Object taking mechanism and device, transportation device and warehousing system

Abstract

The utility model relates to the technical field of warehouse logistics, in particular to an object taking mechanism and device, a transportation device and a warehousing system. The object taking mechanism comprises a supporting frame; the first driving structure is movably arranged on the supporting frame and can move in the first direction relative to the supporting frame; the second driving structure is connected with the first driving structure and is configured to move along a second direction relative to the support frame, and the second direction is different from the first direction; the telescopic structure is connected with the second driving structure and is configured to do telescopic motion in the first direction relative to the supporting frame; the object taking structure is connected to the telescopic structure and is configured to be close to or far away from the target object; the bearing assembly is connected with the supporting frame and is configured to bear the target object and drive the target object to move in the first direction. According to the object taking mechanism, the object taking device, the transportation device and the warehousing system, the flexibility of taking and placing work of the object taking mechanism can be improved, and the working efficiency of the object taking mechanism is improved.

Description

TECHNICAL FIELD

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

[0002] Currently, in order to improve the efficiency of warehouse work, taking and placing of goods in the warehouse system has gradually realized automation. In the automated warehouse system, the taking mechanism can take the goods stored on the carrier storage and can also place the goods on the carrier storage.

[0003] However, in order to improve the storage rate, the arrangement distance between two adjacent carriers in the warehouse system is also small. During the taking and placing of goods, the taking mechanism needs to move to the interval between the adjacent carriers to take and place the goods on the carrier on one side. Since the engaging part on the taking mechanism usually blocks one side of the movement path of the goods, the taking and placing flexibility of the taking mechanism is poor, which affects the working efficiency of the taking mechanism. Invention content

[0004] In order to solve the above problems, the present application provides a taking mechanism, a device, a transport device and a warehouse system, which can improve the flexibility of taking and placing work of the taking mechanism and improve the working efficiency of the taking mechanism.

[0005] In order to achieve the above purpose, in a first aspect, the present application provides a taking mechanism, comprising: a support frame; a first driving structure movably arranged on the support frame and configured to move along a first direction relative to the support frame; a second driving structure connected with the first driving structure and configured to move along a second direction relative to the support frame, the second direction being different from the first direction; an extension structure connected with the second driving structure and configured to extend and retract along the first direction relative to the support frame; a taking structure connected with the extension structure and configured to move along the first direction relative to the support frame under the driving of the extension structure to approach or move away from a target object; and a carrying assembly connected with the support frame and configured to carry the target object and drive the target object to move along the first direction.

[0006] In an optional implementation, when taking the target object, the taking structure is further configured to: after moving the target object to a preset position of the carrying assembly under the driving of the extension structure, move along the second direction under the driving of the second driving structure and / or move along the first direction under the driving of the first driving structure, and have a gap with the target object.

[0007] In an optional implementation, when the target object is taken, the target object is driven by the carrying assembly to move in the first direction at a first speed, and the first driving structure drives the taking structure to move in the first direction at a second speed, the first speed and the second speed are in the same direction, and the first speed is less than or equal to the second speed.

[0008] In an optional implementation, when the target object is taken or placed, the telescopic structure is configured to perform any one of the following actions: extend in a first sub-direction to drive the taking structure to move to a first preset position; extend in the first sub-direction to drive the taking structure to move to a second preset position; extend in a second sub-direction to drive the taking structure to move to a third preset position; extend in the second sub-direction to drive the taking structure to move to a fourth preset position; wherein the first sub-direction and the second sub-direction are two opposite directions in the first direction.

[0009] In an optional implementation, the taking structure comprises a taking and placing piece arranged on the telescopic structure and configured to be driven by the telescopic structure to approach or move away from the target object.

[0010] In an optional implementation, the taking and placing piece comprises at least one of a suction disc, a hook, a clamping fork, a poking finger, and a magnetic attraction structure.

[0011] In an optional implementation, when the taking and placing piece comprises a suction disc, the suction disc is arranged on the telescopic structure and configured to be driven by the telescopic structure to approach or move away from the target object; the suction disc is further configured to be in contact with the target object and maintain a broken vacuum state between the suction disc and the target object when the target object is placed.

[0012] In an optional implementation, the taking structure further comprises a gas source assembly configured to: when the target object is taken, communicate with the suction disc to suck air between the suction disc and the target object, so that the suction disc and the target object maintain a vacuum state; and / or when the target object is placed, disconnect the suction disc, so that the suction disc communicates with the atmosphere and the suction disc and the target object maintain a broken vacuum state.

[0013] In an optional implementation, the gas source assembly comprises: a gas source device; a first valve, a first interface of the first valve communicates with the suction disc, a second interface of the first valve communicates with the gas source device, and a third interface of the first valve communicates with the atmosphere, and the first valve is configured to: when the target object is taken, the first interface communicates with the second interface, so that the suction disc communicates with the gas source device; and / or when the target object is placed, the first interface communicates with the third interface, so that the suction disc communicates with the atmosphere.

[0014] In an alternative implementation, the suction cups include two suction cups respectively facing two sides in the first direction; each of the suction cups is connected with a first valve; the air source assembly further includes a second valve, a fourth interface of the second valve is communicated with a second interface of one of the first valves, a fifth interface of the second valve is communicated with a second interface of the other first valve, and a sixth interface of the second valve is connected with the air source device; the second valve is configured to communicate the air source device with one of the suction cups when the target object is taken.

[0015] In an alternative implementation, the air source assembly further includes a detection switch, which is communicated with a seventh interface of the second valve and is configured to detect a vacuum degree pressure between the suction cups and the air source device, and to turn off the air source device when the vacuum degree pressure reaches a set value.

[0016] In an alternative implementation, the object taking structure further includes a mounting bracket arranged on the telescopic structure, a first elastic member having one end connected with the mounting bracket and the other end connected with the suction cup and being configured to be deformable in the first direction.

[0017] In an alternative implementation, the object taking structure further includes a guide member having one end connected with the suction cup and communicated with the other end connected with the air source assembly and being movably arranged on the mounting bracket, and the first elastic member is sleeved on the guide member; a second elastic member is sleeved on the guide member, has one end connected with the mounting bracket and the other end connected with the guide member, is arranged on two sides of the mounting bracket respectively from the first elastic member, and is configured to be deformable in the first direction.

[0018] In an alternative implementation, the telescopic structure includes a secondary telescopic assembly connected with the second driving structure and configured to be movable in the first direction under the driving of the second driving structure, and a telescopic driving assembly connected with the secondary telescopic assembly and configured to drive the secondary telescopic assembly to telescope in the first direction so as to approach or move away from the target object.

[0019] In an alternative implementation, the secondary telescopic assembly includes a first connecting plate connected with the second driving structure and configured to be movable in the second direction under the driving of the second driving structure, and the telescopic driving assembly is arranged on the first connecting plate; a second connecting plate movably arranged on the first connecting plate and configured to be movable in the first direction relative to the first connecting plate under the driving of the telescopic driving assembly so as to approach or move away from the target object; and a third connecting plate movably arranged on the second connecting plate and on which the object taking structure is arranged; the third connecting plate is configured to be movable in the first direction relative to the first connecting plate and the second connecting plate under the driving of the telescopic driving assembly so as to approach or move away from the target object.

[0020] In an alternative implementation, the telescopic driving assembly comprises: a telescopic driving member arranged on the first connecting plate; a first pulley unit comprising a first pulley and a first sliding belt; the first pulley is arranged on the second connecting plate; the first sliding belt is arranged around the first pulley, one end of the first sliding belt is connected to the first connecting plate, and the other end of the first sliding belt is connected to the third connecting plate; the first sliding belt is configured to move the third connecting plate relative to the second connecting plate in the first direction when the telescopic driving member drives the second connecting plate to move relative to the first connecting plate in the first direction, so that the third connecting plate and the second connecting plate are synchronously telescoped.

[0021] In an alternative implementation, one end of the first sliding belt is connected to a first connection position of the first connecting plate, and the other end of the first sliding belt is connected to a second connection position of the third connecting plate; when the second connecting plate and the third connecting plate do not move relative to the first connecting plate, the first connection position and the second connection position correspond, and the first connection position and the first pulley are located on two sides in the first direction.

[0022] In an alternative implementation, the telescopic driving assembly further comprises: a second pulley unit comprising a second pulley and a second sliding belt; the second pulley is arranged on the second connecting plate and located on the opposite side of the first pulley in the first direction; the second sliding belt is arranged around the second pulley, one end of the second sliding belt is connected to the second connecting plate, and the other end of the second sliding belt is connected to the third connecting plate; the second sliding belt is arranged opposite to the first sliding belt in the first direction.

[0023] In an alternative implementation, the telescopic driving assembly further comprises: a telescopic transmission unit comprising a driving wheel, a driven wheel, a transmission belt, and a transmission bar; the driving wheel is arranged on the first connecting plate and connected to the telescopic driving member; the driven wheel is arranged on the first connecting plate and located on the two sides of the driving wheel in the first direction; the transmission belt is arranged around the driving wheel and the driven wheel; the transmission bar is arranged on the second connecting plate and connected to the transmission belt to move in the first direction under the driving of the transmission belt.

[0024] In an alternative implementation, the transmission belt and the transmission bar are connected by toothed engagement.

[0025] In an alternative implementation, the second driving structure comprises: a linkage assembly arranged in the second direction, one end of which is arranged on the first driving structure, and the other end of which is connected to the telescopic structure and configured to move in the first direction under the driving of the first driving structure; a second driving assembly connected to the linkage assembly and configured to change the included angle between two linkages connected to each other in the linkage assembly to drive the telescopic structure to move in the second direction.

[0026] In an alternative implementation, the linkage assembly comprises two linkage units spaced apart along the first direction; one end of each linkage unit is pivotally connected to the first driving structure, and the other end is pivotally connected to the telescopic structure; each linkage unit comprises two linkages pivotally connected to each other, and the pivotally connected positions of the two linkages are the pivot points; the second driving assembly is connected to the pivot points in the two linkage units respectively.

[0027] In an alternative implementation, each linkage unit comprises two linkage groups and a first connecting linkage; the two linkage groups are spaced apart, and each linkage group comprises two linkages pivotally connected to each other; the two ends of the first connecting linkage are connected to the pivot points of the two linkage groups respectively; the second driving assembly is connected to the first connecting linkages in the two linkage units respectively.

[0028] In an alternative implementation, the second driving assembly comprises: a second driving member; a first screw rod connected to the second driving member and configured to rotate under the driving of the second driving member; a first nut connected to the first connecting linkage in one linkage unit and cooperatively connected to the first screw rod; a second screw rod connected to the first screw rod through a coupling and having a thread direction opposite to that of the first screw rod; a second nut connected to the first connecting linkage in the other linkage unit and cooperatively connected to the second screw rod; the first nut and the second nut are configured to: when the first screw rod drives the second screw rod to rotate through the coupling, the first nut and the second nut can move towards each other to drive the two first connecting linkages to move towards each other and increase the included angle of the linkage unit at the pivot point; and / or, when the first screw rod drives the second screw rod to rotate through the coupling, the first nut and the second nut can move away from each other to drive the two first connecting linkages to move away from each other and decrease the included angle of the linkage unit at the pivot point.

[0029] In an alternative implementation, the second driving assembly further comprises: a bracket connected to the first nut, and the second driving member is arranged in the bracket and configured to move along the axis of the first screw rod under the driving of the first nut; a connecting shaft connected to the output end of the second driving member and configured to rotate under the driving of the second driving member; a first transmission wheel movably arranged in the connecting shaft and configured to rotate under the driving of the connecting shaft and slide along the axis of the connecting shaft; a second transmission wheel arranged in the first screw rod and cooperatively connected to the first transmission wheel and configured to rotate under the driving of the first transmission wheel and drive the first screw rod to rotate; the first transmission wheel is further configured to: when the first nut moves relative to the second transmission wheel along the axis of the first screw rod, the first transmission wheel slides along the axis of the connecting shaft to maintain the cooperatively connected state with the second transmission wheel.

[0030] In an optional implementation, the first driving structure comprises: a first driving component arranged on the support frame; a sliding component arranged on the support frame and connected with the first driving component; and the second driving structure arranged on the sliding component; the sliding component is configured to slide relative to the support frame along the first direction under the driving of the first driving component, so as to drive the second driving structure and the telescopic structure to slide along the first direction.

[0031] In an optional implementation, the sliding component comprises a sliding rail, a sliding block, and a support plate; the sliding block is slidably connected with the sliding rail; either the sliding rail or the sliding block is connected with the support frame, and the other is connected with the support plate; the second driving structure is arranged on the support plate; the first driving component is connected with the support plate; the support plate is configured to drive the second driving structure to move relative to the support frame along the first direction through the cooperation of the sliding block and the sliding rail under the driving of the first driving component.

[0032] In an optional implementation, the first driving component comprises: a first driving member arranged on the support frame; a first driving wheel connected with the first driving member and configured to rotate under the driving of the first driving member; and a first transmission rack arranged on the support plate and connected with the first driving wheel and configured to move along the first direction under the driving of the first driving wheel, so as to drive the support plate to move along the first direction.

[0033] In an optional implementation, the carrying component comprises at least one conveying belt arranged on the support frame and configured to drive the target object to move along the first direction.

[0034] In an optional implementation, the number of the conveying belts is two, and the two conveying belts are arranged at intervals; the taking structure is configured to move along the second direction at the interval position of the two conveying belts under the driving of the second driving structure.

[0035] To achieve the above-mentioned purpose, in a second aspect, the embodiments of the present application provide a transportation device, comprising: a chassis; a portal arranged on the chassis; and the taking mechanism in any one of the implementation manners of the first aspect provided above, which is movably arranged on the portal.

[0036] To achieve the above-mentioned purpose, in a third aspect, the embodiments of the present application provide a taking device, comprising: a moving mechanism; and the taking mechanism in any one of the implementation manners of the first aspect provided above, which is movably arranged on the moving mechanism.

[0037] To achieve the above-mentioned purpose, in a fourth aspect, the embodiments of the present application provide a warehousing system, comprising: a carrier formed with a storage location for carrying an object; the transportation device provided in the second aspect and / or the taking device provided in the third aspect; and the taking mechanism is configured to take the target object on the storage location or place the target object on the storage location.

[0038] In the taking mechanism, the device, the transportation device and the storage system provided in the application, the cooperation of the first driving structure and the telescopic structure can increase the moving range of the taking structure along the first direction, so as to facilitate the approach to the target object. In addition, the first driving structure can continue to move along the first direction away from the target object after the target object reaches the carrying assembly, thereby avoiding affecting the movement of the target object on the carrying assembly. At the same time, the second driving structure is arranged to enable the telescopic structure and the taking structure to move up and down along the second direction, so as to be raised above the carrying assembly when taking and placing work is needed, and be lowered below the carrying assembly when taking and placing work is not needed. In this way, the movement path of the target object on the carrying assembly is not affected, that is, the target object can move from one side of the carrying assembly to above the carrying assembly, and then leave the carrying assembly from the same side; or the target object can move from one side of the carrying assembly to above the carrying assembly, and then leave the carrying assembly from the other side, thereby improving the taking and placing flexibility of the target object. In addition, moving the taking and placing structure and the telescopic structure below the carrying assembly can also avoid interference, collision and the like between the taking mechanism and other structures during movement, thereby protecting the taking structure and the telescopic structure. BRIEF DESCRIPTION OF DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the present application, the drawings needed in the embodiments will be briefly introduced below. Obviously, other drawings can also be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0040] Figure 1 is a schematic diagram of the overall structure of a taking mechanism provided by an embodiment of the present application in a first state;

[0041] Figure 2 is a schematic diagram of the overall structure of a taking mechanism provided by an embodiment of the present application in a second state;

[0042] Figure 3 is a side view of a taking mechanism provided by an embodiment of the present application in a third state;

[0043] Figure 4 is a schematic diagram of the structure of a taking mechanism provided by an embodiment of the present application omitting the support frame side plate and the carrying assembly and in a second state;

[0044] Figure 5 is a side view of a target object on a taking mechanism provided by an embodiment of the present application;

[0045] Figure 6 is a schematic diagram of the structure of a first driving structure and a second driving structure provided by an embodiment of the present application in a first state;

[0046] Figure 7 is a top view of Figure 6 ;

[0047] Figure 8 is a sectional view along the direction A-A in Figure 7 ;

[0048] Figure 9 is a structural schematic diagram of a telescopic structure and a taking structure provided by an embodiment of the present application;

[0049] Figure 10 is a structural schematic diagram of a telescopic structure omitting a third connecting plate provided by an embodiment of the present application;

[0050] Figure 11 is a working principle schematic diagram of a first pulley unit provided by an embodiment of the present application;

[0051] Figure 12 is a working principle schematic diagram of a second pulley unit provided by an embodiment of the present application;

[0052] Figure 13 is a structural schematic diagram of a taking structure and a third connecting plate provided by an embodiment of the present application;

[0053] Figure 14 is a structural schematic diagram of a taking mechanism in a fourth state provided by an embodiment of the present application;

[0054] Figure 15 is a structural schematic diagram of a taking mechanism in a fifth state provided by an embodiment of the present application;

[0055] Figure 16 is an extended state schematic diagram of a telescopic structure provided by an embodiment of the present application;

[0056] Figure 17 is a structural schematic diagram of a transport device provided by an embodiment of the present application;

[0057] Figure 18 is a structural schematic diagram of a taking device provided by an embodiment of the present application.

[0058] Illustration mark:

[0059] P-target article, 1-take-out mechanism, 10-support frame, 11-bottom plate, 12-side plate, 13-supporting strip, 20-first driving structure, 21-first driving assembly, 211-first driving piece, 212-first driving wheel, 213-first transmission rack, 22-sliding assembly, 221-sliding rail, 222-sliding block, 223-supporting plate, 30-second driving structure, 31-linkage assembly, 311-linkage unit, 3111-linkage group, 3112-first connecting rod, 3113-second connecting rod, a-linkage, b-pivot point, 32-second driving assembly, 320-second driving piece, 321-first lead screw, 322-first nut, 323-second lead screw, 324-second nut, 325-coupling, 326-bracket, 327-connecting shaft, 328-first transmission wheel, 329-second transmission wheel, 40-telescopic structure, 41-secondary telescopic assembly, 411-first connecting plate, 412-second connecting plate, 413-third connecting plate, 414-first sliding rail, 415-second sliding rail, 416-third sliding rail, 42-telescopic driving assembly, 421-telescopic driving piece, 422-first pulley unit, 4221-first pulley, 4222-first sliding belt, 423-second pulley unit, 4231-second pulley, 4232-second sliding belt, c-first connecting position, d-second connecting position, e-third connecting position, f-fourth connecting position, g-hollow structure, 424-telescopic transmission unit, 4241-driving wheel, 4242-driven wheel, 4243-transmission belt, 4244-transmission strip, 50-take-out structure, 51-take-and-place piece, 511-suction cup, 52-air source assembly, 521-air source device, 522-first valve, 5221-first interface, 5222-second interface, 5223-third interface, 523-second valve, 5231-fourth interface, 5232-fifth interface, 5233-sixth interface, 5234-seventh interface, 524-detection switch, 53-mounting bracket, 54-first elastic piece, 55-guiding piece, 56-second elastic piece, 60-carrying assembly, 61-conveying belt, 62-synchronous roller;

[0060] 100-transport device, 2-bottom disc, 3-gantry;

[0061] 200-take-out device, 4-movement mechanism, 5-rail. DETAILED DESCRIPTION

[0062] The technical solutions in the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, other embodiments obtained by a person of ordinary skill in the art without creative work are within the protection scope of the present application.

[0063] Hereinafter, the terms "first", "second", and the like are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second", and the like can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise stated, the meaning of "a plurality of" is two or more.

[0064] In addition, in the present application, the orientation terms such as "upper", "lower", "inner", "outer" and the like are defined with respect to the orientation in which the components in the drawings are placed, and it should be understood that these directional terms are relative concepts, which are used for relative description and clarification, and can be changed accordingly according to the change of the orientation in which the components are placed in the drawings.

[0065] With the development of automated warehousing, in order to facilitate the storage or handling of goods on the carriers in the warehousing system, a handling robot or a pick-and-place robot can be used for related work. The handling robot and the pick-and-place robot can be provided with a box taking mechanism to take goods from the carrier storage or place goods on the carrier storage.

[0066] At present, the box taking mechanism usually includes an engaging component (such as a hook claw) and a carrying component. When taking the goods on the carrier, the engaging component can be close to the goods and hook the goods to pull the goods, so as to take the goods out of the storage. Then, the engaging component can pull the goods to the carrying component, so that the goods are on the box taking mechanism. However, after the engaging component pulls the goods to the carrying component, the engaging component usually needs to move to one end of the goods. At this time, if the goods are taken off from the carrying component, the engaging component will hinder the extraction of the goods, affect the flexibility of the goods extraction, and thus affect the working efficiency of the box taking mechanism.

[0067] Therefore, the present application provides a kind of taking mechanism to improve the flexibility of taking and placing goods, so as to improve the working efficiency of the warehousing system.

[0068] Figure 1 It is the overall structure schematic diagram of a kind of taking mechanism provided by the present application in first state. Wherein, Figure 1 (a) in (a) is the schematic diagram of the three-dimensional structure of the taking mechanism in first state, Figure 1 (b) in (b) is the top view of the taking mechanism in first state, Figure 1 (c) in (c) is the side view of the taking mechanism in first state.

[0069] Figure 2 It is the overall structure schematic diagram of a kind of taking mechanism provided by the present application in second state. Wherein, Figure 2(b) is a top view of the object taking mechanism in the second state, Figure 2 (b) is a top view of the object taking mechanism in the second state, Figure 2 (c) is a side view of the object taking mechanism in the second state.

[0070] Figure 3 is a side view of the object taking mechanism in the third state provided by the embodiment of the present application.

[0071] Figure 4 is a structural schematic view of the object taking mechanism omitting the side plates of the support frame and the bearing assembly and in the second state provided by the embodiment of the present application.

[0072] Referring to Figures 1 to 4 Fig. 1, the embodiment of the present application provides an object taking mechanism 1, which comprises a support frame 10, a first driving structure 20, a second driving structure 30, an extension structure 40, an object taking structure 50 and a bearing assembly 60.

[0073] Exemplarily, the support frame 10 can be made of hard plastic (for example, engineering plastic), and in some optional examples, the support frame 10 can also be made of metal or alloy material such as aluminum alloy, stainless steel or cast iron.

[0074] Optionally, the support frame 10 can comprise a bottom plate 11 and side plates 12, wherein the side plates 12 can be two, and the two side plates 12 are arranged on opposite sides of the bottom plate 11.

[0075] It should be noted that in other embodiments, the side plates 12 can also be three, four or the like, which is not limited in the embodiment.

[0076] For the convenience of description, the following establishes a coordinate system with the length direction of the support frame 10 as the x-axis, the width direction of the support frame 10 as the y-axis and the height direction of the support frame 10 as the z-axis.

[0077] In the embodiment, the first direction is the first horizontal direction, which is the length direction (x-axis direction) of the support frame 10; the second direction is the vertical direction, which is the height direction (z-axis direction) of the support frame 10; and the third direction is the second horizontal direction, which is the width direction (y-axis direction) of the support frame 10.

[0078] Exemplarily, the first driving structure 20 can be movably arranged on the support frame 10, and the first driving structure 20 can move along the first direction relative to the bottom plate 11.

[0079] It should be noted that in the embodiment, the first driving structure 20 moves relative to the support frame 10 along the first direction, which can be that the first driving structure 20 translates or rotates relative to the support frame 10. Meanwhile, the translation or rotation of the first driving structure 20 relative to the support frame 10 can be that part of the first driving structure 20 translates or rotates relative to the support frame 10, or that the whole of the first driving structure 20 translates or rotates relative to the support frame 10, which is not limited in the embodiment.

[0080] It can be understood that in the embodiment, the movement of each structure relative to the support frame 10 can be that the whole of the structure moves relative to the support frame 10, or that part of the structure moves relative to the support frame 10. Meanwhile, the movement of each structure relative to the support frame 10 can be that the structure translates or rotates relative to the support frame 10, and the related content will not be described in the subsequent description of the movement of each structure relative to the support frame 10.

[0081] The first direction can be the x-axis direction shown in FIG. 1, for example. In this way, the first driving structure 20 can move relative to the support frame 10 along the x-axis direction. Figure 1

[0082] In addition, the x-axis direction can be the direction in which the first driving structure 20 approaches or moves away from the target object P, and when the position of the support frame 10 and the first driving structure 20 relative to the target object P changes, the first direction can also be other directions, which is not limited in the embodiment.

[0083] It should be noted that in other embodiments, a plurality of first driving structures 20 can be arranged on the same support frame 10, and the plurality of first driving structures 20 can be arranged along the y-axis direction shown in FIG. 1. At this time, the plurality of first driving structures 20 can move along the x-axis direction shown in FIG. 1 at the same time, so as to synchronously pick up or place the target objects P located on the same layer of the carrier or the handling robot, so as to improve the picking and placing efficiency. It can be understood that when there are a plurality of first driving structures 20, the plurality of first driving structures 20 can also move asynchronously, and the number and arrangement form of the first driving structures 20 are not limited in the embodiment. Figure 1 Figure 1 It can be understood that in the embodiment, the movement of each structure relative to the support frame 10 can be that the whole of the structure moves relative to the support frame 10, or that part of the structure moves relative to the support frame 10. Meanwhile, the movement of each structure relative to the support frame 10 can be that the structure translates or rotates relative to the support frame 10, and the related content will not be described in the subsequent description of the movement of each structure relative to the support frame 10.

[0084] For example, the second driving structure 30 is connected with the first driving structure 20, and the second driving structure 30 can move along the first direction (the x-axis direction shown in FIG. 1) under the driving of the first driving structure 20. Meanwhile, the second driving structure 30 can also move relative to the support frame 10 along the second direction (the z-axis direction shown in FIG. 1), wherein the second direction is different from the first direction. Figure 1 Figure 1 In an example, the second direction is perpendicular to the first direction, for example, the second direction is the z-axis direction shown in FIG. 1.

[0085] Figure 1 ​​​​The z-axis direction is shown in the figure. In this way, the second drive structure 30 can move vertically relative to the support frame 10, so that the picking structure 50 can move away from the target item P and descend or move closer to the target item P and rise under the drive of the first drive structure 20 and the second drive structure 30, so as to realize the picking and placing of the target item P.

[0086] It is understandable that, due to limitations in processing and manufacturing techniques, the perpendicularity of the first and second directions is approximately perpendicular. In this embodiment, the perpendicularity is not limited to a completely perpendicular state.

[0087] In another example, the angle between the second direction and the first direction is less than or greater than 90°. In this case, the second direction can be located in a vertical plane or a horizontal plane, and is not limited in this embodiment. The specific indications of the first and second directions can be adjusted according to the placement of the object retrieval mechanism 1, wherein the first direction is the direction of movement toward the object on the vehicle, and the second direction is the direction of avoiding the target object P.

[0088] Furthermore, the second direction can be either a straight line or an arc, meaning the motion trajectory of the second drive structure 30 can be an arc. For example, when the second drive structure 30 has velocities in different directions, if the velocity in one direction changes while the velocity in the other direction remains constant, then the motion trajectory of the second drive structure 30 will be an arc. It is understood that the motion mode of the second drive structure 30 is not limited in this embodiment.

[0089] In this embodiment, the first driving structure 20 is along the first direction ( Figure 1 The movement (in the x-axis direction shown) enables the retrieval structure 50 to move closer to or away from the target item, thereby allowing the retrieval structure 50 to pick up or place the target item P. The second drive structure 30 moves along the second direction (…). Figure 1 The movement (in the z-axis direction shown) enables the retrieval structure 50 to avoid the target item P. In other words, after the retrieval structure 50 moves the target item to the preset position of the support component 60, the second drive structure 30 can move the retrieval structure 50 away from the target item P on the support component 60, thereby avoiding obstruction to the movement of the target item P on the support component 60.

[0090] Exemplarily, the telescopic structure 40 is connected with the second driving structure 30. The telescopic structure 40 can be driven by the second driving structure 30 to move relative to the support frame 10, and can also be driven by the first driving structure 20 to move in the first direction. In addition, the telescopic structure 40 can also move relative to the support frame 10 in the first direction. In this way, the telescopic structure 40 can realize lifting movement, movement in the first direction, and telescopic movement in the first direction, so as to effectively increase the movement range of the telescopic structure 40 in the first direction, thereby facilitating the approach to the target article P on the carrier or the handling robot.

[0091] Optionally, the carrier can be a stationary carrier or a moving carrier.

[0092] Exemplarily, the carrier can be a shelf, a support frame, etc., wherein storage locations, buffer locations, temporary storage locations, etc. can be formed on the shelf or the support frame.

[0093] It should be noted that the articles stored on the carrier locations can include but are not limited to goods, containers (such as boxes) loaded with goods, pallets, packages with goods, original packaging boxes with goods, etc. The target article P is an article to be picked up or placed.

[0094] Exemplarily, the article taking structure 50 is arranged on the telescopic structure 40 to move relative to the support frame 10 in the first direction under the driving of the telescopic structure 40, so as to approach or move away from the target article P. Since the telescopic structure 40 has a large movement range in the first direction, the article taking structure 50 can also have a large movement range in the first direction, thereby facilitating the approach of the article taking structure 50 to the articles on the carrier or the handling robot.

[0095] Exemplarily, the carrying assembly 60 can be connected with the support frame 10. The carrying assembly 60 can carry the target article P and drive the target article P to move in the first direction (x-axis direction).

[0096] In the embodiments provided in the present application, Figure 1 The first state of the article taking structure 50 shown is that the second driving structure 30 drives the article taking structure 50 to descend below the carrying surface of the carrying assembly 60 in the vertical direction, and the first driving structure 20 drives the article taking structure 50 to be at the middle position of the support frame 10 in the first horizontal direction (x-axis direction), and the telescopic structure 40 is in the untelescopic state. At this time, Figure 1 The first state of the article taking mechanism 1 shown in the above embodiment can be an initial state, and the first driving structure 20 is in an initial position. In other words, Figure 1 The first state shown in the above embodiment is that the article taking mechanism 1 has not started the work of picking up or placing articles.

[0097] When the taking mechanism 1 needs to start the work of taking the target object, the first driving structure 20 can drive the second driving structure 30, the telescopic structure 40 and the taking structure 50 to move in the first horizontal direction (x-axis direction) to the direction close to the target object, and the second driving structure 30 can drive the telescopic structure 40 and the taking structure 50 to ascend in the vertical direction (z-axis direction) to the upper side of the bearing assembly 60, so that the taking mechanism 1 is in the second state as shown in Figure 2 . The second state can be an intermediate state of the taking mechanism 1 in the process of taking the target object P to the carrier.

[0098] When the taking mechanism 1 is in the second state as shown in Figure 2 , the first driving structure 20 and the second driving structure 30 can remain stationary, and the telescopic structure 40 can extend in the first horizontal direction (x-axis direction) to the direction of the target object P to drive the taking structure 50 to approach the target object P, forming the third state as shown in Figure 3 . In this way, the taking structure 50 can contact the target object P, so as to take the target object P.

[0099] Figure 5 is a side view of a target object on a taking mechanism provided by an embodiment of the present application.

[0100] As shown in Figure 3 and Figure 5 , after the taking structure 50 contacts the target object P, the telescopic structure 40 can retract in the first horizontal direction to drive the target object P to move towards the bearing assembly 60. When the target object P moves to the preset position of the bearing assembly 60, the bearing assembly 60 can bear the target object P and also drive the target object P to move in the first horizontal direction, so that the target object P is completely located on the bearing assembly 60. As shown in Figure 5 , when the target object P is completely on the bearing assembly 60, the first driving structure 20 and the second driving structure 30 can return to the initial state as shown in Figure 1 . At this time, the taking structure 50 does not hinder the movement path of the target object P. The target object P on the bearing assembly 60 can leave the bearing assembly 60 in any side in the horizontal direction, so as to improve the flexibility of taking the target object P and improve the taking and placing efficiency.

[0101] In addition, the taking structure 50 can be lowered below the carrying assembly 60, and thus the support frame 10 does not need to be additionally provided with a frame structure above the carrying assembly 60 for supporting the taking structure 50, so that the space of the support frame 10 above the carrying assembly 60 is not redundant in design. In this way, the structure of the support frame 10 does not limit the height of the target object P. In other words, the support frame 10 and the carrying assembly 60 can carry target objects P with different heights, thereby further improving the application range of the taking mechanism 1.

[0102] In the embodiments provided in the present application, the cooperation of the first driving structure 20 and the telescopic structure 40 can increase the movement range of the taking structure 50 along the first horizontal direction, thereby facilitating the approach to the target object P. In addition, the first driving structure 20 can continue to move along the first horizontal direction away from the target object P after the target object P reaches the carrying assembly 60, thereby avoiding affecting the movement of the target object P on the carrying assembly 60. At the same time, the second driving structure 30 is provided so that the telescopic structure 40 and the taking structure 50 can be lifted along the vertical direction, thereby being able to be lifted above the carrying assembly 60 when taking and placing work is needed, and being lowered below the carrying assembly 60 when taking and placing work is not needed. In this way, the movement path of the target object P on the carrying assembly 60 is not affected, that is, the target object P can move from one side of the carrying assembly 60 to above the carrying assembly 60, and then leave the carrying assembly 60 from the same side; or the target object P can move from one side of the carrying assembly 60 to above the carrying assembly 60, and then leave the carrying assembly 60 from the other side, thereby improving the taking and placing flexibility of the target object P. In addition, moving the taking and placing structure and the telescopic structure 40 below the carrying assembly 60 can also avoid interference, collision, etc. between the taking mechanism 1 and other structures during movement, thereby protecting the taking structure 50 and the telescopic structure 40.

[0103] Please refer again to Figure 2 , for example, the carrying assembly 60 includes at least one conveying belt 61. The conveying belt 61 is connected to the side plate 12 of the support frame 10, and the conveying belt 61 can drive the target object P to move along the first horizontal direction.

[0104] Optionally, a support strip 13 can be arranged between the two side plates 12, and the support strip 13 can be used to mount the conveying belt 61.

[0105] For example, the conveying belt 61 can be located on the side of the side plate 12 close to the upper side, so as to facilitate the support of the target object P.

[0106] In an example, the carrying surface of the conveying belt 61 can be higher than the side plate 12, thereby avoiding the side plate 12 from hindering the target object P.

[0107] In another example, the carrying surface of the conveying belt 61 can be slightly lower than the side plate 12, so that the side plate 12 can limit the target object P and prevent the target object P from falling off the side of the support frame 10.

[0108] Optionally, the number of the conveying belt 61 can be two, and the two conveying belts 61 are arranged at intervals. In this way, the taking structure 50, the telescopic structure 40, the second driving structure 30, and the first driving structure 20 can be located at the interval positions of the two conveying belts 61. The second driving structure 30 can drive the taking structure 50 and the telescopic structure 40 to ascend and descend at the interval positions of the two conveying belts 61, so as to avoid collision with the conveying belt 61.

[0109] Alternatively, the number of the conveying belt 61 can be one or more. In this case, the taking structure 50 can be arranged away from the conveying belt 61 to avoid mutual interference.

[0110] For example, when the number of the conveying belt 61 is two, the two conveying belts 61 can be connected with the synchronous roller 62. In this way, the driving motor can be connected to one end of the synchronous roller 62, so as to realize synchronous operation of the two conveying belts 61.

[0111] It should be noted that other structures related to the conveying belt 61 can refer to the commonly used conveying belt structure, which is not limited in the embodiment.

[0112] Figure 6 FIG. 1 is a structural schematic diagram of a first driving structure and a second driving structure in a first state provided by the embodiment of the application.

[0113] Combined with FIGS. 1-2, Figure 4 and Figure 6 it is shown that, for example, the first driving structure 20 includes a first driving assembly 21 and a sliding assembly 22.

[0114] The first driving assembly 21 is arranged on the bottom plate 11 of the support frame 10, and the sliding assembly 22 is also arranged on the bottom plate 11 of the support frame 10 and is connected with the first driving assembly 21 in a matching manner. The second driving structure 30 is arranged above the sliding assembly 22, so that the sliding assembly 22 can slide along the first horizontal direction relative to the bottom plate 11 under the driving of the first driving assembly 21, thereby driving the second driving structure 30 and the telescopic structure 40 to move along the first horizontal direction.

[0115] Optionally, the sliding assembly 22 includes a sliding rail 221, a sliding block 222, and a support plate 223.

[0116] The sliding rail 221 extends along the first horizontal direction, and the sliding block 222 is connected with the sliding rail 221 in a slidable matching manner. The second driving structure 30 is arranged above the support plate 223, and the first driving assembly 21 is connected with the support plate 223.

[0117] For example, the sliding block 222 is connected with the support frame 10, and the sliding rail 221 is connected with the support plate 223. In this way, the support plate 223 can drive the second driving structure 30 to move along the first horizontal direction relative to the bottom plate 11 under the driving of the first driving assembly 21 through the cooperation of the sliding rail 221 and the sliding block 222.

[0118] For example, the sliding rail 221 is arranged on the support frame 10, and the sliding block 222 is arranged below the support plate 223 to be in sliding connection with the sliding rail 221 below the support plate 223. At this time, the support plate 223 can drive the sliding block 222 to move along the sliding rail 221.

[0119] For example, the sliding block 222 is arranged on the support frame 10, and the sliding rail 221 is arranged below the support plate 223 to be in sliding connection with the sliding block 222 below the support plate 223. At this time, the support plate 223 can drive the sliding rail 221 to move along the sliding block 222.

[0120] For example, the sliding rail 221 can be two, and the two sliding rails 221 are arranged in the second horizontal direction. Correspondingly, the sliding block 222 can also be two to be connected with the two sliding rails 221, respectively. The two sliding blocks 222 can be arranged at opposite positions of the support plate 223, so as to improve the stability of the support plate 223. It can be understood that the number of the sliding rail 221 and the sliding block 222 can also be three, four, etc., which is not limited in the embodiment.

[0121] It should be noted that the sliding assembly 22 can also include a sleeve and a sliding shaft. The sliding shaft can be telescopic along the first horizontal direction, and the sleeve can be slidably arranged on the sliding shaft. Either the sliding shaft or the sleeve is connected with the bottom plate 11, and the other is connected with the support plate 223. The specific structure of the sliding assembly 22 is not limited in the embodiment.

[0122] Optionally, the first driving assembly 21 includes a first driving member 211, a first driving wheel 212, and a first transmission rack 213.

[0123] The first driving member 211 is arranged on the support frame 10, and the first driving wheel 212 is connected to the output end of the first driving member 211 to rotate under the driving of the first driving member 211. The first transmission rack 213 extends along the first horizontal direction and is arranged above the support plate 223 and is connected with the first driving wheel 212. In this way, the first transmission rack 213 can move along the first horizontal direction under the driving of the first driving wheel 212, thereby driving the support plate 223 to move along the first horizontal direction. Through the arrangement of the first driving wheel 212 and the first transmission rack 213, the rotation of the first driving member 211 can be converted into linear motion, thereby realizing the movement of the support plate 223 along the first horizontal direction.

[0124] For example, the first driving member 211 can be a driving motor or a driving machine, etc. capable of providing driving force, which is not limited in the embodiment.

[0125] It should be noted that in other embodiments, the first driving assembly 21 can also include a linear driving motor to drive the support plate 223 to move along the first horizontal direction by using the linear driving motor. In the embodiment, the specific structure of the first driving assembly 21 is not limited.

[0126] Figure 7 is a top view of Figure 6 .

[0127] Figure 8 is a sectional view along the direction A-A in Figure 7 .

[0128] In combination with Figure 4 , Figure 6 , Figure 7 and Figure 8 , it is shown that the second driving structure 30 includes a connecting rod assembly 31 and a second driving assembly 32, for example.

[0129] The connecting rod assembly 31 is arranged to extend along the vertical direction, one end of which is connected to the support plate 223 of the first driving structure 20, and the other end of which is connected to the telescopic structure 40. In this way, the connecting rod assembly 31 can be driven by the first driving structure 20 to move along the first horizontal direction. The second driving assembly 32 is connected to the connecting rod assembly 31 to change the included angle between the two connecting rods a connected to each other in the connecting rod assembly 31, so as to change the height of the connecting rod assembly 31 along the vertical direction, so as to drive the telescopic structure 40 to move along the vertical direction.

[0130] It should be noted that in the embodiments provided in the present application, the “one end” and “the other end” of the connecting rod assembly 31 are not limited to the edge positions of the two ends of the connecting rod assembly 31, but can also be positions close to the ends of the connecting rod assembly 31, or can also be positions on the opposite sides of the connecting rod assembly 31. In the embodiment, the limitations of the related descriptions of “one end”, “the other end”, “end”, “first end” and “second end” for other structures are similar to the connecting rod assembly 31, and will not be repeated hereinafter.

[0131] In an example, the linkage assembly 31 can be a scissor fork assembly, which can include a plurality of scissor fork units, each of which can include two transmission rods connected to each other. The two transmission rods are connected to each other at a middle part of the rods, and the two ends of the two transmission rods are connected to the support plate 223 and the telescopic structure 40, respectively. At this time, the second driving assembly 32 can be connected to the hinge points of the two transmission rods to change the included angle between the two transmission rods. Alternatively, the second driving assembly 32 can be connected to the ends of the two transmission rods to adjust the included angle between the two transmission rods by changing the included angle opening between the two transmission rods.

[0132] It should be noted that in actual application, when the linkage assembly 31 is a scissor fork assembly, the specific setting form and the connection position of the second driving assembly 32 can be adjusted according to actual conditions, which are not limited in the embodiment.

[0133] In another example, the linkage assembly 31 can include two linkage units 311 arranged along the first horizontal direction. One end of each linkage unit 311 is pivotally connected to the support plate 223 of the first driving structure 20, and the other end is pivotally connected to the telescopic structure 40. In this way, compared with the traditional scissor fork assembly, the two linkage units 311 arranged along the first horizontal direction can increase the distance between the two connection points of the linkage unit 311 and the telescopic structure 40 without changing the length of the linkage rod a, thereby realizing stable support of the telescopic structure 40.

[0134] In an example, each linkage unit 311 includes two linkage rods a pivotally connected to each other, and the hinge points b of the two linkage rods a are connected to the second driving assembly 32. In this way, when the linkage unit 311 performs the lifting movement, the linkage rods a in the linkage unit 311 can rotate relative to the support plate 223 and the telescopic structure 40 to change the included angle between the two linkage rods a connected to each other, thereby changing the height of the linkage unit 311.

[0135] Alternatively, the two linkage rods a can be connected to each other at the ends of the two linkage rods a, and the unconnected ends of the two linkage rods a can be connected to the support plate 223 and the telescopic structure 40, respectively.

[0136] Exemplarily, the link unit 311 can include two link groups 3111, the two link groups 3111 are arranged along the second horizontal direction and each of the two link groups 3111 includes two pivotally connected links a. In other words, each of the link units 311 includes four links a, the four links a are arranged in two groups to form a link group 3111, the two links a in the link group 3111 are pivotally connected and one end of the two links a is connected to the support plate 223 and the other end of the two links a is connected to the telescopic structure 40. In this way, the two link groups 3111 arranged along the second horizontal direction can improve the support stability of the telescopic structure 40 in the second horizontal direction.

[0137] Further, the link unit 311 can further include a first connecting link 3112. The two ends of the first connecting link 3112 are connected to the pivot points b of the two link groups 3111 respectively. In this way, the first connecting link 3112 can be used to synchronously adjust the included angle of the two link groups 3111, so as to avoid the situation that the telescopic structure 40 is inclined in the second horizontal direction due to the asynchronous movement of the two link groups 3111, and meanwhile the structure of the second driving assembly 32 can be simplified and it is not necessary to separately set a single driving for each of the link groups 3111.

[0138] In addition, the second driving assembly 32 is connected to the first connecting links 3112 in the two link units 311 respectively. In this way, the second driving assembly 32 can simultaneously drive the two first connecting links 3112 in the two link units 311, so as to realize the synchronous movement of the two link units 311, to avoid the situation that the telescopic structure 40 is inclined in the first horizontal direction due to the asynchronous movement of the two link units 311, and meanwhile the structure of the second driving assembly 32 can be simplified and it is not necessary to separately set a single driving for each of the link units 311.

[0139] Optionally, the link unit 311 can further include a second connecting link 3113, and the two link groups 3111 in the link unit 311 can be pivotally connected to the telescopic structure 40 through the second connecting link 3113. The second connecting link 3113 is connected to the lower side of the telescopic structure 40, and the link groups 3111 can rotate relative to the second connecting link 3113 to cooperate with the change of the included angle of the pivot points b in the link groups 3111.

[0140] Alternatively, the two link groups 3111 in the link unit 311 can be pivotally connected to the telescopic structure 40 through a hinge seat respectively, which is not limited in the embodiment.

[0141] Further, the specific implementation of the pivotable connection between the link unit 311 and the support plate 223 can refer to the related description of the pivotable connection between the link unit 311 and the telescopic structure 40, which is not limited in the embodiment.

[0142] The second driving assembly 32 includes a second driving member 320, a first lead screw 321, a first nut 322, a second lead screw 323 and a second nut 324.

[0143] The first lead screw 321 is connected with the first nut 322, and the second lead screw 323 is connected with the second nut 324, so as to form two groups of lead screw transmission structures respectively, to convert the rotation of the second driving member 320 into the linear motion of the nuts. The first lead screw 321 is connected with the second driving member 320 and can rotate under the driving of the second driving member 320, and at this time, the first nut 322 can rotate on the first lead screw 321 and move along the axial direction of the first lead screw 321. The second lead screw 323 is connected with the first lead screw 321 through the coupling 325, and the thread direction of the second lead screw 323 is opposite to that of the first lead screw 321. In this way, when the first lead screw 321 rotates, the second lead screw 323 also rotates synchronously, but the rotation direction of the second nut 324 on the second lead screw 323 is opposite to that of the first nut 322 on the first lead screw 321, so that the first nut 322 and the second nut 324 can move in opposite directions when the first lead screw 321 is driven by the second driving member 320.

[0144] Further, the first nut 322 can be connected with a first connecting rod 3112 in one connecting rod unit 311, and the second nut 324 can be connected with a first connecting rod 3112 in another connecting rod unit 311. In this way, the first nut 322 and the second nut 324 can respectively drive two first connecting rods 3112 to move, so as to adjust the included angle of the two connecting rods a pivotally connected in the connecting rod unit 311, to change the height of the connecting rod unit 311, to realize the lifting motion in the vertical direction.

[0145] In combination with Figure 4 and Figure 6 , optionally, when the first lead screw 321 is driven by the first driving member 211, the first lead screw 321 can drive the second lead screw 323 to rotate through the coupling 325, and the first nut 322 and the second nut 324 can move towards each other, so as to drive the two first connecting rods 3112 to move towards each other and increase the included angle of the connecting rod unit 311 at the pivot point b. In this way, the second driving structure 30 can be changed from the state in Figure 6 to the state in Figure 4 . It can be seen that at this time, the included angles of the two connecting rod units 311 at the pivot point b are opposite, so as to increase the included angle when the two first connecting rods 3112 move towards each other, to realize the lifting of the connecting rod unit 311 in the vertical direction, to drive the telescopic structure 40 to lift in the vertical direction.

[0146] Again referring to Figure 4 and Figure 6, or, when the first screw rod 321 is driven by the first driving member 211, the first screw rod 321 can drive the second screw rod 323 to rotate through the coupling 325, the first nut 322 and the second nut 324 can move away from each other, so as to drive the two first connecting rods 3112 to move away from each other, and reduce the included angle of the linkage unit 311 at the pivot point b. In this way, the second driving structure 30 can be driven by the first driving structure 20 to change the state from Figure 4 to the state of Figure 6 . It can be seen that at this time, the included angles of the two linkage units 311 at the pivot point b are opposite, so as to reduce the included angle when the two first connecting rods 3112 move away from each other, so as to realize the descent of the linkage unit 311 in the vertical direction, so as to drive the telescopic structure 40 to descend in the vertical direction.

[0147] For example, the second driving member 320 can be a driving motor or a driving motor, and the process of lifting and descending of the linkage unit 311 is the process of driving the first screw rod 321 to rotate in two opposite directions by the second driving member 320. As long as the second driving member 320 can realize driving the first screw rod 321 to rotate in two different directions, the second driving member 320 is not limited in the embodiment.

[0148] For example, the second driving assembly 32 further comprises a bracket 326, a connecting shaft 327, a first transmission wheel 328 and a second transmission wheel 329.

[0149] The bracket 326 can be connected with the first nut 322, and the second driving member 320 is arranged on the bracket 326. At this time, the bracket 326 can be driven by the first nut 322 to move, so as to drive the second driving member 320 to move along the axis direction of the first screw rod 321, so as to keep the relative position between the second driving member 320 and the first screw rod 321, prevent the first screw rod 321 from being separated from the first driving member 211 during the lifting or descending process of the linkage unit 311, and cause the first screw rod 321 to lose power.

[0150] Specifically, the connecting shaft 327 is connected with the output end of the second driving member 320, so as to be driven to rotate under the driving of the second driving member 320. The first transmission wheel 328 is movably arranged on the connecting shaft 327, and the first transmission wheel 328 can rotate under the driving of the connecting shaft 327, and can also slide along the axis direction of the connecting shaft 327. The second transmission wheel 329 is connected with the first screw rod 321, and is connected with the first transmission wheel 328 in cooperation, so as to be driven to rotate by the first transmission wheel 328, and drive the first screw rod 321 to rotate.

[0151] When the first screw rod 321 rises or falls along with the connecting rod unit 311, the distance between the connecting shaft 327 and the second transmission wheel 329 in the vertical direction is kept unchanged through the bracket 326 connected with the first nut 322, and the distance between the first transmission wheel 328 and the second transmission wheel 329 in the vertical direction is kept unchanged.

[0152] In this way, when the first nut 322 and the second nut 324 approach each other, the first nut 322 can drive the bracket 326 to move along the axis direction of the first screw rod 321, so that the second driving member 320 and the connecting shaft 327 move along the axis direction of the first screw rod 321 along with the bracket 326. Since the second transmission wheel 329 is fixedly arranged on the first screw rod 321, the relative position between the second transmission wheel 329 and the first screw rod 321 does not change, but the relative position between the second transmission wheel 329 and the second driving member 320 and the connecting shaft 327 changes. At this time, the first transmission wheel 328 can move along the axis direction of the connecting shaft 327, so that the first transmission wheel 328 and the second transmission wheel 329 are kept in engagement to keep the transmission chain between the second driving member 320 and the first screw rod 321 working normally in the process of the connecting rod unit 311 rising.

[0153] It should be noted that when the first nut 322 and the second nut 324 move away from each other, the above description of the first nut 322 and the second nut 324 approaching each other can be referred to, which will not be repeated here.

[0154] Optionally, the first transmission wheel 328 and the second transmission wheel 329 can be engaged through a transmission belt (not shown in the figure).

[0155] Alternatively, the first transmission wheel 328 and the second transmission wheel 329 can be two gears engaged with each other to realize engagement.

[0156] Optionally, the connecting shaft 327 can be a spline shaft, so that the first transmission wheel 328 and the connecting shaft 327 can be fixed in the circumferential direction and can slide in the axis direction.

[0157] Alternatively, a sliding groove can be arranged on the connecting shaft 327, a key groove is arranged on the surface of the first transmission wheel 328 connected with the connecting shaft 327, and the first transmission wheel 328 and the connecting shaft 327 can be fixed in the circumferential direction and can slide in the axis direction through the key arranged in the key groove and the sliding groove.

[0158] It should be noted that the transmission chain between the second driving member 320 and the first screw rod 321 can also be realized through other ways, which is not limited in the embodiment.

[0159] Figure 9is a structural schematic diagram of a telescopic structure and a taking structure provided by an embodiment of the present application.

[0160] Figure 10 is a structural schematic diagram of a telescopic structure omitting a third connecting plate provided by an embodiment of the present application.

[0161] In combination with Figure 4 , Figure 9 and Figure 10 , it is shown that, exemplarily, the telescopic structure 40 includes a secondary telescopic assembly 41 and a telescopic driving assembly 42. The secondary telescopic assembly 41 is connected with the connecting rod unit 311 in the second driving structure 30, so as to be able to move along the vertical direction under the driving of the connecting rod unit 311. The telescopic driving assembly 42 is connected with the secondary telescopic assembly 41, so as to be used for driving the secondary telescopic assembly 41 to telescope along the first horizontal direction, so that the secondary telescopic assembly 41 can be away from or close to the target object P. In this way, by the secondary telescopic assembly 41, it can be realized that, in the same telescopic range, the secondary telescopic assembly 41 can occupy a smaller space relative to the primary telescopic assembly in the untelescoped state, and the overall size is smaller, so as to be able to facilitate the realization of the size reduction of the taking mechanism 1 in the first horizontal direction, and further reduce the spacing requirement between adjacent carriers, and improve the storage density.

[0162] In addition, compared with the primary telescopic assembly with the same initial length, the secondary telescopic assembly 41 can provide a larger telescopic stroke, so as to be able to take the target object P located at a deeper position of the carrier. Exemplarily, the secondary telescopic assembly 41 can reach a double-deep or multi-deep position of the carrier, and can also reach a single-deep position of the carrier.

[0163] Exemplarily, the secondary telescopic assembly 41 includes a first connecting plate 411, a second connecting plate 412 and a third connecting plate 413. The taking structure 50 is arranged on the third connecting plate 413.

[0164] The first connecting plate 411 is connected with the connecting rod unit 311 of the second driving structure 30, so that the first connecting plate 411 can move along the vertical direction under the driving of the connecting rod unit 311. The telescopic driving assembly 42 can be arranged on the first connecting plate 411, so as to avoid affecting the activities of the second connecting plate 412 and the third connecting plate 413.

[0165] The second connecting plate 412 is movably arranged on the first connecting plate 411, and the second connecting plate 412 can move relative to the first connecting plate 411 along the first horizontal direction under the driving of the telescopic driving assembly 42, so as to realize the approach or departure of the second connecting plate 412 to the target object P. Meanwhile, the third connecting plate 413 is movably arranged on the second connecting plate 412, and the third connecting plate 413 can move relative to the first connecting plate 411 and the second connecting plate 412 along the first horizontal direction under the driving of the telescopic driving assembly 42, so as to approach or depart from the target object P.

[0166] In other words, the taking structure 50, the third connecting plate 413, the second connecting plate 412 and the first connecting plate 411 are sequentially stacked. The first connecting plate 411 at the bottom layer is connected with the second driving structure 30, and the third connecting plate 413 at the top layer can realize the connection with the taking structure 50, so that the third connecting plate 413 can drive the taking structure 50 to approach or depart from the target object P, thereby facilitating the taking of the taking structure 50. In addition, the arrangement of the first connecting plate 411, the second connecting plate 412 and the third connecting plate 413 can improve the structural strength of the secondary telescopic assembly 41, improve the connection stability with the second driving structure 30 and the taking structure 50, and the third connecting plate 413 can provide more space for the arrangement of the taking structure 50, without the need for the taking structure 50 to additionally arrange a supporting structure, so as to simplify the arrangement of the taking structure 50.

[0167] Alternatively, the secondary telescopic assembly 41 further comprises a first sliding rail 414, a second sliding rail 415 and a third sliding rail 416. The first sliding rail 414 is arranged at the side of the first connecting plate 411, the second sliding rail 415 is correspondingly arranged at the side of the second connecting plate 412, and the second sliding rail 415 is connected with the first sliding rail 414. In this way, the relative sliding arrangement of the second connecting plate 412 and the first connecting plate 411 can be realized through the sliding connection of the first sliding rail 414 and the second sliding rail 415. The third sliding rail 416 is arranged at the side of the third connecting plate 413 and correspondingly arranged with the second sliding rail 415, and the third sliding rail 416 is connected with the second sliding rail 415. In this way, the third connecting plate 413 and the second connecting plate 412 can be realized through the sliding connection of the second sliding rail 415 and the third sliding rail 416.

[0168] Alternatively, the secondary telescopic assembly 41 can comprise the cooperation connection of the shaft sleeve and the sliding shaft to realize the relative sliding connection of the first connecting plate 411, the second connecting plate 412 and the third connecting plate 413, which is not limited in the embodiment.

[0169] It should be noted that in other embodiments, the secondary telescopic assembly 41 can also include multiple sets of telescopic connecting rods or connecting frames, etc., which are not limited in the present embodiment.

[0170] For example, the telescopic driving assembly 42 includes a telescopic driving member 421 and a first pulley unit 422. The telescopic driving member 421 is arranged on the first connecting plate 411 and is used to drive the second connecting plate 412 to move relative to the first connecting plate 411. The first pulley unit 422 includes a first pulley 4221 and a first sliding belt 4222.

[0171] The first pulley 4221 is arranged on the second connecting plate 412, and the first sliding belt 4222 is arranged around the first pulley 4221 to slide along the first pulley 4221. One end of the first sliding belt 4222 is connected to the first connecting plate 411, and the other end of the first sliding belt 4222 is connected to the third connecting plate 413. When the telescopic driving member 421 drives the second connecting plate 412 to move relative to the first connecting plate 411 along the first horizontal direction, the first pulley 4221 moves with the second connecting plate 412, and the end of the first sliding belt 4222 connected to the third connecting plate 413 can drive the third connecting plate 413 to move relative to the second connecting plate 412 along the first horizontal direction, so that the third connecting plate 413 can be synchronously telescoped with the second connecting plate 412, to realize the linkage design of the second connecting plate 412 and the third connecting plate 413.

[0172] In this way, a set of driving structure can be arranged for the second connecting plate 412 and the third connecting plate 413, and it is not necessary to arrange a set of driving structure for the second connecting plate 412 and the third connecting plate 413 respectively, so as to simplify the design of the driving structure in the telescopic structure 40. Meanwhile, the linkage design of the second connecting plate 412 and the third connecting plate 413 can also simplify the control instruction of the telescopic structure 40, and it is not necessary to control the second connecting plate 412 and the third connecting plate 413 respectively.

[0173] For example, one end of the first sliding belt 4222 is connected to a first connecting position c of the first connecting plate 411, and the other end of the first sliding belt 4222 is connected to a second connecting position d of the third connecting plate 413. When the second connecting plate 412 and the third connecting plate 413 do not perform telescopic movement relative to the first connecting plate 411, the first connecting position c and the second connecting position d correspond to each other, and the first pulley 4221 and the first connecting position c are located on two sides along the first horizontal direction. In other words, when the telescopic assembly does not perform telescopic movement, along the first horizontal direction, the first connecting position c and the second connecting position d are located on the same side of the first pulley 4221.

[0174] Figure 11 is a schematic diagram of the working principle of the first pulley unit provided in the present embodiment.

[0175] AsFigure 11 As shown in (a), when the second connecting plate 412 and the third connecting plate 413 are not retracting relative to the first connecting plate 411, the distance between the first connecting position c and the first pulley 4221 is the first distance L1, the distance between the second connecting position d and the first pulley 4221 is the second distance L2, and the sum of the first distance and the second distance is the length of the first sliding belt 4222, that is, the sum of the first distance L1 and the second distance L2 is a constant value.

[0176] like Figure 11 As shown in (b), when the second connecting plate 412 extends outward relative to the first connecting plate 411 along the first horizontal direction to approach the target item P, and the extension direction is the first sub-direction M (the direction in which the first connecting position c points to the first pulley 4221), the first distance L1 between the first connecting position c on the first connecting plate 411 and the first pulley 4221 will gradually increase. Since the sum of the first distance L1 and the second distance L1 is a constant, the second distance L2 between the second connecting position d on the third connecting plate 413 and the first pulley 4221 will gradually decrease under the constraint of the first sliding belt 4222. In this way, the first sliding belt 4222 can synchronously drive the third connecting plate 413 to extend along the first horizontal direction, and in the same direction as the extension of the second connecting plate 412. In other words, the first pulley unit 422 can realize the synchronous extension of the second connecting plate 412 and the third connecting plate 413 along the direction in which the first connecting position c points to the first pulley 4221.

[0177] Please refer to it again. Figure 9 and Figure 10 Furthermore, the telescopic drive assembly 42 also includes a second pulley unit 423. The second pulley unit 423 includes a second pulley 4231 and a second sliding belt 4232. Similar to the function of the first sliding unit 422, the second sliding unit 423 enables the linkage between the second connecting plate 412 and the third connecting plate 413.

[0178] Specifically, the second pulley 4231 is disposed on the second connecting plate 412 and is located on opposite sides of the first pulley 4221 along the first horizontal direction. The second sliding band 4232 is wound around the second pulley 4231 to slide along the second pulley 4231. One end of the second sliding band 4232 is connected to the second connecting plate 412, and the other end of the second sliding band 4232 is connected to the third connecting plate 413, and the second sliding band 4232 and the first sliding band 4222 are arranged opposite to each other along the first horizontal direction. In this way, the second sliding unit 423 can realize the linkage between the second connecting plate 412 and the third connecting plate 413 in the opposite direction to the first sliding unit 422.

[0179] For example, one end of the second sliding band 4232 is connected to the third connecting position e of the first connecting plate 411, and the other end of the second sliding band 4232 is connected to the fourth connecting position f of the third connecting plate 413. When the second connecting plate 412 and the third connecting plate 413 are not telescopically moving relative to the first connecting plate 411, the third connecting position e and the fourth connecting position f correspond to each other, and the second pulley 4231 and the third connecting position e are located on opposite sides along the first horizontal direction. In other words, when the telescopic assembly is not telescopic, along the first horizontal direction, the third connecting position e and the fourth connecting position f are located on the same side of the second pulley 4231.

[0180] Figure 12 This is a schematic diagram illustrating the working principle of the second pulley unit provided in the embodiments of this application.

[0181] like Figure 12 As shown, the second connecting plate 412 and the third connecting plate 413 do not extend or retract relative to the first connecting plate 411 (e.g., Figure 12 As shown in (b), the distance between the third connecting position e and the second pulley 4231 is the third distance L3, the distance between the fourth connecting position f and the second pulley 4231 is the fourth distance L4, and the sum of the third distance L3 and the fourth distance L4 is the length of the second sliding belt 4232, that is, the sum of the third distance L3 and the fourth distance L4 is a constant value.

[0182] like Figure 12 As shown in (a), when the second connecting plate 412 extends outward relative to the first connecting plate 411 in the first horizontal direction to approach the target item P, for the second pulley unit 423, the fourth distance L4 is larger and the third distance L3 is smaller.

[0183] like Figure 12 As shown in (b), if the second connecting plate 412 needs to retract along the second sub-direction N (the direction in which the third connecting position e points to the second pulley 4231), the third distance L3 between the third connecting position e on the first connecting plate 411 and the second pulley 4231 will gradually increase. Since the sum of the third distance L3 and the fourth distance L4 is a constant, under the constraint of the second sliding belt 4232, the fourth distance L4 between the fourth connecting position f on the third connecting plate 413 and the second pulley 4231 will gradually decrease. In this way, the second sliding belt 4232 can synchronously drive the third connecting plate 413 to retract along the first horizontal direction, and in the same direction as the retraction of the second connecting plate 412. In other words, the second pulley unit 423 can realize the synchronous retraction of the second connecting plate 412 and the third connecting plate 413 along the direction in which the third connecting position e points to the second pulley 4231.

[0184] It should be noted that the first sub-direction M and the second sub-direction N are two opposite directions in the first horizontal direction. Under the cooperation of the first pulley unit 422 and the second pulley unit 423, if the second connecting plate 412 extends outward relative to the first connecting plate 411 along the first horizontal direction to approach the target object P, and the extension direction is the second sub-direction N, the third connecting plate 413 can be extended in linkage with the second connecting plate 412 under the driving of the second pulley unit 423. If the second connecting plate 412 needs to be retracted along the first sub-direction M, the third connecting plate 413 can be extended in linkage with the second connecting plate 412 under the driving of the first pulley unit 422.

[0185] In other words, the cooperation of the first pulley unit 422 and the second pulley unit 423 not only enables the extension and retraction linkage of the second connecting plate 412 and the third connecting plate 413, but also enables the extension or retraction of the second connecting plate 412 and the third connecting plate 413 on both sides of the first horizontal direction, so that the second connecting plate 412 and the third connecting plate 413 can be linked when the two-stage telescopic assembly 41 is bidirectionally telescoped along the first horizontal direction.

[0186] Alternatively, since the main function of the second connecting plate 412 is to perform telescopic movement and drive the third connecting plate 413 to move synchronously, in the embodiment, the middle part of the second connecting plate 412 can be provided with a hollow structure g, and the first pulley 4221 and the second pulley 4231 can be arranged on both sides of the hollow structure g along the first horizontal direction. In this way, the weight of the second connecting plate 412 can be reduced through the hollow structure g, so as to facilitate the driving of the second connecting plate 412 and the third connecting plate 413, and also facilitate the lightweight design of the two-stage telescopic assembly 41 to reduce the pressure on the first driving structure 20 and the second driving structure 30.

[0187] Alternatively, the second connecting plate 412 can also be a complete plate in other embodiments, which is not limited in the embodiment.

[0188] For example, the telescopic driving assembly 42 further comprises a telescopic transmission unit 424. The telescopic transmission unit 424 comprises a driving wheel 4241, a driven wheel 4242, a transmission belt 4243 and a transmission bar 4244.

[0189] The driving wheel 4241 is arranged on the first connecting plate 411 and connected with the telescopic driving piece 421. The driving wheel 4241 can be located above the first connecting plate 411, and the telescopic driving piece 421 can be located below the first connecting plate 411, so as to facilitate the transmission of power from the driving wheel 4241 to the second connecting plate 412, and also avoid the influence of the arrangement of the telescopic driving piece 421 on the cooperation of the first connecting plate 411 and the second connecting plate 412.

[0190] The driven wheel 4242 is arranged on the first connecting plate 411, and the driving wheel 4241 and the driven wheel 4242 are located on two sides of the first connecting plate 411 along the first horizontal direction. The transmission belt 4243 is arranged between the driving wheel 4241 and the driven wheel 4242, so as to drive the driven wheel 4242 to rotate. When the telescopic driving member 421 drives the driving wheel 4241 to rotate, the driving wheel 4241 can drive the driven wheel 4242 to rotate through the transmission belt 4243, and the part of the transmission belt 4243 between the driving wheel 4241 and the driven wheel 4242 can move along the first horizontal direction. The transmission strip 4244 is arranged on the second connecting plate 412 and is connected with the transmission belt 4243 in a matched mode, so as to move along the first horizontal direction under the driving of the transmission belt 4243, and then drive the second connecting plate 412 to move, so as to realize the driving of the telescopic driving member 421 to the second connecting plate 412.

[0191] Optionally, the transmission belt 4243 and the transmission strip 4244 can be connected in a toothed engagement matched mode (the tooth shape of the transmission belt 4243 is not shown in the figure). In this way, the synchronous movement between the transmission belt 4243 and the transmission strip 4244 can be realized through the engagement tooth, and the slipping phenomenon between the transmission belt 4243 and the transmission strip 4244 can be prevented, so as to affect the movement of the second connecting plate 412.

[0192] Alternatively, the transmission belt 4243 can be connected with the transmission strip 4244 through a pressing plate, and the transmission belt 4243 is located between the pressing plate and the transmission strip 4244, so as to press the transmission belt 4243 on the transmission strip 4244 through the pressing plate, thereby enabling the transmission belt 4243 to drive the transmission strip 4244 to move.

[0193] It should be noted that the transmission belt 4243 and the transmission strip 4244 can also be connected in other matched modes, which are not limited in the embodiment.

[0194] For example, the transmission belt 4243 and the driving wheel 4241 and the driven wheel 4242 can also be connected in a toothed engagement matched mode (the tooth shape of the transmission belt 4243 is not shown in the figure). In this way, the synchronous movement between the transmission belt 4243 and the driving wheel 4241 and the driven wheel 4242 can be realized through the engagement tooth, and the slipping phenomenon between the transmission belt 4243 and the driving wheel 4241 or the transmission belt 4243 and the driven wheel 4242 can be prevented, so as to affect the movement of the second connecting plate 412.

[0195] Exemplarily, the telescopic driving member 421 can be a driving motor or a driving motor capable of realizing forward and reverse rotation. In this way, when the telescopic driving member 421 rotates forward, the second connecting plate 412 and the third connecting plate 413 can extend along the first horizontal direction towards one side, and when the telescopic driving member 421 rotates reversely, the second connecting plate 412 and the third connecting plate 413 can retract along the first horizontal direction. In addition, when the telescopic driving member 421 rotates reversely, the second connecting plate 412 and the third connecting plate 413 can extend along the first horizontal direction towards the other side, and when the telescopic driving member 421 rotates forward, the second connecting plate 412 and the third connecting plate 413 can retract along the first horizontal direction, thereby realizing the bidirectional telescopic function of the telescopic assembly to drive the object taking structure 50 to realize bidirectional object taking.

[0196] Figure 13 FIG. 4 is a structural schematic view of the object taking structure and the third connecting plate provided by the embodiment of the present application.

[0197] As shown in Figure 13 Exemplarily, the object taking structure 50 includes a taking and placing member 51. The taking and placing member 51 can be arranged on the third connecting plate 413 of the telescopic structure 40, so that the taking and placing member 51 can be driven by the third connecting plate 413 to approach or move away from the target object P.

[0198] Exemplarily, the taking and placing member 51 can include at least one of a suction cup 511, a clamping fork, a hook claw, a prying finger and a magnetic attraction structure.

[0199] The hook claw can hook the side edge, top edge, bottom edge, protrusion or handle on the container of the target object P, and can also hook the groove, protrusion or handle on the bottom surface of the target object P. The clamping fork can clamp the target object P from both sides or can insert the target object P from below or hook the target object P from above. The prying finger can be one or more, and multiple prying fingers can be arranged on the third connecting plate 413 at intervals.

[0200] In the case where the taking and placing member 51 includes the suction cup 511, when the target object P is taken, the suction cup 511 can maintain a vacuum state with the target object P, so as to take the target object P from the storage location and drive the target object P to the carrying assembly 60, thereby realizing the extraction of the target object P.

[0201] When placing the target article P, the suction cup 511 can push the target article P to push the target article P to the storage location in the carrier. At this time, the suction cup 511 can be in direct contact with the target article P, and the suction cup 511 and the target article P are in a broken vacuum state. In this way, after the suction cup 511 pushes the target article P to the designated storage location, the suction cup 511 can directly leave the target article P, and the broken vacuum state between the suction cup 511 and the target article P can prevent the suction cup 511 from extruding the air between the suction cup 511 and the target article P during the pushing process, causing a certain vacuum degree pressure between the suction cup 511 and the target article P. This vacuum degree pressure may cause the target article P to be dragged when the suction cup 511 leaves the target article P, thereby causing the target article P to deviate and affecting the placement accuracy of the target article P.

[0202] For example, the suction cup 511 can be in contact with the middle part of the side of the target article P, or the contact position can be adjusted according to the center of the target article P to facilitate the picking and placing of the target article P. The specific contact position of the suction cup 511 and the target article P is not limited in this embodiment.

[0203] It should be noted that the taking structure 50 including the suction cup 511 in the embodiment of the application is only an example, and the specific arrangement of the taking structure 50 is not limited.

[0204] The taking structure 50 including the suction cup 511 is taken as an example for description below.

[0205] For example, the taking structure 50 further includes a gas source assembly 52, and the gas source assembly 52 is arranged on the third connecting plate 413 of the telescopic structure 40.

[0206] It should be noted that in other embodiments, the gas source assembly 52 can also be arranged on the support frame 10, which is not limited in this embodiment.

[0207] When picking up the target article P, the gas source assembly 52 can be communicated with the suction cup 511 to suck the air between the suction cup 511 and the target article P, so that the suction cup 511 and the target article P are in a vacuum state, so as to facilitate the suction cup 511 to pull the target article P.

[0208] When placing the target article P, the gas source assembly 52 can be disconnected from the suction cup 511, so that the suction cup 511 is communicated with the atmosphere, so that the suction cup 511 and the target article P are in a broken vacuum state, so as to facilitate the placement of the target article P.

[0209] Exemplarily, the gas source assembly 52 can include a gas source device 521 and a first valve 522. A first interface 5221 of the first valve 522 is in communication with the suction disc 511, a second interface 5222 of the first valve 522 is in communication with the gas source device 521, and a third interface 5223 of the first valve 522 is in communication with the atmosphere. In this way, when the target object P is taken, the first interface 5221 of the first valve 522 can be in communication with the second interface 5222, so that the gas source device 521 is in communication with the suction disc 511; when the target object P is placed, the first interface 5221 of the first valve 522 can be in communication with the third interface 5223, so that the suction disc 511 is in communication with the atmosphere.

[0210] Optionally, the gas source device 521 can be a gas source device 521 that can be positively rotated and reversely rotated. For example, when the gas source device 521 is positively rotated, the inner cavity of the suction disc 511 is suctioned by the first valve 522 to reduce the pressure in the inner cavity of the suction disc 511, so as to facilitate the adsorption of the target object P that needs to be transferred; when the gas source device 521 is reversely rotated, the gas source device 521 fills air into the inner cavity of the suction disc 511 through the first valve 522, so as to release the suction force of the suction disc 511 on the target object P, thereby facilitating the unloading of the target object P from the suction disc 511.

[0211] It should be noted that the gas source device 521 can be a vacuum pump, an air compressor, a gas pump or the like. In this embodiment, the gas source device 521 is taken as a vacuum pump for example.

[0212] Optionally, the first valve body can be a three-way electromagnetic valve, which is convenient to control, so as to facilitate the taking and placing of the target object P. Alternatively, the first valve body can also be a three-way intelligent electric valve, a manual valve or the like. In this embodiment, the first valve 522 is not limited.

[0213] Exemplarily, in order to facilitate the bidirectional taking and placing function of the object taking structure 50, the suction disc 511 can be two. The two suction discs 511 can respectively face two sides along the first horizontal direction, and are respectively used for taking and placing the target object P on the carriers on the two sides of the third connecting plate 413.

[0214] Further, each suction disc 511 can be connected with a first valve 522, and the gas source assembly 52 can further include a second valve 523.

[0215] The fourth interface 5231 of the second valve 523 is communicated with the second interface 5222 of one of the first valves 522, the fifth interface 5232 of the second valve 523 is communicated with the second interface 5222 of another of the first valves 522, and the sixth interface 5233 of the second valve 523 is communicated with the air source device 521. In this way, one air source device 521 can be communicated with two suction cups 511 through the second valve 523. When the suction cup 511 on one side needs to take the target object P, the air source device 521 can be communicated with the suction cup 511 on the side through the first valve 522 and the second valve 523, so that multiple sets of air source devices 521 can be avoided to simplify the object taking structure 50.

[0216] For example, the air source assembly 52 can further include a detection switch 524, and the seventh interface 5234 of the second valve 523 can be communicated with the detection switch 524. In this way, when the air source device 521 sucks the air between the suction cup 511 and the target object P, the detection switch 524 can detect the vacuum degree pressure between the suction cup 511 and the air source device 521, and if the vacuum degree pressure between the suction cup 511 and the air source device 521 reaches a set value, the air source device 521 can be closed, so that the vacuum degree pressure between the suction cup 511 and the target object P is prevented from being too large to damage the target object P or the suction cup 511, and the vacuum degree pressure between the suction cup 511 and the target object P is prevented from being too small to cause the suction cup 511 to be unable to pull the target object P.

[0217] For example, the set value of the vacuum degree pressure between the suction cup 511 and the air source device 521 can be set according to the weight, pressure bearing capacity and size of the target object P, as long as the target object P can be pulled without damaging the suction cup 511 and the target object P, which is not limited in the embodiment.

[0218] Optionally, the second valve body can be a four-way electromagnetic valve, which is convenient to control, so that the target object P can be taken and placed conveniently. Alternatively, the second valve body can also be a four-way intelligent electric valve, a manual valve or the like, which is not limited in the embodiment.

[0219] It can be understood that in some optional examples of the embodiment, the first valve body and the second valve body can be used to shut off the channel through which the air source device 521 is directly connected to the suction cup 511 when the suction cup 511 provides sufficient suction force to the target object P (for example, when the pressure in the channel or the vacuum pipe is detected by the detection switch 524 to reach a preset negative pressure value), so that the negative pressure in the inner cavity of the suction cup 511 is maintained, and the vacuum pump is prevented from running for a long time, which can effectively save energy.

[0220] It should be noted that a vacuum pipeline (not shown in the figure) can also be arranged between the first valve body and the suction cup 511, between the first valve body and the second valve body, between the second valve body and the detection switch 524, and between the second valve body and the air source device 521, so as to realize the connection between the structures in the air source assembly 52.

[0221] Exemplarily, the object taking structure 50 further comprises a mounting bracket 53 and a first elastic member 54.

[0222] The mounting bracket 53 is arranged on the third connecting plate 413 of the telescopic structure 40, and can provide a mounting position for the mounting of the suction cup 511. One end of the first elastic member 54 is connected with the mounting bracket 53, and the other end is connected with the suction cup 511. The first elastic member 54 can be deformed along the first horizontal direction. In this way, when the suction cup 511 contacts the target object P, the movable end o of the first elastic member 54 can drive the suction cup 511 to move along the first horizontal direction, so as to absorb the collision when the suction cup 511 contacts the target object P, thereby avoiding the impact of the suction cup 511 moving too fast on the target object P, and damaging the target object P. Meanwhile, when the air source device 521 sucks the air between the suction cup 511 and the target object P, the movable end o of the first elastic member 54 can be stretched under the driving of the suction cup 511. At this time, the first elastic member 54 will generate an action force along the first horizontal direction away from the target object P on the suction cup 511, that is, the first elastic member 54 will generate a certain pulling force on the suction cup 511, so as to avoid the suction cup 511 from being too tightly attached to the target object P when the target object P is sucked, thereby protecting the suction cup 511.

[0223] Optionally, the first elastic member 54 can be a spring or a structure with elastic deformation capability. In this embodiment, the first elastic member 54 is not limited.

[0224] Exemplarily, the object taking structure 50 further comprises a guide member 55 and a second elastic member 56.

[0225] One end of the guide member 55 is connected with the suction cup 511 and communicates with the inner cavity of the suction cup 511, and the other end of the guide member 55 is connected with the air source assembly 52, such as being communicated with the first valve 522 through a vacuum pipeline. The guide member 55 is movably arranged on the mounting bracket 53, and the first elastic member 54 is sleeved on the guide member 55. In this way, the guide member 55 can guide the deformation of the first elastic member 54, and also can realize the movable connection of the suction cup 511 relative to the mounting bracket 53. Meanwhile, the second elastic member 56 is sleeved on the guide member 55, and at this time, the guide member 55 can also guide the deformation of the second elastic member 56.

[0226] One end of the second elastic member 56 is connected with the mounting bracket 53, and the other end of the second elastic member 56 is connected with the guide member 55. The movable end p of the second elastic member 56 can be deformed in the first horizontal direction. The first elastic member 54 and the second elastic member 56 are located on both sides of the mounting bracket 53. In this way, when the first elastic member 54 is compressed, the first elastic member 54 can generate a pushing force on the suction cup 511 to push the suction cup 511 to the target object P, so as to ensure that the suction cup 511 is in contact with the target object P. When the first elastic member 54 is stretched, the first elastic member 54 can generate a pulling force on the suction cup 511, so that the suction cup 511 can move away from the target object P. When the second elastic member 56 is compressed, the second elastic member 56 can generate a pushing force on the suction cup 511. At this time, the pushing force of the second elastic member 56 can make the suction cup 511 move away from the target object P. When the second elastic member 56 is stretched, the second elastic member 56 can generate a pulling force on the suction cup 511. At this time, the pulling force of the second elastic member 56 can make the suction cup 511 move close to the target object P.

[0227] In addition, when the suction cup 511 adsorbs the target object P and pulls the target object P to the surface of the conveying belt 61, the second elastic member 56 will be compressed, thereby generating a pulling force on the suction cup 511 in a direction away from the target object P. After the suction cup 511 moves the target object P to the conveying belt 61, the suction cup 511 can break the vacuum between the target object P. At this time, the suction cup 511 will move away from the target object P under the pulling force of the second elastic member 56, and there is a gap between the suction cup 511 and the target object P. At this time, the movement of the target object P can be realized through the conveying belt 61, without the need for the object taking structure 50 to realize.

[0228] It can be seen that the directions of the forces of the first elastic member 54 and the second elastic member 56 on the suction cup 511 are opposite. In this way, during the process of the suction cup 511 pushing and pulling the target object P, the first elastic member 54 and the second elastic member 56 can be deformed respectively to protect the suction cup 511.

[0229] Optionally, the second elastic member 56 can be a spring or an air bag or other structure having elastic deformation capability, and the second elastic member 56 is not limited in the embodiment.

[0230] Optionally, the guide member 55 can be a guide pipe to facilitate the communication between the suction cup 511 and the first valve 522.

[0231] Alternatively, the guide member 55 can also be a guide rod. When the suction cup 511 and the first valve 522 are communicated through a vacuum pipe, one end of the vacuum pipe connected with the suction cup 511 can be fixed with the guide rod, so as to facilitate the movement of the suction cup 511 relative to the mounting bracket 53.

[0232] In addition, the guide 55 can be arranged on the mounting hole of the mounting bracket 53, and the mounting hole of the mounting bracket 53 can be provided with a sleeve for the guide 55 to pass through, so that the guide 55 can drive the suction cup 511 to move relative to the mounting bracket 53.

[0233] In the embodiment, in order to facilitate the bidirectional operation of the object taking structure 50, the suction cup 511 can be two. In other embodiments, the suction cup 511 can also be only one, and at this time, a rotating assembly can be arranged on the third connecting plate 413 to rotate the orientation of the suction cup 511, so as to realize the bidirectional taking and placing function of the object taking structure 50. It can be understood that the number of the suction cup 511 is not limited in the embodiment.

[0234] The specific working process of the object taking mechanism 1 provided in the embodiment of the application will be described below.

[0235] Please refer to Figures 1 to 3 When the object taking mechanism 1 is not working, it can be in the first state as shown in Figure 1 The first state can also be the initial state of the object taking mechanism 1. In the first state, the first driving structure 20 is located at the middle position of the support frame 10 along the first horizontal direction, the second driving structure 30 drives the telescopic structure 40 and the object taking structure 50 to approach the bottom plate 11, and the telescopic structure 40 and the object taking structure 50 are located below the conveying belt 61.

[0236] When taking the target object P:

[0237] The first driving structure 20 can drive the second driving structure 30, the telescopic structure 40 and the object taking structure 50 to move along the first horizontal direction towards the side close to the target object P, and the second driving structure 30 can drive the telescopic structure 40 and the object taking structure 50 to ascend along the vertical direction, so that the telescopic structure 40 and the object taking structure 50 can ascend above the conveying belt 61, so that the object taking mechanism 1 is in the second state as shown in Figure 2 .

[0238] It should be noted that the first driving structure 20 and the second driving structure 30 can be operated synchronously, or the first driving structure 20 and the second driving structure 30 can be operated asynchronously, which is not limited in the embodiment.

[0239] When the telescopic structure 40 is located above the conveying belt 61, the telescopic structure 40 can extend along the first horizontal direction towards the target object P to drive the object taking structure 50 to approach the target object P, so that the object taking mechanism 1 is in the third state as shown in Figure 3 .

[0240] When the object taking structure 50 is in contact with the target object P, the first valve 522 and the second valve 523 can make the air source device 521 communicate with the suction cup 511 close to the target object P, so as to extract the air between the suction cup 511 and the target object P, so that the suction cup 511 can be adsorbed on the target object P. During the air extraction process of the air source device 521, the detection switch 524 detects the vacuum degree pressure between the suction cup 511 and the target object P in real time. When the vacuum degree pressure reaches the set value, the detection switch 524 turns off the air source device 521, and the first valve 522 and the second valve 523 can keep the vacuum degree pressure between the suction cup 511 and the target object P. After the vacuum degree pressure between the suction cup 511 and the target object P reaches the set value, the telescopic structure 40 can be retracted to drive the target object P to move towards the conveying belt 61.

[0241] Figure 14 FIG. 4 is a structural schematic diagram of the object taking mechanism in a fourth state provided by the embodiment of the present application.

[0242] As shown in FIG. 4, when the target object P moves to the preset position of the conveying belt 61, the first valve 522 can make the suction cup 511 communicate with the atmosphere, so as to break the vacuum state between the suction cup 511 and the target object P. At this time, the second elastic member 56 can drive the suction cup 511 to move away from the target object P, so that the suction cup 511 and the target object P have a spacing H. Figure 14

[0243] Figure 15 FIG. 5 is a structural schematic diagram of the object taking mechanism in a fifth state provided by the embodiment of the present application.

[0244] As shown in FIG. 5, the second driving structure 30 can drive the telescopic structure 40 and the object taking structure 50 to descend along the vertical direction, and at the same time, the first driving structure 20 can drive the second driving structure 30, the telescopic structure 40 and the object taking structure 50 to move along the first horizontal direction away from the target object P. At this time, the object taking structure 50 can descend and move away from the target object P, so as to keep the spacing between the object taking structure 50 and the target object P, so as to avoid affecting the target object P when the conveying belt 61 drives the target object P to move. Figure 15

[0245] ​​Exemplarily, in the process that the taking structure 50 descends and moves away from the target object P, the conveying belt 61 in the carrying assembly 60 drives the target object P to move along the first horizontal direction at a first speed, and the first driving structure 20 drives the taking structure 50 to move along the first horizontal direction at a second speed, the first speed and the second speed are in the same direction, and the first speed is less than or equal to the second speed, so as to avoid that the conveying belt 61 moves too fast and causes the target object P to collide with the taking structure 50, thereby affecting the stability of the target object P and the safety of the taking structure 50.

[0246] It should be noted that the first driving structure 20 and the second driving structure 30 can drive the taking structure 50 to move simultaneously, or can move individually, that is, when the target object P moves to the preset position of the conveying belt 61, the first driving structure 20 can drive the taking structure 50 to move along the first direction, or when the target object P moves to the preset position of the conveying belt 61, the second driving structure 30 can drive the taking structure 50 to move along the second direction, as long as the target object P can be avoided, and in the embodiment, it is not required that the first driving structure 20 and the second driving structure 30 must move simultaneously.

[0247] Please refer again to Figure 5 When the target object P is completely on the conveying belt 61, the conveying belt 61 can stop moving, so that the target object P is placed on the surface of the conveying belt 61. At this time, the second driving structure 30 can be below the conveying belt 61. When the second driving structure 30 is below the conveying belt 61, that is, when the second driving structure 30 is below the target object P (the below of the target object P is the side below the target object P which contacts the conveying belt 61), the first driving structure 20 is located on the side of the support frame 10 which is away from the target object P. At this time, the first driving structure 20 can drive the second driving structure 30, the telescopic structure 40 and the taking structure 50 to move along the first horizontal direction towards the middle position of the support frame 10, so as to make the first driving structure 20, the second driving structure 30, the telescopic structure 40 and the taking structure 50 return to the initial position. In this way, the first driving structure 20, the second driving structure 30, the telescopic structure 40 and the taking structure 50 can be controlled conveniently for the next taking and placing work, and it is not required to confirm the movement stroke again.

[0248] Exemplarily, the initial position can be the middle position of the support frame 10, or can be offset from the middle position of the support frame 10, which is not limited in the embodiment.

[0249] For Figure 5In the state shown, the taking structure 50 and the telescopic structure 40 will not affect the movement of the target object P. In this way, the target object P can leave the taking mechanism 1 from various directions, thereby improving the flexibility of taking the target object P. In addition, the taking mechanism 1 provided by the embodiment of the present application can also realize the synchronization of taking the target object P from one carrier and placing it on another carrier adjacent to the carrier, thereby improving the transfer efficiency of the target object P.

[0250] When placing the object, the movement process of each structure in the taking mechanism 1 is opposite to the working process when taking the object, which will not be described here. When placing the object, the air source device 521 is no longer working, and the first valve 522 can keep the suction cup 511 in communication with the atmosphere, thereby avoiding the suction cup 511 extruding the air between the suction cup 511 and the target object P in the process of pushing the target object P, causing a certain vacuum degree pressure between the suction cup 511 and the target object P.

[0251] Figure 16 is a schematic diagram of the extension state of the telescopic structure provided by the embodiment of the present application.

[0252] As Figure 16 shown, in the process of taking and placing the target object P by the taking mechanism 1, the telescopic structure 40 can drive the taking structure 50 to extend along the first sub-direction M and move to the first preset position shown in Figure 16 (a). Alternatively, the telescopic structure 40 can drive the taking structure 50 to extend along the first sub-direction M and move to the second preset position shown in Figure 16 (b). The second preset position is farther away from the support frame 10 than the first preset position.

[0253] In addition, the telescopic structure 40 can also drive the taking structure 50 to extend along the second sub-direction N and move to the third preset position shown in Figure 16 (c). Alternatively, the telescopic structure 40 can also drive the taking structure 50 to extend along the second sub-direction N and move to the fourth preset position shown in Figure 16 (d). The fourth preset position is farther away from the support frame 10 than the third preset position, and the first sub-direction M and the second sub-direction N are two opposite directions in the first horizontal direction.

[0254] It can be seen that the telescopic structure 40 can drive the taking structure 50 to extend and retract in two directions, and also realize the double-depth extension and retraction of the taking structure 50, so as to take the target object P located at a deeper position of the carrier or place the target object P at a deeper position of the carrier.

[0255] Figure 17 is a structural schematic diagram of a transport device provided by the embodiment of the present application.

[0256] As shown in Figure 17 embodiments of the present application also provide a transport device 100, which comprises a chassis 2, a portal 3 and the above-mentioned taking mechanism 1 provided by the embodiments. Wherein, the portal 3 can be arranged on the chassis 2, and the taking mechanism 1 is movably arranged on the portal 3, so as to be able to ascend or descend along the portal 3 to move to the height where the target object P is located. The chassis 2 can drive the portal 3 and the taking mechanism 1 to move on the ground, so as to be able to facilitate the transfer of the target object P to the designated position.

[0257] Specifically, the chassis 2 can be the same as or similar to the chassis 2 in the related art, in addition, the embodiments of the present application have the same or corresponding technical features as the foregoing embodiments, therefore, have the same or similar technical effects as the foregoing embodiments of the present application, and the specific description can be referred to the foregoing embodiments of the present application, which will not be repeated here.

[0258] The portal 3 can be fixedly arranged on the chassis 2 and move under the driving of the chassis 2, wherein the connection mode of the portal 3 and the chassis 2 can be the same as or similar to the mode in the related art, and the embodiments of the present application will not be repeated here.

[0259] In addition, it can be understood that in the embodiments of the present application, the chassis 2 or the portal 3 can be provided with a communication module, which can communicate with the upper computer and receive the control signal sent by the upper computer; in addition, the communication module can also upload the position information of the transport device 100 to the upper computer, and the upper computer controls the movement of the transport device 100 in the warehouse system according to the carrying task, for example, to the designated position of the target carrier, so as to dock with the target storage location in the target carrier, realize the taking or returning process.

[0260] The taking mechanism 1 is arranged on the portal 3 and can move up and down along the portal 3, for example, after the transport device 100 moves to the target carrier, the taking mechanism 1 moves up and down along the portal 3, so as to reach the storage location height corresponding to the target object P.

[0261] In some examples, the transport device 100 further comprises a temporary storage plate (not shown in the figure) and a rotating mechanism (not shown in the figure).

[0262] The temporary storage plate is arranged on the portal 3, and the rotating mechanism is connected with the taking mechanism 1, and the rotating mechanism is configured to drive the taking mechanism 1 to rotate, so as to make the taking mechanism 1 store the target object P on the temporary storage plate, or take the target object P from the temporary storage plate through the taking mechanism 1. Wherein, the temporary storage plate forms the above-mentioned temporary storage plate storage location. The temporary storage plate storage location can be one of the target storage locations, that is, the taking structure 50 can move along the first horizontal direction under the driving of the telescopic structure 40 to extend into the temporary storage plate storage location.

[0263] It can be understood that the direction in which the taking structure 50 moves towards the target carrier's storage location can be perpendicular to the direction in which the taking structure 50 moves towards the temporary storage plate's storage location, in other words, the direction in which the taking structure 50 moves when the target storage location is the temporary storage plate's storage location can be perpendicular to the direction in which the taking structure 50 moves when the target storage location is the carrier's storage location.

[0264] It can be understood that the taking mechanism 1 can be located at one side of the gantry 3, and the temporary storage plate can be located at the other side of the gantry 3; in some examples, the temporary storage plate can be provided in multiple along the height direction of the gantry 3, or in some examples, the temporary storage plate can be understood as being provided in multiple layers along the height direction of the gantry 3. In this way, the transportation device 100 can carry multiple target objects P at a time, thereby improving the transfer efficiency of the target objects P.

[0265] In some examples, the driving structure on the gantry 3 can be connected with a lifting plate, the lifting plate is lifted under the driving of the driving structure, a rotating mechanism is provided on the lifting plate, the rotating mechanism is connected with the support frame 10 of the taking mechanism 1, and the support frame 10 can rotate relative to the lifting plate, so as to drive the taking mechanism 1 to rotate.

[0266] Figure 18 is a structural schematic diagram of a taking device provided by an embodiment of the present application.

[0267] As Figure 18 shown, an example, the present application also provides a taking device 200, comprising a moving mechanism 4 and the taking mechanism 1 provided by the above-mentioned embodiments. Wherein, the taking mechanism 1 is movably arranged on the moving mechanism 4, and the moving mechanism 4 is movably arranged on the carrier, so that the taking mechanism 1 can be lifted along the moving mechanism 4, and the moving mechanism 4 can drive the taking mechanism 1 to move to the storage location column where the target object P is located.

[0268] Specifically, the moving mechanism 4 can move along the second horizontal direction relative to the carrier through the track 5, and the track 5 can be arranged on the carrier. The moving mechanism 4 can be a driving structure capable of driving the taking mechanism 1 to move along the vertical direction, and the connection mode between the taking mechanism 1 and the moving mechanism 4, the moving mechanism 4 and the track 5, and the track 5 and the carrier can be the same as or similar to the mode in the related art, and the present application will not be described here.

[0269] In addition, the present application has the same or corresponding technical features as the above-mentioned embodiments, and therefore has the same or similar technical effects as the above-mentioned embodiments of the present application. For details, please refer to the detailed description of the above-mentioned embodiments of the present application, and the present application will not be described here.

[0270] In addition, it can be understood that the communication module can be arranged on the motion mechanism 4 or the taking mechanism 1, the communication module can communicate with the upper computer and receive the control signal sent by the upper computer, and the communication module can further upload the position information of the taking mechanism 1 to the upper computer, and the upper computer controls the taking mechanism 1 to move relative to the carrier according to the carrying task, for example, to the specified position of the target carrier, so as to dock with the target storage location in the target carrier, and realize the taking or returning process.

[0271] The taking mechanism 1 is arranged on the motion mechanism 4 and can move up and down along the motion mechanism 4, for example, after the motion mechanism 4 moves to the target carrier, the taking mechanism 1 moves up and down along the motion mechanism 4, so as to reach the storage location height corresponding to the target article P.

[0272] The embodiments of the present application also provide a warehouse system, which comprises a carrier. The carrier is formed with a storage location for carrying articles. The warehouse system can further comprise a transport device and / or a taking device, and the taking mechanism 1 can take or place the target article P on the target storage location.

[0273] Wherein, the related structures and functions of the carrier, the transport device and the taking device can refer to the above related description, and will not be repeated here.

[0274] It should be noted that other embodiments of the present application will be readily apparent to those skilled in the art upon considering the description of the application and practicing the application disclosed herein. The present application is intended to cover any variations, uses or adaptive changes of the present application following the general principles of the present application and including common knowledge or conventional technical means in the art which are not disclosed by the present application. It should be understood that the present application is not limited to the precise structures described and shown in the drawings, and various modifications and changes can be made without departing from the scope thereof. The true scope is indicated by the present application.

Claims

1. A picking mechanism, characterized in that, include: Support frame (10); A first drive structure (20) is movably disposed on the support frame (10) and configured to move relative to the support frame (10) in a first direction; The second drive structure (30), connected to the first drive structure (20), is configured to move relative to the support frame (10) in a second direction, which is different from the first direction; The telescopic structure (40), connected to the second drive structure (30), is configured to telescopically extend relative to the support frame (10) along the first direction; The object retrieval structure (50), connected to the telescopic structure (40), is configured to move relative to the support frame (10) in the first direction under the drive of the telescopic structure (40) to approach or move away from the target object (P); The support component (60), connected to the support frame (10), is configured to support the target item (P) and drive the target item (P) to move along the first direction.

2. The object-retrieving mechanism according to claim 1, characterized in that, When retrieving the target item (P), the retrieval structure (50) is also configured as follows: After the target item (P) is moved to the preset position of the bearing component (60) by the telescopic structure (40), it moves along the second direction under the drive of the second drive structure (30) and / or moves along the first direction under the drive of the first drive structure (20), with a gap between it and the target item (P).

3. The object-retrieving mechanism according to claim 2, characterized in that, When the target item (P) is picked up, the target item (P) moves along the first direction at a first speed driven by the bearing component (60), and the first driving structure (20) drives the picking structure (50) to move along the first direction at a second speed. The first speed and the second speed are in the same direction, and the first speed is less than or equal to the second speed.

4. The object-retrieving mechanism according to claim 1, characterized in that, When picking up or placing the target item (P), the telescopic structure (40) is configured to perform any of the following actions: Extending along the first sub-direction, so as to move the object-retrieving structure (50) to the first preset position; Extending along the first sub-direction, so as to move the object-retrieving structure (50) to the second preset position; Extending along the second sub-direction, so as to move the object-retrieving structure (50) to the third preset position; Extending along the second sub-direction, so as to move the object-retrieving structure (50) to the fourth preset position; Wherein, the first sub-direction and the second sub-direction are two opposite directions of the first direction.

5. The object-grabbing mechanism according to any one of claims 1-4, characterized in that, The object retrieval structure (50) includes: The take-up and take-down component (51) is disposed on the telescopic structure (40) and configured to move closer to or further away from the target item (P) under the action of the telescopic structure (40).

6. The object-retrieving mechanism according to claim 5, characterized in that, The pick-and-place component (51) includes at least one of a suction cup (511), a hook, a gripper, a finger, and a magnetic structure.

7. The object-retrieving mechanism according to claim 6, characterized in that, When the pick-and-place component (51) includes a suction cup (511), the suction cup (511) is disposed on the telescopic structure (40) and configured to move closer to or further away from the target item (P) under the action of the telescopic structure (40). The suction cup (511) is also configured to contact the target item (P) and maintain a gap between the target item (P) and the target item (P) when the target item (P) is placed.

8. The object-retrieving mechanism according to claim 7, characterized in that, The object retrieval structure (50) also includes a gas source assembly (52), configured as follows: When the target item (P) is picked up, it is connected to the suction cup (511) to suck up the air between the suction cup (511) and the target item (P) so that the suction cup (511) and the target item (P) are kept in a vacuum state. And / or, When placing the target item (P), the suction cup (511) is disconnected, and the suction cup (511) is connected to the atmosphere, so that the suction cup (511) and the target item (P) are kept in an open state.

9. The object-retrieving mechanism according to claim 8, characterized in that, The gas source assembly (52) includes: Gas source equipment (521); A first valve (522) is configured such that its first port (5221) is connected to the suction cup (511), its second port (5222) is connected to the gas source device (521), and its third port (5223) is connected to the atmosphere. When the target item (P) is picked up, the first interface (5221) is connected to the second interface (5222), so that the suction cup (511) is connected to the air source device (521); And / or, When the target item (P) is placed, the first interface (5221) is connected to the third interface (5223), so that the suction cup (511) is connected to the atmosphere.

10. The object-retrieving mechanism according to claim 9, characterized in that, The suction cup (511) includes two suction cups (511) facing each other along the first direction; Each of the suction cups (511) is connected to one of the first valves (522); The gas source assembly (52) further includes a second valve (523), the fourth port (5231) of the second valve (523) is connected to the second port (5222) of one of the first valves (522), the fifth port (5232) of the second valve (523) is connected to the second port (5222) of another of the first valves (522), and the sixth port (5233) of the second valve (523) is connected to the gas source device (521); The second valve (523) is configured to connect the air source device (521) to one of the suction cups (511) when the target item (P) is picked up.

11. The object-retrieving mechanism according to claim 10, characterized in that, The gas source assembly (52) further includes a detection switch (524), which is connected to the seventh interface (5234) of the second valve (523) and is configured to: The vacuum pressure between the suction cup (511) and the air source device (521) is detected, and the air source device (521) is turned off when the vacuum pressure reaches a set value.

12. The object-retrieving mechanism according to claim 11, characterized in that, The object retrieval structure (50) also includes: Mounting bracket (53) is provided on the telescopic structure (40); The first elastic element (54) is connected at one end to the mounting bracket (53) and at the other end to the suction cup (511), and is configured to deform along the first direction.

13. The object-retrieving mechanism according to claim 12, characterized in that, The object retrieval structure (50) also includes: The guide (55) is connected to the suction cup (511) at one end and connected to the air source assembly (52) at the other end. It is movably mounted on the mounting bracket (53). The first elastic member (54) is sleeved on the guide (55). The second elastic element (56) is sleeved on the guide element (55), with one end connected to the mounting bracket (53) and the other end connected to the guide element (55). It is disposed on both sides of the mounting bracket (53) along with the first elastic element (54), and is configured to deform along the first direction.

14. The object-grabbing mechanism according to any one of claims 1-4, characterized in that, The telescopic structure (40) includes: The secondary telescopic component (41), connected to the second drive structure (30), is configured to move along the first direction under the drive of the second drive structure (30); A telescopic drive assembly (42), connected to the secondary telescopic assembly (41), is configured to drive the secondary telescopic assembly (41) to extend or retract along the first direction so that the secondary telescopic assembly (41) moves closer to or further away from the target item (P).

15. The object-retrieving mechanism according to claim 14, characterized in that, The secondary telescopic component (41) includes: The first connecting plate (411) is connected to the second driving structure (30) and is configured to move along the second direction under the drive of the second driving structure (30). The telescopic driving assembly (42) is disposed on the first connecting plate (411). The second connecting plate (412), which is movably disposed on the first connecting plate (411), is configured to move relative to the first connecting plate (411) in the first direction under the drive of the telescopic drive assembly (42) to move closer to or further away from the target item (P). The third connecting plate (413) is movably disposed on the second connecting plate (412), and the object retrieval structure (50) is disposed on the third connecting plate (413); The third connecting plate (413) is configured to move relative to the first connecting plate (411) and the second connecting plate (412) in the first direction under the drive of the telescopic drive assembly (42) to move closer to or further away from the target item (P).

16. The object-retrieving mechanism according to claim 15, characterized in that, The telescopic drive assembly (42) includes: A telescopic drive component (421) is disposed on the first connecting plate (411); The first pulley unit (422) includes a first pulley (4221) and a first sliding belt (4222); The first pulley (4221) is disposed on the second connecting plate (412); The first sliding band (4222) is wound around the first pulley (4221), one end of the first sliding band (4222) is connected to the first connecting plate (411), and the other end of the first sliding band (4222) is connected to the third connecting plate (413). The first sliding band (4222) is configured as follows: When the telescopic drive member (421) drives the second connecting plate (412) to move relative to the first connecting plate (411) in the first direction, the first pulley (4221) moves with the second connecting plate (412), and the end of the first sliding belt (4222) connected to the third connecting plate (413) drives the third connecting plate (413) to move relative to the second connecting plate (412) in the first direction, so that the third connecting plate (413) and the second connecting plate (412) extend and retract synchronously.

17. The object-retrieving mechanism according to claim 16, characterized in that, One end of the first sliding band (4222) is connected to the first connection position (c) of the first connecting plate (411), and the other end of the first sliding band (4222) is connected to the second connection position (d) of the third connecting plate (413); When the second connecting plate (412) and the third connecting plate (413) are not telescopic relative to the first connecting plate (411), the first connecting position (c) and the second connecting position (d) correspond to each other, and the first connecting position (c) and the first pulley (4221) are located on both sides along the first direction.

18. The object-retrieving mechanism according to claim 16, characterized in that, The telescopic drive assembly (42) also includes: The second pulley unit (423) includes a second pulley (4231) and a second sliding belt (4232); The second pulley (4231) is disposed on the second connecting plate (412) and is located on opposite sides of the first pulley (4221) along the first direction of the second connecting plate (412); The second sliding band (4232) is wound around the second pulley (4231), one end of the second sliding band (4232) is connected to the second connecting plate (412), and the other end of the second sliding band (4232) is connected to the third connecting plate (413); The second sliding band (4232) and the first sliding band (4222) are arranged opposite to each other along the first direction.

19. The object-retrieving mechanism according to claim 16, characterized in that, The telescopic drive assembly (42) also includes: The telescopic transmission unit (424) includes a driving pulley (4241), a driven pulley (4242), a transmission belt (4243), and a transmission bar (4244); The drive wheel (4241) is disposed on the first connecting plate (411) and connected to the telescopic drive member (421); The driven wheel (4242) is disposed on the first connecting plate (411) and is located on both sides of the driving wheel (4241) along the first direction; The transmission belt (4243) is wound between the driving pulley (4241) and the driven pulley (4242); The transmission bar (4244) is disposed on the second connecting plate (412) and is connected to the transmission belt (4243) to move along the first direction under the drive of the transmission belt (4243).

20. The object-retrieving mechanism according to claim 19, characterized in that, The transmission belt (4243) and the transmission bar (4244) are connected by a toothed meshing engagement.

21. The object-retrieving mechanism according to any one of claims 1-4, characterized in that, The second drive structure (30) includes: The linkage assembly (31) extends along the second direction, with one end disposed on the first drive structure (20) and the other end connected to the telescopic structure (40), and is configured to move along the first direction under the drive of the first drive structure (20); The second drive assembly (32), connected to the linkage assembly (31), is configured to change the included angle between two interconnected links (a) in the linkage assembly (31) to drive the telescopic structure (40) to move along the second direction.

22. The object-retrieving mechanism according to claim 21, characterized in that, The linkage assembly (31) includes two linkage units (311) spaced apart along the first direction; One end of the linkage unit (311) is pivotally connected to the first drive structure (20), and the other end is pivotally connected to the telescopic structure (40); Each of the link units (311) includes two pivotally connected links (a), and the pivot point (b) is the position where the two links (a) are pivotally connected. The second drive assembly (32) is connected to the pivot point (b) in each of the two linkage units (311).

23. The object-retrieving mechanism according to claim 22, characterized in that, Each of the link units (311) includes two link groups (3111) and a first connecting rod (3112); Two of the link groups (3111) are spaced apart, each link group (3111) including two pivotally connected links (a); The two ends of the first connecting rod (3112) are respectively connected to the pivot point (b) of the two connecting rod groups (3111); The second drive assembly (32) is connected to the first connecting rod (3112) in each of the two connecting rod units (311).

24. The object-retrieving mechanism according to claim 23, characterized in that, The second driving component (32) includes: Second drive unit (320); A first lead screw (321), connected to the second drive member (320), is configured to rotate under the drive of the second drive member (320); The first nut (322) is connected to the first connecting rod (3112) in one of the connecting rod units (311) and is connected in cooperation with the first lead screw (321); The second lead screw (323) is connected to the first lead screw (321) via a coupling (325) and has the opposite thread direction to the first lead screw (321). The second nut (324) is connected to the first connecting rod (3112) in another connecting rod unit (311) and is connected in cooperation with the second lead screw (323); The first nut (322) and the second nut (324) are configured as follows: When the first lead screw (321) drives the second lead screw (323) to rotate through the coupling (325), the first nut (322) and the second nut (324) can move closer to each other, so as to drive the two first connecting rods (3112) to move closer to each other, increasing the included angle of the connecting rod unit (311) at the pivot point (b); And / or, When the first lead screw (321) drives the second lead screw (323) to rotate through the coupling (325), the first nut (322) and the second nut (324) can move away from each other, so as to drive the two first connecting rods (3112) to move away from each other, thereby reducing the included angle of the connecting rod unit (311) at the pivot point (b).

25. The object-retrieving mechanism according to claim 24, characterized in that, The second drive component (32) further includes: A bracket (326) is connected to the first nut (322), and a second drive member (320) is disposed on the bracket (326) and configured to drive the second drive member (320) to move along the axial direction of the first lead screw (321) under the drive of the first nut (322); A connecting shaft (327) is connected to the output end of the second drive member (320) and is configured to rotate under the drive of the second drive member (320); The first transmission wheel (328) is movably disposed on the connecting shaft (327), and is configured to rotate under the drive of the connecting shaft (327) and slide along the axial direction of the connecting shaft (327); The second transmission wheel (329) is disposed on the first lead screw (321) and is connected to the first transmission wheel (328). It is configured to rotate under the drive of the first transmission wheel (328) and drive the first lead screw (321) to rotate. The first drive wheel (328) is also configured as follows: When the first nut (322) moves relative to the second transmission wheel (329) along the axial direction of the first lead screw (321), it slides along the axial direction of the connecting shaft (327) to maintain a cooperative connection with the second transmission wheel (329).

26. The object-retrieving mechanism according to any one of claims 1-4, characterized in that, The first driving structure (20) includes: A first drive assembly (21) is disposed on the support frame (10); A sliding component (22) is disposed on the support frame (10) and is connected in cooperation with the first driving component (21); The second driving structure (30) is disposed on the sliding component (22); The sliding component (22) is configured to slide relative to the support frame (10) in the first direction under the drive of the first drive component (21), so as to drive the second drive structure (30) and the telescopic structure (40) to slide in the first direction.

27. The object-retrieving mechanism according to claim 26, characterized in that, The sliding assembly (22) includes a slide rail (221), a slider (222), and a support plate (223); The slider (222) is slidably connected to the slide rail (221). Either the slide rail (221) or the slider (222) is connected to the support frame (10), and the other is connected to the support plate (223). The second drive structure (30) is disposed on the support plate (223); The first drive component (21) is connected to the support plate (223); The support plate (223) is configured to drive the second drive structure (30) to move relative to the support frame (10) along the first direction under the drive of the first drive assembly (21) through the cooperation connection of the slider (222) and the slide rail (221).

28. The object-retrieving mechanism according to claim 27, characterized in that, The first driving component (21) includes: A first driving member (211) is disposed on the support frame (10); The first drive wheel (212) is connected to the first drive member (211) and is configured to rotate under the drive of the first drive member (211); A first transmission rack (213) is disposed on the support plate (223) and is connected to the first drive wheel (212). It is configured to move along the first direction under the drive of the first drive wheel (212) so as to drive the support plate (223) to move along the first direction.

29. The object-retrieving mechanism according to any one of claims 1-4, characterized in that, The carrier component (60) includes: At least one conveyor belt (61), disposed on the support frame (10), is configured to move the target article (P) along the first direction.

30. The object-retrieving mechanism according to claim 29, characterized in that, The number of conveyor belts (61) is two, and the two conveyor belts (61) are arranged at intervals; The picking structure (50) is configured to move along the second direction at intervals between the two conveyor belts (61) under the drive of the second drive structure (30).

31. A transport device, characterized in that, include: Chassis (2); A gantry (3) is mounted on the chassis (2); The object retrieval mechanism as described in any one of claims 1-30 is movably mounted on the gantry (3).

32. A device for retrieving objects, characterized in that, include: Motion mechanism (4); The object-grabbing mechanism as described in any one of claims 1-30, wherein the object-grabbing mechanism is movably mounted on the motion mechanism (4).

33. A warehousing system, characterized in that, include: A vehicle, having designated cargo spaces, used to carry goods; The transport device as described in claim 31 and / or the retrieval device as described in claim 32; The retrieval mechanism is configured to either retrieve the target item (P) from the storage location or place the target item (P) into the storage location.

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