field

[0001] This utility model relates to the field of automated material transportation, specifically to a photographing device and a bin picking and placing robot. Background Technology

[0002] Currently, in the fields of industrial production and automated logistics, with the increasing demand for automated material handling and storage, automated equipment such as bin picking and placing robots are widely used in warehousing and production lines.

[0003] When a bin-picking robot retrieves or places goods from a warehouse, it needs to identify and confirm the materials. This process is usually achieved by using a camera mounted on the bin-picking robot to take a picture of the barcode on the bin.

[0004] However, due to the variety of bin sizes and the inconsistent placement of barcodes, cameras often fail to recognize the barcodes, severely impacting the accurate identification and tracking of materials. Utility Model Content

[0005] This utility model provides a photographing device and a bin-handling robot, which aims to improve the range of barcode recognition by the camera.

[0006] To achieve the above objectives, the embodiments of this utility model adopt the following technical solutions:

[0007] In a first aspect, this application provides a photographing device, comprising a support base, a first bracket, a second bracket, a camera, a first driving mechanism, and a second driving mechanism. The support base includes a support top plate. The first bracket is connected to the support top plate of the support base. The second bracket is connected to the first bracket. The camera is connected to the surface of the second bracket away from the first bracket. The first driving mechanism is connected to the support base and the first bracket, and is configured to drive the first bracket to rotate relative to the support base about a first axis, the direction of which is perpendicular to the plane of the support top plate. The second driving mechanism is connected to the first bracket and the second bracket, and is configured to drive the second bracket to rotate about a second axis, the second axis being parallel to the extension direction of the support top plate and perpendicular to the first axis.

[0008] The photographing device provided in this application, through the arrangement of a first driving mechanism and a second driving mechanism, enables the camera to rotate around a first axis and a second axis, thereby allowing the camera to flexibly adjust its photographing direction at multiple angles and improving the comprehensiveness of barcode scanning. The camera is mounted on a supporting top plate via a first bracket and a second bracket, and the combined design of the first and second brackets allows for positioning at greater heights and wider angles, further enhancing operational flexibility. Because the photographing device provided in this application can rotate along multiple axes, it is suitable for complex industrial scenarios, such as multi-angle inspection of products on assembly lines and rapid automatic identification of items in logistics, improving operational efficiency and automation.

[0009] In one possible implementation, the first drive mechanism includes a first gear, a second gear, and a first motor. A first support includes a top wall connected to a supporting top plate. The first gear and the second gear are disposed on the supporting top plate, the first gear being connected to the first motor and meshing with it. The first motor is configured to drive the first gear to rotate, thereby causing the second gear to rotate. The second gear is connected to the top wall of the first support and is configured to drive the top wall of the first support to rotate relative to the supporting top plate.

[0010] In one possible implementation, the first drive mechanism further includes a first guide rod and a second guide rod. One end of the first guide rod is connected to the central shaft of the first motor, and the other end is connected to the first gear. The first motor can drive the first guide rod to rotate, and the first guide rod can drive the first gear to rotate. The extension direction of the first guide rod is parallel to the extension direction of the first axis. The first end of the second guide rod is connected to the second gear, and the second end of the second guide rod passes through the supporting top plate and connects to the top wall.

[0011] In one possible implementation, the second drive mechanism includes a third gear, a fourth gear, and a second motor. The first support includes a first sidewall and a second sidewall, and the second support includes a third sidewall and a fourth sidewall. The third and fourth gears are disposed on the first sidewall, connected to the second motor, and meshed. The second motor is configured to drive the third gear to rotate, thereby driving the fourth gear to rotate. The fourth gear is connected to the third and fourth sidewalls and is configured to drive the second support to rotate relative to the first support.

[0012] In one possible implementation, the second drive mechanism further includes a third guide rod and a fourth guide rod. One end of the third guide rod is connected to the central shaft of the second motor, and the other end is connected to a third gear. The second motor can drive the third guide rod to rotate, and the third guide rod can drive the third gear to rotate. The extension direction of the third guide rod is parallel to the extension direction of the second axis. The first end of the fourth guide rod is connected to the fourth gear, and the second end of the fourth guide rod passes through the first sidewall and connects to the third sidewall.

[0013] As one possible implementation, the first drive mechanism also includes a first bearing housing, which is sleeved on the first end of the second guide rod.

[0014] As one possible implementation, the second drive mechanism also includes a second bearing housing, which is sleeved on the first end of the fourth guide rod.

[0015] As one possible implementation, the radius of the first gear is smaller than the radius of the second gear.

[0016] As one possible implementation, the radius of the third gear is smaller than the radius of the fourth gear.

[0017] Secondly, this application also provides a bin-handling robot. The bin-handling device includes a picking and delivering device, a moving device, and a photographing device as mentioned in the first aspect and its possible implementations. The photographing device is connected to the picking and delivering device, and the moving device is connected to the picking and delivering device. The photographing device is configured to adjust the camera field of view in the photographing device to face the barcode on the bin before the bin-handling robot picks and delivers the bin.

[0018] In one possible implementation, the receiving and delivering device includes a supporting mechanism and a telescopic mechanism. The supporting mechanism is connected to the telescopic mechanism. The supporting mechanism includes a supporting base plate, a fifth side wall, and a sixth side wall, which are positioned opposite each other on one side of the supporting base plate. The telescopic mechanism includes a first telescopic plate, a second telescopic plate, a first fork, a second fork, and a third fork. The first telescopic plate is movably connected to the fifth side wall, and the second telescopic plate is movably connected to the sixth side wall. The first end of the first telescopic plate is connected to the first end of the second telescopic plate via the first fork, the second end of the first telescopic plate is connected to the second fork, and the second end of the second telescopic plate is connected to the third fork. The supporting base of the photographing device is mounted between the fifth and sixth side walls, with the camera positioned close to the telescopic mechanism relative to the supporting base.

[0019] As one possible implementation, the bin-handling robot also includes a rotating device, a power unit, and a storage device. The moving device includes a base plate and a support frame, with the support frame connected to the base plate. The extension direction of the support frame is perpendicular to the base plate. The rotating device is located on the upper side of the base plate, and a supporting mechanism is located on the rotating device. The rotating device is configured as a rotating picking and delivering device. A guide rail is provided on the support frame, and a slider is provided on the guide rail. The picking and delivering device is connected to the slider. The power unit is connected to the picking and delivering device and is configured to control the picking and delivering device to move up and down along the guide rail. The storage device is located on the upper side of the base plate and is configured to store the goods picked up by the picking and delivering device. The beneficial effects of the second aspect and its specific implementation can be referred to the beneficial effects of the first aspect, and will not be repeated here. Attached Figure Description

[0020] Figure 1A schematic diagram of a photographing device provided in an embodiment of this application;

[0021] Figure 2 An exploded view of a photographing device provided in an embodiment of this application;

[0022] Figure 3 A schematic diagram of a material box picking and placing device at an angle provided in an embodiment of this application;

[0023] Figure 4 A schematic diagram of a bin loading and unloading device from another angle provided in an embodiment of this application;

[0024] Figure 5 This is a schematic diagram of another bin loading and unloading device provided in an embodiment of this application. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0026] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0027] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances. Furthermore, when describing pipelines, the terms "connected" and "linked" in this utility model have the meaning of establishing conductivity. The specific meaning needs to be understood in conjunction with the context.

[0028] In this embodiment of the invention, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" or "for example" in this embodiment of the invention should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0029] Currently, in the fields of industrial production and automated logistics, with the increasing demand for automated material handling and storage, automated equipment such as bin-pickup robots are widely used in warehousing and production lines. These devices achieve precise bin-pickup and drop-off operations through robotic arms or other automated components. However, existing bin-pickup and drop-off equipment still has some technical bottlenecks and shortcomings in practical applications.

[0030] When a bin-handling robot retrieves goods from the warehouse, the materials need to be identified and confirmed. This process is usually achieved by using a camera mounted on the robot to photograph the barcode on the bin. However, due to the variety of bin sizes and the non-fixed location of the barcode, the camera often fails to recognize the barcode, seriously affecting the accurate identification and tracking of materials, and leading to errors in subsequent processes and reduced work efficiency.

[0031] In view of this, embodiments of this application provide a photographing device, exemplarily, such as... Figure 1 As shown. The photographing device 100 includes a support base 1, a first bracket 2, a second bracket 3, a camera 4, a first drive mechanism 5, and a second drive mechanism 6. The support base 1 includes a support top plate 11. The first bracket 2 is connected to the support top plate 11 of the support base 1. The second bracket 3 is connected to the first bracket 2. The camera 4 is connected to the surface of the second bracket 3 away from the first bracket 2. The first drive mechanism 5 is connected to the support base 1 and the first bracket 2, and is configured to drive the first bracket 2 to rotate relative to the support base 1 about a first axis L1, the direction of which the first axis L1 is perpendicular to the plane of the support top plate 11. The second drive mechanism 6 is connected to the first bracket 2 and the second bracket 3, and is configured to drive the second bracket 3 to rotate about a second axis L2, the direction of which is perpendicular to the extension direction of the support top plate. Figure 1 The double arrows in the middle indicate the extension direction of the supporting top plate, which is parallel to and perpendicular to the first axis L1.

[0032] The photographing device 100 provided in this application, through the arrangement of the first driving mechanism 5 and the second driving mechanism 6, enables the camera 4 to rotate around the first axis L1 and the second axis L2 respectively, thereby allowing the camera 4 to flexibly adjust the photographing direction at multiple angles and improving the comprehensiveness of barcode scanning. For example, the camera 4 achieves horizontal movement of the camera's field of view by rotating around the first axis L1, and vertical movement of the camera's field of view by rotating along the direction of the second axis L2. The camera 4 is mounted on the supporting top plate 11 via the first bracket 2 and the second bracket 3, allowing for positioning at greater heights and wider angles through the combined design of the first bracket 2 and the second bracket 3, further enhancing operational flexibility. Because the photographing device 100 provided in this application can perform multi-axis rotation, it is suitable for complex industrial scenarios, such as multi-angle detection of products on assembly lines and rapid automatic identification of items in logistics. Operators can achieve fully automatic adjustment of the photographing device through an automated system, eliminating the need for tedious manual adjustment of the camera 4's direction, thus simplifying the operation process, saving time and costs, and improving operational efficiency and automation.

[0033] In some embodiments, such as Figure 2 As shown, the first drive mechanism includes a first gear 51, a second gear 52, and a first motor 53. The first support 2 includes a top wall 21, which is connected to a supporting top plate 11. The first gear 51 and the second gear 52 are disposed on the supporting top plate 11. The first gear 51 is connected to the first motor 53, and the first gear 51 and the second gear 52 mesh. The first motor 53 is configured to drive the first gear 51 to rotate, thereby driving the second gear 52 to rotate. The second gear 52 is connected to the top wall 21 of the first support 2, and the second gear 52 is configured to drive the top wall 21 of the first support 2 to rotate relative to the supporting top plate 11.

[0034] The first motor 53 drives the first gear 51 to rotate. Since the first gear 51 and the second gear 52 mesh, the rotation of the first gear 51 drives the rotation of the second gear 52. Because the top wall 21 is connected to the supporting top plate 11, and the second gear 52 is connected to the top wall 21 of the first bracket 2, the rotation of the second gear 52 drives the first bracket 2 to rotate relative to the supporting top plate 11 along the first axis, thereby driving the camera mounted on the first bracket 2 to rotate, realizing horizontal framing and shooting.

[0035] High-precision rotational control of the first drive mechanism is achieved through gear meshing. The arrangement of the first gear 51 and the second gear 52 not only effectively transmits the rotational torque of the first motor 53, but also improves rotational accuracy through the setting of the gear ratio. This precise control design ensures that the imaging device can achieve more accurate angle adjustments in complex working environments, ensuring the accuracy of the imaging position.

[0036] The gear transmission structure possesses excellent impact resistance and stability, ensuring smooth transmission even during prolonged operation of the imaging device and reducing equipment damage caused by vibration or uneven torque. This helps extend the equipment's lifespan and reduce maintenance costs. Furthermore, the cooperation between gears and the motor enables rotational control, allowing for a wide range of rotational angle adjustments within a relatively small device size, reducing the space occupied and improving space utilization.

[0037] Since the first bracket 2 can rotate around the first axis, the camera can be adjusted at any angle in a plane perpendicular to the top plate 11, adapting to more usage scenarios and greatly improving its flexibility.

[0038] In some embodiments, such as Figure 2 As shown, the second drive mechanism includes a third gear 61, a fourth gear 62, and a second motor 63. The first bracket includes a first sidewall 22 and a second sidewall 23, and the second bracket includes a third sidewall 31 and a fourth sidewall 32. The third gear 61 and the fourth gear 62 are disposed on the first sidewall 22, and the third gear 61 is connected to the second motor 63, with the third gear 61 and the fourth gear 62 meshing. The second motor 63 is configured to drive the third gear 61 to rotate, thereby driving the fourth gear 62 to rotate. The fourth gear 62 is connected to the third sidewall 31 and the fourth sidewall 32, and the fourth gear 62 is configured to drive the second bracket to rotate relative to the first bracket.

[0039] As one possible implementation, such as Figure 2 As shown, the first drive mechanism also includes a first guide rod 54 and a second guide rod 55. One end of the first guide rod 54 is connected to the central shaft of the first motor 53, and the other end of the first guide rod 54 is connected to the first gear 51. The first motor 53 can drive the first guide rod 54 to rotate, and the first guide rod 54 can drive the first gear 51 to rotate. The extension direction of the first guide rod 54 is parallel to the extension direction of the first axis. The first end of the second guide rod 55 is connected to the second gear 52, and the second end of the second guide rod 55 passes through the supporting top plate 11 and is connected to the top wall 21.

[0040] The central shaft of the first motor 53 drives the first guide rod 54 to rotate. Since the first guide rod 54 is connected to the first gear 51, the first gear 51 also rotates as the first guide rod 54 rotates. Since the second gear 52 is connected to the first end of the second guide rod 55, and the second end of the second guide rod 55 passes through the supporting top plate 11 and is connected to the top wall 21, the second guide rod 55 also rotates as the second gear 52 rotates, thereby driving the first bracket fixed to the second guide rod 55 to rotate around the first axis. Since the camera is mounted on the first bracket through the second bracket, the camera also rotates around the first axis as the first bracket rotates around the first axis.

[0041] The interconnected control of the first gear 51, the second gear 52, the first motor 53, the first guide rod 54, and the second guide rod 55 makes the entire first drive mechanism more stable, reducing the vibration and instability that may occur when the motor directly drives the gears. At the same time, the cooperation of the first guide rod 54 and the second guide rod 55 improves the transmission efficiency of rotational motion, enabling the imaging device to maintain stable rotation over a large angle range.

[0042] The second motor 63 drives the third gear 61 to rotate. Since the third gear 61 and the fourth gear 62 mesh, the rotation of the third gear 61 drives the rotation of the fourth gear 62. Because the second bracket includes a third side wall 31 and a fourth side wall 32, and the fourth gear 62 is connected to the third side wall 31 and the fourth side wall 32, the rotation of the fourth gear 62 drives the second bracket to rotate along the second axis, thereby driving the camera mounted on the second bracket to rotate, achieving vertical framing and shooting.

[0043] As one possible implementation, such as Figure 2 As shown, the second drive mechanism also includes a third guide rod 64 and a fourth guide rod 65. One end of the third guide rod 64 is connected to the central shaft of the second motor 63, and the other end is connected to the third gear 61. The second motor 63 can drive the third guide rod 64 to rotate, and the third guide rod 64 can drive the third gear 61 to rotate. The extension direction of the third guide rod 64 is parallel to the extension direction of the second axis. The first end of the fourth guide rod 65 is connected to the fourth gear 62, and the second end of the fourth guide rod 65 passes through the first sidewall 22 and the third sidewall 31. The second axis L2 is parallel to the extension direction of the supporting top plate and perpendicular to the first axis L1. The extension direction of the supporting top plate 11 is as follows... Figure 2 As shown by the double-headed arrow in the image.

[0044] The central shaft of the second motor 63 drives the third guide rod 64 to rotate. Since the third guide rod 64 is connected to the third gear 61, the rotation of the third guide rod 64 can drive the rotation of the third gear 61. Since the first end of the fourth guide rod 65 is connected to the fourth gear 62, and the second end of the fourth guide rod 65 passes through the first side wall 22 and the third side wall 31, when the fourth gear 62 rotates due to meshing with the third gear 61, it can drive the fourth guide rod 65 to rotate. The fourth guide rod 65 drives the second bracket fixed to it to rotate around the second axis. Since the camera is mounted on the second bracket, the camera also rotates accordingly.

[0045] In some embodiments, such as Figure 2As shown, the first drive mechanism further includes a first bearing housing 56, which is sleeved on the first end of the second guide rod 55. The second drive mechanism further includes a second bearing housing 66, which is sleeved on the first end of the fourth guide rod 65.

[0046] The introduction of the first bearing housing 56 and the second bearing housing 66 reduces friction on the guide rod during rotation, ensuring smoother and more stable rotation over extended periods, thus extending the lifespan of the imaging device. Furthermore, the bearing housings provide excellent self-lubrication and support, reducing guide rod misalignment caused by friction and ensuring precise angle adjustment during rotation. This improves the overall rotational accuracy of the imaging device, particularly in high-precision positioning applications, ensuring stable task execution.

[0047] As one possible implementation, the radius of the first gear is smaller than that of the second gear, and the radius of the third gear is smaller than that of the fourth gear. Because the radius of the first gear is smaller than that of the second gear, increasing the gear ratio allows the first drive mechanism to obtain greater torque while maintaining the same power output from the first motor. The larger difference in gear radii can alleviate the high-speed rotation of the motor, reduce vibrations caused by excessively fast gear meshing speeds, and ensure smooth camera operation. The beneficial effects of setting the radii of the third and fourth gears are the same as those of setting the radii of the first and second gears, and will not be elaborated upon here.

[0048] This application also provides a bin-handling robot, exemplarily, combined with Figure 3 and Figure 5 The bin-handling robot 200 includes a picking and delivering device 50, a moving device 9, and a photographing device 100 as described above. The photographing device 100 is connected to the picking and delivering device 50, and the moving device 9 is also connected to the picking and delivering device 50. The picking and delivering device 50 is used to retrieve bins from a target area in the warehouse or to place bins into a designated area in the warehouse. The moving device 9 is responsible for the overall movement of the bin-handling robot. The photographing device 100 scans the barcode on the bin to confirm whether the picked and delivered bin is correct. The photographing device 100 is configured to adjust the camera's field of view to face the bin barcode before the bin-handling robot picks and delivers the bin.

[0049] Because the camera in the imaging device can rotate horizontally around the first axis and vertically around the second axis, the scanning range of the camera is greatly increased, enabling it to identify barcodes affixed to different locations in the bin, thus ensuring the accuracy of bin placement and retrieval.

[0050] As one possible implementation, the camera rotation strategy for the photographing device 100 includes:

[0051] When the camera can scan and recognize the barcode of the material box from its initial position on the pick-up and delivery device 50, no field of view movement is required. When the camera cannot scan and recognize the barcode of the material box from its initial position on the pick-up and delivery device 50, the field of view is moved until the barcode of the material box can be scanned and recognized. Regarding the camera's field of view movement, the camera provided in this application can rotate around a first axis for horizontal field of view movement, and can also rotate along a second axis for vertical field of view movement. These two different field of view movement directions can operate independently or in combination. The angle changes of the horizontal and vertical field of view movement support both uniform and non-uniform changes, with the aim of being able to scan and recognize the barcode of the material box. It should be understood that the camera's field of view is not only capable of recognition when directly facing the barcode of the material box; recognition may be completed even if the camera only captures a portion of the barcode.

[0052] In some embodiments, exemplarily, such as Figure 4 As shown. The picking and delivering device includes a carrying mechanism 7 and a telescopic mechanism 8. The carrying mechanism 7 is connected to the telescopic mechanism 8. The carrying mechanism 7 includes a carrying base plate 71, a fifth side wall 72, and a sixth side wall 73. The fifth side wall 72 and the sixth side wall 73 are arranged opposite each other on one side of the carrying base plate 71. The telescopic mechanism 8 includes a first telescopic plate 81, a second telescopic plate 82, a first fork 83, a second fork 84, and a third fork 85. The first telescopic plate 81 is movably connected to the fifth side wall 72, and the second telescopic plate 82 is movably connected to the sixth side wall 73. The first end of the first telescopic plate 81 is connected to the first end of the second telescopic plate 82 through the first fork 83, the second end of the first telescopic plate 81 is connected to the second fork 84, and the second end of the second telescopic plate 82 is connected to the third fork 85. The carrying base of the photographing device 100 is mounted between the fifth side wall 72 and the sixth side wall 73, and the camera is close to the telescopic mechanism 8 relative to the carrying base.

[0053] The material bin is placed on the support base plate 71 of the support mechanism 7. The positioning and movement of the material bin are controlled by two telescopic plates (first telescopic plate 81, second telescopic plate 82) and forks (first fork 83, second fork 84, and third fork 85). The second fork 84 and third fork 85 are controllable, allowing for their retraction and extension. The working range of the second fork 84 and third fork 85 is 90°. Taking material retrieval from a storage area as an example, the material bin retrieval robot first moves to the target storage location. The first telescopic plate 81 and second telescopic plate 82 extend forward along the guide mechanism of the storage location. At this time, the second fork 84 and third fork 85 retract, and their directions are the same as the extension directions of the first telescopic plate 81 and second telescopic plate 82. When the edge of the material bin is reached, the second fork 84 and third fork 85 switch to... Figure 4In the lowered state, the material box is held in place, and the first fork 83 acts as a limit for the material box. Then, the first telescopic plate 81 and the second telescopic plate 82 retract along the guide mechanism of the storage position, moving the material box onto the supporting base plate 71, where it is identified by the photographic device.

[0054] As one possible implementation, such as Figure 5 As shown, the bin handling robot also includes a rotating device 10, a power unit, and a storage device 30. The moving device 9 includes a base plate 91 and a support 92, with the support 91 connected to the base plate 92. The extension direction of the support 91 is perpendicular to the base plate 92. The rotating device 10 is located on the upper side of the base plate 92, and the bearing mechanism 7 is located on the rotating device 10. The rotating device 10 is configured as a rotating handling device 200. A guide rail is provided on the support 91, and a slider is provided on the guide rail. The handling device is connected to the slider. The power unit is connected to the handling device 200 and is configured to control the handling device to move up and down along the guide rail. The storage device 30 is located on the upper side of the base plate 92 and is configured to store the goods acquired by the handling device 200.

[0055] In some embodiments, the storage device 30 includes multiple storage locations at different heights. The power device is connected to the picking and delivering device 200 via a chain, enabling the picking and delivering device 200 to move up and down on the guide rail via a slider, thereby placing the material box into different storage locations of the storage device 30 or retrieving the material box from different storage locations of the storage device 30.

[0056] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the utility model disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein.

[0057] Finally, it should be noted that the above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A photographic device for identifying barcodes on a material bin, characterized in that, include: Support base, including support top plate; The first bracket is connected to the top plate of the supporting base; The second bracket is connected to the first bracket; The camera is connected to the surface of the second bracket that is away from the first bracket; A first drive mechanism is connected to the bearing base and the first bracket. The first drive mechanism is configured to drive the first bracket to rotate relative to the bearing base about a first axis, the direction of which is perpendicular to the plane of the bearing top plate. A second drive mechanism is connected to the first bracket and the second bracket. The second drive mechanism is configured to drive the second bracket to rotate about a second axis, which is parallel to the extension direction of the supporting top plate and perpendicular to the first axis.

2. The photographing device according to claim 1, characterized in that, The first drive mechanism includes a first gear, a second gear, and a first motor; The first support includes a top wall, which is connected to the supporting top plate. The first gear and the second gear are disposed on the bearing top plate, the first gear is connected to the first motor, and the first gear and the second gear mesh; The first motor is configured to drive the first gear to rotate, thereby driving the second gear to rotate; The second gear is connected to the top wall of the first bracket, and the second gear is configured to drive the top wall of the first bracket to rotate relative to the supporting top plate.

3. The photographing device according to claim 2, characterized in that, The first drive mechanism further includes a first guide rod and a second guide rod; One end of the first guide rod is connected to the central shaft of the first motor, and the other end of the first guide rod is connected to the first gear. The first motor can drive the first guide rod to rotate, and the first guide rod can drive the first gear to rotate. The extension direction of the first guide rod is parallel to the extension direction of the first axis. The first end of the second guide rod is connected to the second gear, and the second end of the second guide rod passes through the supporting top plate and is connected to the top wall.

4. The photographing device according to claim 1, characterized in that, The second drive mechanism includes a third gear, a fourth gear, and a second motor; The first support includes a first sidewall and a second sidewall, and the second support includes the third sidewall and the fourth sidewall; The third gear and the fourth gear are disposed on the first side wall, the third gear is connected to the second motor, and the third gear and the fourth gear mesh; The second motor is configured to drive the third gear to rotate, thereby driving the fourth gear to rotate; The fourth gear is connected to the third sidewall and the fourth sidewall, and the fourth gear is configured to drive the second bracket to rotate relative to the first bracket.

5. The photographing device according to claim 4, characterized in that, The second drive mechanism also includes a third guide rod and a fourth guide rod. One end of the third guide rod is connected to the central shaft of the second motor, and the other end of the third guide rod is connected to the third gear. The second motor can drive the third guide rod to rotate, and the third guide rod can drive the third gear to rotate. The extension direction of the third guide rod is parallel to the extension direction of the second axis. The first end of the fourth guide rod is connected to the fourth gear, and the second end of the fourth guide rod passes through the first sidewall and the third sidewall.

6. The photographing device according to claim 3, characterized in that, The first drive mechanism further includes a first bearing housing, which is sleeved on the first end of the second guide rod.

7. The photographing device according to claim 5, characterized in that, The second drive mechanism also includes a second bearing housing, which is sleeved on the first end of the fourth guide rod.

8. The photographing device according to claim 2, characterized in that, The radius of the first gear is smaller than the radius of the second gear.

9. The photographing device according to claim 4, characterized in that, The radius of the third gear is smaller than the radius of the fourth gear.

10. A bin-handling robot, characterized in that, It includes a pickup and delivery device, a moving device, and a photographing device as described in any one of claims 1 to 9; the photographing device is connected to the pickup and delivery device, and the moving device is connected to the pickup and delivery device; The photographing device is configured to adjust the camera's field of view to face the barcode on the material box before the material box handling robot picks up and delivers the material box.

11. The bin handling robot according to claim 10, characterized in that, The picking and delivering device includes a bearing mechanism and a telescopic mechanism. The bearing mechanism is connected to the telescopic mechanism. The bearing mechanism includes a bearing base plate, a fifth side wall, and a sixth side wall. The fifth and sixth side walls are arranged opposite each other on one side of the bearing base plate. The telescopic mechanism includes a first telescopic plate, a second telescopic plate, a first fork, a second fork, and a third fork. The first telescopic plate is movably connected to the fifth side wall, the second telescopic plate is movably connected to the sixth side wall, the first end of the first telescopic plate is connected to the first end of the second telescopic plate through the first fork, the second end of the first telescopic plate is connected to the second fork, and the second end of the second telescopic plate is connected to the third fork. The base of the photographing device is mounted between the fifth side wall and the sixth side wall, and the camera is close to the telescopic mechanism relative to the base.

12. The bin-handling robot according to claim 11, characterized in that, The bin loading and unloading device also includes a rotating device, a power device, and a storage device; The moving device includes a base plate and a support, the support being connected to the base plate; the extension direction of the support is perpendicular to the base plate; The rotating device is disposed on the upper side of the base plate, the bearing mechanism is located on the rotating device, and the rotating device is configured to rotate the picking and delivering device. The bracket is provided with a guide rail, and a slider is provided on the guide rail. The picking and delivering device is connected to the slider. The power device is connected to the picking and delivering device, and the power device is configured to control the picking and delivering device to move up and down along the guide rail. The storage device is located on the upper side of the base plate and is configured to store the goods acquired by the delivery device.

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