Hook-and-loop assembly and bin handling robot
By introducing an anti-detachment mechanism and a drive mechanism into the hook assembly, the problem of the hook part becoming loose from the side wall of the groove was solved, thereby improving the stability and success rate of picking up and placing the material box.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- HANGZHOU HIKROBOT TECH CO LTD
- Filing Date
- 2025-05-27
- Publication Date
- 2026-06-30
AI Technical Summary
Existing hook-type bin handling robots are prone to problems such as the hook part becoming loose from the side wall of the groove during the pulling process, leading to handling failure.
Design a hook assembly including a first bracket, a hook, and an anti-detachment mechanism. When the hook engages with the groove wall, the anti-detachment mechanism prevents the hook from separating from the groove wall. The hook is driven to switch between different positions by a first drive mechanism. Combined with the clamping part and the transmission mechanism, the hook is stably engaged with the groove wall.
This improves the success rate of the hook assembly in picking up the bins from the shelf, prevents the hook from detaching from the groove wall, and ensures the stability and success rate of bin retrieval.
Smart Images
Figure CN224428788U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of bin handling robots, and in particular to a hook assembly and a bin handling robot. Background Technology
[0002] In automated warehousing systems, bin-pickup robots are used to retrieve bins from shelves. Existing hook-and-pull bin-pickup robots typically use a hook to engage with the sidewall of a groove containing the bin, pulling the bin from the shelf onto the robot's bin-carrying unit. However, because this method relies solely on the hook engaging with the groove sidewall, the hook is prone to detaching during the pulling process, easily leading to bin retrieval failure. Utility Model Content
[0003] This utility model discloses a hook assembly and a bin-picking robot to solve the problem in related technologies where the hook assembly easily becomes detached from the side wall of the groove during the pulling process of the bin-picking robot, resulting in bin-picking failure.
[0004] To solve the above-mentioned technical problems, this utility model is implemented as follows:
[0005] In a first aspect, embodiments of this application disclose a hooking assembly for hooking a material box, the material box having a groove, the hooking assembly including a first bracket, a hook claw, and an anti-detachment mechanism, wherein: the hook claw and the anti-detachment mechanism are both disposed on the first bracket, the hook claw is used to extend into the groove and hook and engage with the groove wall forming the groove, and the anti-detachment mechanism is used to prevent the hook claw from separating from the groove wall when the hook claw is hooked and engaged with the groove wall.
[0006] Secondly, this application also discloses a bin loading and unloading robot, including a bin carrying part, a second driving mechanism and the hooking assembly described in the first aspect. The first bracket is movably disposed on the bin carrying part. The second driving mechanism is used to drive the first bracket to move to a third position along a third moving direction or to move the first bracket to a fourth position along a fourth moving direction. The third moving direction is opposite to the fourth moving direction, and both the third moving direction and the fourth moving direction are perpendicular to the first moving direction.
[0007] When the first bracket moves to the third position, the hook is opposite to the opening of the groove in the first moving direction;
[0008] When the first support moves to the fourth position, the hook is used to drag the hopper onto the hopper support.
[0009] The technical solution adopted in this utility model can achieve the following technical effects:
[0010] The hook assembly disclosed in this application has an anti-detachment mechanism, which prevents the hook from separating from the groove wall when the hook assembly hooks and drags the material box. This prevents the hook from detaching from the groove wall during the process of the material box picking robot pulling the material box, thereby improving the success rate of the hook assembly in picking up material box A from the shelf. Attached Figure Description
[0011] Figure 1 This is a schematic diagram of the hook assembly for hooking the material box disclosed in an embodiment of the present utility model, wherein arrow a represents the first moving direction, arrow b represents the second moving direction, arrow c represents the third moving direction, and arrow d represents the fourth moving direction;
[0012] Figures 2 to 4 This is a partial schematic diagram of the bin-picking and placing robot disclosed in this embodiment of the utility model from different angles;
[0013] Figure 5 This is a partial cross-sectional view of the bin-handling robot disclosed in an embodiment of this utility model;
[0014] Figure 6 This is a schematic diagram of a bin-picking robot retrieving goods from a shelf, as disclosed in an embodiment of this utility model.
[0015] Explanation of reference numerals in the attached figures:
[0016] A - Material bin, A1 - Groove, A11 - Groove wall, B - Shelf
[0017] 100-Hook and Pull Component
[0018] 110 - First stent
[0019] 120-Hook claw, 121-Connecting plate, 122-Hook pull part, 123-Reinforcing plate,
[0020] 130 - Clamping part, 132 - Strip hole,
[0021] 140-roller,
[0022] 151-Drive motor, 152-Second guide rail, 153-Crank mechanism,
[0023] 200 - Material box support, 300 - Second drive mechanism, 310 - Conveying assembly, 320 - First guide rail, 330 - First slider
[0024] 410-Third drive mechanism
[0025] 500 - Vehicle body, 510 - Storage location. Detailed Implementation
[0026] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.
[0027] The technical solutions disclosed in the various embodiments of this utility model are described in detail below with reference to the accompanying drawings.
[0028] Please refer to Figures 1 to 6 This utility model embodiment discloses a hook assembly 100 for hooking a material box A, the material box A having a groove A1.
[0029] The disclosed hook assembly 100 includes a first support 110, a hook 120, and an anti-detachment mechanism.
[0030] The first bracket 110 provides a base for mounting other components of the hook assembly 100. The hook 120 and the anti-detachment mechanism are both located on the first bracket 110.
[0031] The hook 120 is used to extend into the groove A1 and engage with the groove wall A11 that forms the groove A1. The anti-detachment mechanism is used to prevent the hook 120 from separating from the groove wall A11 when the hook 120 is engaged with the groove wall A11.
[0032] Specifically, when it is necessary to drag the bin A on shelf B to the bin-carrying part 200 of the bin-picking robot, the hook 120 can extend into the groove A1 and engage with the groove wall A11 that forms the groove A1. The anti-detachment mechanism prevents the hook 120 from separating from the groove wall A11. The hook 120 can extend into the groove A1 in two ways: the bin A remains stationary while the hook 120 can move relative to the first support 110. Alternatively, the hook 120 can be fixedly connected to the first support 110, and the side of the bin A with the groove A1 can be raised and then lowered, thus allowing the hook 120 to extend into the groove A1.
[0033] The hook assembly 100 disclosed in this application embodiment is equipped with an anti-detachment mechanism, which prevents the hook claw 120 from separating from the groove wall A11 when the hook assembly 100 hooks and drags the material box A. This prevents the hook claw 120 from detaching from the groove wall A11 during the process of the material box picking robot pulling the material box A, thereby improving the success rate of the hook assembly in picking up the material box A from the shelf B.
[0034] Specifically, the hook assembly 100 may further include a first drive mechanism, which may be disposed on the first bracket 110 and connected to the hook 120. The first drive mechanism can drive the hook 120 to move to a first position along a first moving direction a or to a second position along a second moving direction b, wherein the first moving direction a and the second moving direction b are opposite. When the hook 120 moves to the first position, the hook 120 can extend into the groove A1 and engage with the groove wall A11. When the hook 120 moves to the second position, the hook 120 extends out of the groove A1.
[0035] It should be noted that before the first drive mechanism drives the hook 120 to move to the first position along the first moving direction a, the hook assembly 100 is positioned opposite the opening of the groove A1 in the first moving direction a. The first drive mechanism can be a hydraulic drive mechanism, a pneumatic drive mechanism, a drive motor, etc., and this application embodiment does not specifically limit the type of the first drive mechanism.
[0036] Specifically, the first driving mechanism may include a drive motor 151, a second slider, a second guide rail 152, and a crank mechanism 153. The second guide rail 152 may be mounted on the first support 110, the second slider is slidably mounted on the second guide rail 152, and the pawl 120 may be connected to the second slider. The drive motor 151 may be mounted on the first support 110, and the drive motor 151 may be connected to the pawl 120 via the crank mechanism 153. The drive motor 151 may drive the pawl 120 to switch between a first position and a second position via the crank mechanism 153. The sliding engagement of the second slider and the second guide rail 152 makes the movement of the pawl 120 more accurate.
[0037] The hook assembly disclosed in this application embodiment is provided with a first driving mechanism and the hook 120 is movably disposed on the first bracket 110, so that the first driving mechanism can drive the hook 120 to move to the second position along the first moving direction a or along the second moving direction b, thereby realizing the automation of the hook 120 when switching between the first position and the second position.
[0038] Of course, the movement of the grappling hook 120 between the first position and the second position can also be achieved by manual driving. This application embodiment does not impose specific restrictions on the movement of the grappling hook 120 between the first position and the second position.
[0039] Optionally, the anti-detachment mechanism may include an anti-detachment pin and a fifth drive mechanism. The groove wall A11 of the groove A1 may have a first through hole, and the hook 120 may have a second through hole. The anti-detachment pin can be mounted on the hook 120 via the fifth drive mechanism. When the hook 120 extends into the groove A1 and engages with the groove wall A11, the first through hole can be opposite to the second through hole (the diameters of the first and second through holes are relatively large, allowing for a larger positional misalignment between the hook 120 and the groove wall A11). Even in poor conditions, the anti-detachment pin can still pass through the first and second through holes. The fifth drive mechanism can be located on the side of the hook 120 away from the groove wall A11 that engages with the hook 120. The fifth drive mechanism is used to drive the anti-detachment pin to pass through the first and second through holes when the hook 120 extends into the groove A1 and engages with the groove wall A11, so as to prevent the hook 120 from separating from the groove wall A11 when the hook 120 engages with the groove wall A11.
[0040] In another embodiment, the anti-detachment mechanism may include a clamping portion 130. When the hook 120 moves to a first position, the clamping portion 130 can press against the outer side of the groove wall A11 and clamp the groove wall A11 with the hook 120 to prevent the hook 120 from separating from the groove wall A11. When the hook 120 moves to a second position, the clamping portion 130 can separate from the groove wall A11.
[0041] The hook assembly 100 disclosed in this application configures the anti-detachment mechanism as including a clamping portion 130. When the hook 120 moves to the first position, the clamping portion 130 presses against the outer side of the groove wall A11 and clamps the groove wall A11 with the hook 120, thereby preventing the hook 120 from separating from the groove wall A11. Since the clamping portion 130 presses against the outer side of the groove wall A11 and clamps the groove wall A11 with the hook 120 to prevent separation of the hook 120 from the groove wall A11, deviations in the engagement position when the hook 120 and the groove wall A11 engage do not affect the clamping function of the clamping portion 130, making it easier to prevent the hook 120 from separating from the groove wall A11.
[0042] Specifically, the actions of pressing the clamping part 130 against the outside of the groove wall A11 and separating the clamping part 130 from the groove wall A11 can be achieved by driving a motor.
[0043] To reduce the power source of the hook assembly, the hook assembly 100 may optionally include a transmission mechanism. The clamping part 130 can be connected to the hook 120 through the transmission mechanism. When the hook 120 moves to the first position or the second position, the hook 120 can drive the clamping part 130 to press against the outside of the groove wall A11 or drive the clamping part 130 to separate from the groove wall A11 through the transmission mechanism.
[0044] Specifically, during the process of the hook 120 moving to the first position, the hook 120 can drive the clamping part 130 to press against the outside of the groove wall A11 through the transmission mechanism. During the process of the hook 120 moving to the second position, the hook 120 can drive the clamping part 130 to move to the position separated from the groove wall A11 through the transmission mechanism.
[0045] The hook assembly 100 disclosed in this application connects the clamping part 130 and the hook 120 through a transmission mechanism. This allows the hook 120 to move to the first position along the first moving direction a or to the second position along the second moving direction b. Through the transmission action of the transmission mechanism, the clamping part 130 can be pressed against the outside of the groove wall A11 or the clamping part 130 can be separated from the groove wall A11. This eliminates the need for a separate power source for the clamping part 130, thereby reducing the number of power sources for the hook assembly. Furthermore, the transmission mechanism makes the linkage between the hook 120 and the clamping part 130 closer.
[0046] Optionally, the clamping part 130 can be rotatably connected to the first support 110. The first end of the clamping part 130 can be used to press against the outside of the groove wall A11 or to separate from the groove wall A11. The second end of the clamping part 130 can be connected to the hook 120 through a transmission mechanism. The rotatable connection between the clamping part 130 and the first support 110 can be located between the first end and the second end of the clamping part 130. When the hook 120 moves to the first position, the hook 120 can drive the clamping part 130 to rotate relative to the first support 110 in a first rotation direction until the first end of the clamping part 130 presses against the groove wall A11. When the hook 120 moves to the second position, the hook 120 can drive the clamping part 130 to rotate relative to the first support 110 in a second rotation direction until the first end of the clamping part 130 is separated from the groove wall A11. The first rotation direction is opposite to the second rotation direction.
[0047] The hook assembly disclosed in this application rotatably mounts the clamping part 130 on the first bracket 110, and the second end of the clamping part 130 is connected to the hook 120 through a transmission mechanism. The rotatable connection between the clamping part 130 and the first bracket 110 can be located between the first end and the second end of the clamping part 130, thereby making the movement of the clamping part 130 relatively simple.
[0048] Of course, the clamping part 130 can also be movably provided on the first bracket 110. When the hook 120 moves between the first position and the second position, it can drive the clamping part 130 to move through the transmission mechanism so that the first end of the clamping part 130 presses against the groove wall A11 or separates from the groove wall A11.
[0049] Optionally, the second end of the clamping part 130 may have a slotted hole 132. The transmission mechanism may include a roller 140, which may be disposed on the hook 120 and can rotate relative to the hook 120. The roller 140 may be located within the slotted hole 132 and can roll in cooperation with the slotted hole 132. The extension direction of the axis of the slotted hole 132 may be perpendicular to the first moving direction a, and the length direction of the slotted hole 132 may intersect the first moving direction a. The rotation axis of the roller 140 may be parallel to the axis of the slotted hole 132.
[0050] The hook assembly 100 disclosed in this application provides a strip hole 132 at the second end of the clamping part 130 and sets the transmission mechanism to include a roller 140. This allows the clamping part 130 to rotate while the hook 120 drives the roller 140 to move. Since the length direction of the strip hole 132 intersects with the first moving direction a, the roller 140 moves along the strip hole 132 and drives the clamping part 130 to rotate. This enables the clamping part 130 to press against the outside of the groove wall A11 or to separate the clamping part 130 from the groove wall A11. Furthermore, the use of the roller 140 and the strip hole 132 in combination can prevent jamming during transmission and reduce friction between the transmission mechanism and the clamping part 130.
[0051] In another embodiment, the transmission assembly may also include a mating shaft that can slide directly within the slot 132 without the need for rollers 140.
[0052] Of course, the transmission components can also be implemented by combining lead screw mechanisms, gear sets, hinge rods, etc. The specific combination methods belong to the prior art, and will not be described in detail in the embodiments of this application.
[0053] Specifically, the hook 120 may include a connecting plate 121, a hooking part 122, and a reinforcing plate 123. The surface of the connecting plate 121 may be perpendicular to the first moving direction a. The first end of the connecting plate 121 may be connected to the first bracket 110. The first end of the hooking part 122 may be connected to the second end of the connecting plate 121. The second end of the hooking part 122 may extend along the first moving direction a. The hooking part 122 may be used to extend into the groove A1 and engage with the groove wall A11 that forms the groove A1. The reinforcing plate 123 may be disposed on the connecting plate 121 and may extend along the second moving direction b.
[0054] The hook assembly 100 disclosed in this application configurations the hook claw 120 with a structure including a connecting plate 121, a hook portion 122, and a reinforcing plate 123, so that the reinforcing plate 123 can improve the strength of the hook assembly 100.
[0055] In specific application scenarios, when the hook part 122 hooks and engages with the groove wall A11, the hook part 122 will generate a torque that rotates around the first end of the connecting plate 121, causing the connecting plate 121 to bend. At this time, the reinforcing plate 123 can make limited contact with the first bracket 110, thereby preventing the connecting plate 121 from bending too much and causing the connection between the connecting plate 121 and the first bracket 110 to break.
[0056] This application also discloses a bin-handling robot, which includes a bin-carrying part 200, a second drive mechanism 300, and the hook assembly 100 disclosed in the above embodiments. A first support 110 is movably disposed on the bin-carrying part 200. The second drive mechanism 300 can drive the first support 110 to move along a third moving direction c to a third position or drive the first support 110 to move along a fourth moving direction d to a fourth position. The third moving direction c and the fourth moving direction d are opposite, and both the third moving direction c and the fourth moving direction d can be perpendicular to the first moving direction a. When the first support 110 moves to the third position, the hook 120 can be opposite to the opening of the groove A1 in the first moving direction a. When the first support 110 moves to the fourth position, the hook 120 can be used to drag the bin A onto the bin-carrying part 200.
[0057] Specifically, when the second drive mechanism 300 drives the first support 110 to move to the third position, the hook 120 is opposite to the opening of the groove A1 in the first moving direction a. The first drive mechanism can drive the hook 120 to move to the first position along the first moving direction a, so that the hook 120 can extend into the groove A1 and engage with the groove wall A11. When the second drive mechanism 300 drives the first support 110 to move to the fourth position, the hook 120 can drag the box A onto the box support part 200, thereby realizing the removal and placement of the box A from the shelf B onto the box support part 200.
[0058] The bin-picking robot disclosed in this application, by setting the hooking component 100 disclosed in the above embodiment, enables the anti-detachment mechanism to restrict the hook 120 from separating from the groove wall A11 during the process of the hooking component 100 hooking the bin A on the shelf B and dragging it to the bin-bearing part 200 by the hook 120. This can prevent the hook 120 from detaching from the groove wall A11 during the process of the bin-picking robot pulling the bin A, thereby improving the success rate of the hooking component in hooking the bin A from the shelf B.
[0059] Specifically, the second drive mechanism 300 may include a second telescopic motor, which may be located on the material box support 200. The telescopic shaft of the second telescopic motor may be connected to the first bracket 110. The second telescopic motor may drive the first bracket 110 to move along the material box support 200 in a third or fourth moving direction.
[0060] In another embodiment, the second drive mechanism 300 may include a conveying assembly 310, which may be a drive belt, drive chain, etc. The conveying assembly 310 may include multiple drive belts or drive chains spaced apart perpendicular to the third moving direction. This application embodiment does not specifically limit the type of conveying assembly 310. The conveying direction of the conveying assembly 310 is parallel to the third moving direction. The first support 110 is connected to the conveying assembly 310. When the conveying assembly 310 conveys along the third moving direction c or the fourth moving direction d, it drives the first support 110 to move along the third moving direction c or the fourth moving direction d.
[0061] The bin handling robot disclosed in this application sets the second drive mechanism 300 to include a conveying component 310, so that the first support 110 moves together with the conveying component 310, thereby increasing the moving distance of the first support 110.
[0062] To improve the stability of the first support 110 when it moves along the material box support portion 200 in the third moving direction c or the fourth moving direction d, the second drive mechanism 300 may optionally include a first guide rail 320 and a first slider 330. The first guide rail 320 may be disposed on the material box support portion 200 and may extend along the third moving direction c. The first slider 330 may be slidably disposed on the first guide rail 320, and the first support 110 may be connected to the first slider 330.
[0063] The bin handling robot disclosed in this application provides a first guide rail 320 and a first slider 330 on the bin carrying part 200, so that when the first support 110 moves with the conveying assembly 310 in the third moving direction c or the fourth moving direction d, it can move more stably under the guidance of the first slider 330 and the first guide rail 320.
[0064] In the direction perpendicular to the third movement direction, the first guide rail 320 can be located outside the first bracket 110.
[0065] In another embodiment, the hopper support portion 200 may have a groove extending along the third moving direction c, and the first guide rail 320 may be disposed in the groove, and the first guide rail 320 may be lower than the groove opening or flush with the groove opening.
[0066] The bin handling robot disclosed in this application has a groove extending along the third moving direction on the bin carrying part 200, so that the first guide rail 320 is disposed in the groove and the first guide rail 320 is lower than or flush with the groove opening, thereby avoiding interference between the first support 110 and the first guide rail 320 during the movement along the third or fourth moving direction.
[0067] The bin-handling robot may further include a third drive mechanism 410 and a vehicle body 500, which may have a storage position 510. A bin-carrying unit 200 is rotatably mounted on the vehicle body 500. The third drive mechanism 410 can drive the bin-carrying unit 200 to rotate in a third rotation direction to a fifth position or in a fourth rotation direction to a sixth position. When the bin-carrying unit 200 is rotated to the fifth position, the claw 120 can be used to drag bin A located on shelf B onto the bin-carrying unit 200, or push bin A located on the bin-carrying unit 200 onto shelf B. When the bin-carrying unit 200 is rotated to the sixth position, the claw 120 can be used to drag bin A located on storage position 510 onto the bin-carrying unit 200, or push bin A located on the bin-carrying unit 200 onto storage position 510.
[0068] The bin-picking robot disclosed in this application embodiment is equipped with a third drive mechanism 410 and a vehicle body 500, and a storage position 510 is provided on the vehicle body 500. This allows the third drive mechanism 410 to drive the bin-bearing part 200 to rotate to the fifth position along the third rotation direction or to the sixth position along the fourth rotation direction. This enables the hook 120 to drag the bin A located on the shelf B to the bin-bearing part 200, or push the bin A located on the bin-bearing part 200 to the shelf B, and also enables the bin A located on the storage position 510 to be dragged to the bin-bearing part 200, or pushed to the storage position 510.
[0069] Optionally, the bin loading and unloading robot may also include a fourth drive mechanism. The vehicle body 500 may have multiple storage positions 510 in the first movement direction a. The fourth drive mechanism may be used to drive the bin carrying part 200 to move along the first movement direction a or the second movement direction b, so that the bin carrying part 200 switches between the positions of the multiple storage positions 510.
[0070] The bin-handling robot disclosed in this application improves the storage capacity of the vehicle body 500 by setting multiple storage positions 510 along the first moving direction a on the vehicle body 500. The fourth drive mechanism enables the bin-carrying part 200 to move in the first moving direction a, so that the bin-carrying part 200 can switch between multiple storage positions 510.
[0071] To facilitate the placement of hopper A into storage position 510, the entrance of storage position 510 may optionally be flared from the inside to the outside of storage position 510, thereby guiding hopper A and making it easier to place hopper A into storage position 510.
[0072] The above embodiments of this utility model mainly describe the differences between the various embodiments. As long as the different optimization features between the various embodiments are not contradictory, they can be combined to form a better embodiment. For the sake of brevity, they will not be described in detail here.
[0073] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of the present invention.
Claims
1. A hooking assembly for hooking a magazine (A) having a groove (Al), characterized in that, The hook assembly (100) includes a first bracket (110), a hook (120), and an anti-detachment mechanism, wherein: the hook (120) and the anti-detachment mechanism are both disposed on the first bracket (110), the hook (120) is used to extend into the groove (A1) and hook and engage with the groove wall (A11) that forms the groove (A1), and the anti-detachment mechanism is used to prevent the hook (120) from separating from the groove wall (A11) when the hook (120) is hooked and engaged with the groove wall (A11).
2. The hook pull assembly of claim 1, wherein, The hook assembly (100) further includes a first driving mechanism, which is disposed on the first bracket (110). The first driving mechanism is connected to the hook (120) and is used to drive the hook (120) to move to a first position along a first moving direction (a) or to a second position along a second moving direction (b). The first moving direction (a) is opposite to the second moving direction (b). When the hook (120) moves to the first position, the hook (120) extends into the groove (A1) and engages with the groove wall (A11); When the hook (120) moves to the second position, the hook (120) extends out of the groove (A1).
3. The hook pull assembly of claim 2, wherein, The anti-detachment mechanism includes a clamping part (130); When the hook (120) moves to the first position, the clamping part (130) presses against the outside of the groove wall (A11) and clamps the groove wall (A11) with the hook (120) to prevent the hook (120) from separating from the groove wall (A11); When the hook (120) moves to the second position, the clamping part (130) separates from the groove wall (A11).
4. The hook pull assembly of claim 3, wherein, The hook assembly (100) further includes a transmission mechanism. The clamping part (130) is connected to the hook (120) through the transmission mechanism. When the hook (120) moves to the first position or the second position, the hook (120) drives the clamping part (130) to press against the outside of the groove wall (A11) or drives the clamping part (130) to separate from the groove wall (A11) through the transmission mechanism.
5. The hook pull assembly of claim 4, wherein, The clamping part (130) is rotatably connected to the first bracket (110). The first end of the clamping part (130) is used to press against the outside of the groove wall (A11) or separate from the groove wall (A11). The second end of the clamping part (130) is connected to the hook (120) through the transmission mechanism. The rotatable connection between the clamping part (130) and the first bracket (110) is located between the first end of the clamping part (130) and the second end of the clamping part (130). When the hook (120) moves to the first position, the hook (120) drives the clamping part (130) to rotate relative to the first bracket (110) in the first rotation direction until the first end of the clamping part (130) presses against the groove wall (A11); When the hook (120) moves to the second position, the hook (120) drives the clamping part (130) to rotate relative to the first bracket (110) in the second rotation direction to the position where the first end of the clamping part (130) is separated from the groove wall (A11), and the first rotation direction is opposite to the second rotation direction.
6. The hook-and-pull assembly according to claim 5, characterized in that, The second end of the clamping part (130) is provided with a strip hole (132). The transmission mechanism includes a roller (140). The roller (140) is disposed in the hook (120). The roller (140) is located in the strip hole (132) and rolls with the strip hole (132). The extension direction of the axis of the strip hole (132) is perpendicular to the first moving direction (a). The length direction of the strip hole (132) intersects with the first moving direction (a).
7. The hook pull assembly of claim 2, wherein, The hook (120) includes a connecting plate (121), a hooking part (122), and a reinforcing plate (123). The surface of the connecting plate (121) is perpendicular to the first moving direction (a). The first end of the connecting plate (121) is connected to the first bracket (110). The first end of the hooking part (122) is connected to the second end of the connecting plate (121). The second end of the hooking part (122) extends along the first moving direction (a). The hooking part (122) is used to extend into the groove (A1) and hook into the groove wall (A11) that forms the groove (A1). The reinforcing plate (123) is disposed on the connecting plate (121) and extends along the second moving direction (b).
8. A magazine taking-out robot characterized by comprising: The device includes a hopper support (200), a second drive mechanism (300), and a hook assembly (100) as described in any one of claims 1 to 7. The first bracket (110) is movably disposed on the hopper support (200). The second drive mechanism (300) is used to drive the first bracket (110) to move to a third position along a third moving direction (c) or to move to a fourth position along a fourth moving direction (d). The third moving direction (c) is opposite to the fourth moving direction (d), and both the third moving direction (c) and the fourth moving direction (d) are perpendicular to the first moving direction (a). When the first support (110) moves to the third position, the hook (120) is opposite to the opening of the groove (A1) in the first moving direction (a); When the first support (110) moves to the fourth position, the hook (120) is used to drag the hopper (A) onto the hopper support (200).
9. The magazine handling robot of claim 8, wherein, The second drive mechanism (300) includes a conveying assembly (310), the conveying direction of which is parallel to the third moving direction; The first support (110) is connected to the conveying assembly (310), which drives the first support (110) to move along the third moving direction (c) or the fourth moving direction (d) when conveying along the third moving direction or the fourth moving direction (d).
10. The magazine handling robot of claim 9, wherein, The second drive mechanism (300) further includes a first guide rail (320) and a first slider (330). The first guide rail (320) is disposed on the material box bearing part (200) and extends along the third moving direction (c). The first slider (330) is slidably disposed on the first guide rail (320). The first bracket (110) is connected to the first slider (330).
11. The magazine handling robot of claim 10, wherein, The material box bearing part (200) has a groove extending along the third moving direction (c), and the first guide rail (320) is located in the groove and is lower than or flush with the groove opening.
12. The magazine handling robot of claim 8, wherein, The bin handling robot also includes a third drive mechanism (410), and the bin handling robot also includes a vehicle body (500). The vehicle body (500) has a storage position (510). The bin carrying part (200) is rotatably disposed on the vehicle body (500). The third drive mechanism (410) is used to drive the bin carrying part (200) to rotate to the fifth position along the third rotation direction or to the sixth position along the fourth rotation direction. When the bin carrier (200) is rotated to the fifth position, the hook (120) is used to drag the bin (A) located on the shelf (B) onto the bin carrier (200), or to push the bin (A) located on the bin carrier (200) onto the shelf (B); When the hopper support (200) is rotated to the sixth position, the hook (120) is used to drag the hopper (A) located on the storage position (510) onto the hopper support (200), or to push the hopper (A) located on the hopper support (200) onto the storage position (510).
13. The magazine handling robot of claim 12, wherein, The bin loading and unloading robot also includes a fourth drive mechanism. The vehicle body (500) has multiple storage positions (510) in the first moving direction (a). The fourth drive mechanism is used to drive the bin carrying part (200) to move along the first moving direction (a) or the second moving direction (b) so that the bin carrying part (200) switches between the positions of the multiple storage positions (510).
14. The magazine handling robot of claim 12, wherein, The entrance of the storage position (510) is flared from the inside of the storage position (510) to the outside of the storage position (510).