Pick-and-place device based on variable-distance dial finger limiting and robot

Abstract

The utility model discloses a kind of taking and placing device and robot based on variable-distance dialing limiting, belong to intelligent warehousing technical field.Limited to, taking and placing device includes base, push rod, limiting component and second drive component, base is configured as suitable for carrying material box;Push rod is movably connected with base;Limiting component is movably connected in base and is spaced apart with push rod along first direction, limiting component includes first drive component and two dialing, two dialing are spaced apart along second direction, first drive component is configured as can drive two dialing move along second direction towards or away from;Second drive component is configured as can drive push rod and limiting component move along first direction;Under the action of second drive component, two dialing can cooperate drive material box and move into base along first direction, push rod can drive material box and move out of base along first direction.The utility model can only adapt to material box of different sizes, improve general-purpose, reduce energy consumption, also improve handling efficiency.

Description

Technical Field

[0001] This utility model relates to the field of intelligent warehousing technology, and in particular to a pick-and-place device and robot based on variable pitch finger limiting. Background Technology

[0002] In related technologies, forklift mechanisms are core equipment used in automated warehousing and logistics sorting to perform the gripping, handling, and placement of food containers. Currently, the most common forklift operation relies on the opening and closing motion of two forks to clamp and release the food container. However, the process of driving the forks to open and close consumes a significant amount of energy, directly resulting in high energy consumption of the drive unit. Furthermore, the relatively slow opening and closing speed of the two forks reduces the overall handling efficiency of the food container. Utility Model Content

[0003] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a pick-and-place device based on a variable-pitch finger limiting mechanism, which can reduce the energy consumption of the pick-and-place device and improve the handling efficiency.

[0004] This invention also proposes a robot that includes the above-mentioned pick-and-place device based on variable pitch finger limiting.

[0005] According to a first aspect of the present invention, a pick-and-place device based on variable-pitch finger limiting includes: a base, a push rod, a limiting component, and a second driving component. The base is configured to support a material box. The push rod is movably connected to the base. The limiting component is movably connected to the base and spaced apart from the push rod along a first direction. The limiting component includes a first driving component and two fingers. The two fingers are spaced apart along a second direction. The first driving component is configured to drive the two fingers to move towards or away from each other along the second direction. The second driving component is configured to drive the push rod and the limiting component to move along the first direction. Under the action of the second driving component, the two fingers can cooperate to drive the material box to move into the base along the first direction, and the push rod can drive the material box to move out of the base along the first direction.

[0006] The pick-and-place device based on variable-pitch finger limiting according to the embodiments of the present invention has at least the following beneficial effects:

[0007] The pick-and-place device based on variable-pitch finger limiting in this embodiment of the invention is configured with a push rod and a limiting component, wherein the limiting component and the push rod are spaced apart along a first direction. Based on this, during material picking, the two fingers move in opposite directions under the action of the first driving component to allow the material box to pass through. The second driving component drives the push rod and the limiting component to move until the material box moves between the limiting component and the push rod. The first driving component then drives the two fingers to move towards each other, thereby limiting the material box between the limiting component and the push rod. Then, the second driving component drives the push rod and the limiting component to reset, and the two fingers abut against the material box and push the material box into the base. The material placement process is the reverse operation, with the push rod abutting against the material box and pushing the material box out of the base. This not only allows the pick-and-place device to adapt to material boxes of different sizes, improving the versatility of the pick-and-place device, but also eliminates the need for opening and closing forks during the pick-and-place process, reducing the energy consumption of the pick-and-place device and improving the material box handling efficiency.

[0008] According to some embodiments of the present invention, the pick-and-place device further includes two side plates spaced apart along the second direction, the second drive assembly is connected to the two side plates respectively to drive the two side plates to move relative to the base along the first direction, the two ends of the push rod are respectively connected to the two side plates, and the two dial fingers are correspondingly installed on the ends of the two side plates away from the push rod.

[0009] According to some embodiments of the present invention, there are two first drive components, each of which includes a driver that corresponds one-to-one with the shift finger, and the driver is installed on the side of the side plate facing away from the other side plate.

[0010] According to some embodiments of the present invention, the shift finger is provided with a rack arranged along the second direction, each of the first drive components further includes a transmission gear, the transmission gear meshing with the rack, and the driver is configured to drive the transmission gear to rotate in order to move the shift finger.

[0011] According to some embodiments of the present invention, each of the first drive components further includes a bracket and a connector, the bracket being connected to the driver, one end of the connector being fixedly connected to the shift finger, and the other end being movably connected to the bracket.

[0012] According to some embodiments of the present invention, the connector and the bracket are connected by a guide assembly. The guide assembly includes a guide post and a guide hole. One of the guide post and the guide hole is disposed on the bracket, and the other of the guide post and the guide hole is disposed on the connector. The guide post is disposed along the second direction and is movably inserted into the guide hole.

[0013] According to some embodiments of the present invention, the connector includes a first connecting part and a second connecting part that are connected to each other, the first connecting part and the second connecting part are arranged at an angle, the guide post is disposed on the bracket, the guide hole is disposed on the first connecting part, and the second connecting part is fixedly connected to the shift finger by fasteners.

[0014] According to some embodiments of the present invention, the bracket includes a first mounting part and a second mounting part, the first mounting part and the second mounting part are arranged sequentially from top to bottom, the first mounting part is connected to the side wall of the driver, the guide post protrudes from the second mounting part, and the guide post and the driver are spaced apart in the vertical direction.

[0015] According to some embodiments of the present invention, the base further includes a bottom plate for supporting the material box, the bottom plate being disposed between the two side plates and located below the push rod and the limiting assembly.

[0016] The robot according to a second aspect of the present invention includes the pick-and-place device based on variable pitch finger limiting as described in the first aspect embodiment.

[0017] The robot according to the embodiments of this utility model has at least the following beneficial effects:

[0018] The robot of this utility model adopts the pick-and-place device based on the variable pitch finger limit of the first aspect embodiment. By optimizing the structural design of the pick-and-place device, it can not only adapt to bins of different sizes, thus improving the robot's versatility, but also eliminates the need to perform the opening and closing action of the forks during the pick-and-place process. This not only reduces the robot's energy consumption, but also improves the robot's handling efficiency for bins.

[0019] According to some embodiments of the present invention, the robot further includes a storage rack and a lifting device. The storage rack includes a plurality of placement platforms spaced apart along its height direction. The lifting device is connected to the pick-and-place device and is configured to drive the pick-and-place device to move up and down along the height direction of the storage rack. The pick-and-place device is able to place the material box on the placement platform.

[0020] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0022] Figure 1 This is a schematic diagram of the structure of a pick-and-place device based on variable pitch finger limiting according to an embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of the state of the pick-and-place device based on variable pitch finger limiting according to an embodiment of the present invention during material picking;

[0024] Figure 3 This is a schematic diagram of another state when the pick-up and put-down device based on variable pitch finger limiting is picking up materials according to an embodiment of the present invention.

[0025] Figure 4 for Figure 3 A magnified view of a section at point A in the middle;

[0026] Figure 5 This is a schematic diagram of the structure of a limiting component according to an embodiment of the present invention;

[0027] Figure 6 This is a schematic diagram of the structure of a robot according to an embodiment of the present invention.

[0028] Icon labels:

[0029] Robot 10;

[0030] 1000 pick-and-place device; 2000 material bins; 3000 storage racks; 3100 storage platforms; 4000 lifting devices;

[0031] Base 100; Base plate 110;

[0032] 200mm putter;

[0033] Limiting component 300; first drive component 310; driver 311; bracket 312; first mounting part 3121; second mounting part 3122; transmission gear 313; connector 314; first connecting part 3141; second connecting part 3142; shift finger 320; rack 321;

[0034] Second drive component 400;

[0035] Side panel 500;

[0036] Guide assembly 600; guide post 610; guide hole 620. Detailed Implementation

[0037] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0038] In the description of this utility model, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0039] In the description of this utility model, the use of "first" and "second" is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features or the order of the technical features.

[0040] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0041] Forklift mechanisms are core devices in automated warehousing and logistics sorting, used for gripping, handling, and placing toy boxes. Currently, the most common forklift operation relies on the opening and closing motion of two forks to clamp and release the toy box. However, the process of driving the forks to open and close consumes a significant amount of energy, resulting in high energy consumption of the drive unit. Furthermore, the relatively slow opening and closing speed of the two forks reduces the overall handling efficiency of the toy box.

[0042] To address the aforementioned problems, some embodiments of this utility model propose a pick-and-place device 1000 based on a variable-pitch finger 320 for limiting, suitable for robot 10. This device can reduce energy consumption and improve handling efficiency. See details below. Figures 1 to 6 The pick-and-place device 1000 based on the limit of the variable pitch finger 320 is described below.

[0043] Reference Figure 1 As shown in the embodiment of this utility model, the pick-and-place device 1000 includes: a base 100, a push rod 200, a limiting component 300, and a second driving component. The base 100 is configured to support the material box 2000. Specifically, the base 100 is provided with a accommodating space suitable for accommodating the material box 2000. The side wall of the base 100 is provided with an opening communicating with the accommodating space. In one example, the opening is located on the front side of the base 100.

[0044] Continue to refer to Figure 1 and Figure 2As shown, in this embodiment of the invention, the push rod 200 is movably connected to the base 100, and the limiting component 300 is movably connected to the base 100 and spaced apart from the push rod 200 along a first direction, thereby forming a limiting space for the material box 2000 between the push rod 200 and the limiting component 300. It is understood that in this embodiment, the push rod 200 and the limiting component 300 are respectively movable relative to the base 100. In one example, the limiting component 300 is located on the front side of the push rod 200.

[0045] In this embodiment of the invention, the second driving component is configured to drive the push rod 200 and the limiting component 300 to move along a first direction. Specifically, the second driving component refers to a power mechanism that drives the push rod 200 and the limiting component 300 to move along the first direction. Specifically, a linear motor, a lead screw slide, or a hydraulic cylinder can be used as the driver 311 to synchronously move the push rod 200 and the shift finger 320 to complete the pushing or pushing action of the material box 2000. In one example, the second driving component can be indirectly connected to the push rod 200 and the limiting component 300 via a transmission component.

[0046] Combination Figure 3 and Figure 4 It is understood that, in this embodiment of the present invention, the limiting component 300 includes a first driving component 310 and two shift fingers 320, which are spaced apart along a second direction. The first driving component 310 is configured to drive the two shift fingers 320 to move towards or away from each other along the second direction. It is understood that the first driving component 310 refers to a power mechanism that drives the two shift fingers 320 to move towards or away from each other along the second direction. Specifically, a motor or cylinder can be used as the driver 311, which can transmit power to the shift fingers 320 to adjust the distance between the two shift fingers 320.

[0047] Under the action of the second drive assembly, the two dial fingers 320 can cooperate to drive the material box 2000 to move into the base 100 along the first direction, and the push rod 200 can drive the material box 2000 to move out of the base 100 along the first direction. Specifically, during the material picking process, the second drive assembly first drives the push rod 200 and the limiting assembly 300 to move forward synchronously towards the material box 2000. At this time, the distance between the two dial fingers 320 is suitable for the material box 2000 to pass through. When the two dial fingers 320 move past the material box 2000, that is, when the material box 2000 is located in the space between the two dial fingers 320 and the push rod 200, the first drive assembly 310 drives the two dial fingers 320 to move towards each other, thereby reducing the distance between the two dial fingers 320. At this time, the two dial fingers 320 and the push rod 200 limit the material box 2000 along the first direction. Subsequently, the second drive assembly drives the push rod 200 and the limit assembly 300 to retract and reset, and the two dial fingers 320 abut against the material box 2000 to push the material box 2000 into the base 100, thus completing the material retrieval.

[0048] During the feeding process, the first drive assembly 310 drives the two shift fingers 320 to move in opposite directions, thereby increasing the distance between the two shift fingers 320 to a distance suitable for the material box 2000 to pass through. The second drive assembly first drives the push rod 200 and the limiting assembly 300 to move forward synchronously. At this time, the push rod 200 abuts against the material box 2000 and pushes the material box 2000 out of the base 100, completing the feeding process.

[0049] Furthermore, the variable-pitch design of the two levers 320 allows the pick-and-place device 1000 to adapt to material bins 2000 of different sizes, improving the applicability of the device. At the same time, the coordinated movement of the push rod 200 and the limiting component 300 achieves precise positioning and stable transmission of the material bin 2000.

[0050] The pick-and-place device 1000 based on the limiting of the variable-pitch fingers 320 in this embodiment of the utility model is configured with a push rod 200 and a limiting component 300, wherein the limiting component 300 and the push rod 200 are spaced apart along a first direction. Based on this, when picking up material, the two fingers 320 move in opposite directions under the action of the first drive component 310 to allow the material box 2000 to pass through. The second drive component drives the push rod 200 and the limiting component 300 to move until the material box 2000 moves between the limiting component 300 and the push rod 200. The first drive component 310 drives the two fingers 320 to move towards each other, thereby limiting the material box 2000 within the limiting component 300. Between the push rod 200 and the push rod 200; then the second drive assembly drives the push rod 200 and the limit assembly 300 to reset, the two shift fingers 320 abut against the material box 2000 and push the material box 2000 into the base 100. The unloading process is the reverse operation, the push rod 200 abuts against the material box 2000 and pushes the material box 2000 out of the base 100. This not only allows the picking and placing device 1000 to adapt to material boxes 2000 of different sizes, improving the versatility of the picking and placing device 1000, but also eliminates the need to perform the opening and closing action of the forks during the picking and placing process. This not only reduces the energy consumption of the picking and placing device 1000, but also improves the handling efficiency of the material box 2000.

[0051] Reference Figure 2 and Figure 3 As shown in this embodiment of the invention, the pick-and-place device 1000 further includes two side plates 500 spaced apart along a second direction. A second drive assembly is connected to the two side plates 500 respectively to drive the two side plates 500 to move relative to the base 100 along a first direction. The side plates 500 are arranged parallel to each other along the second direction to form a rigid frame. The second drive assembly is connected to the side plates 500 via a linear guide rail or a synchronous belt mechanism, ensuring that the two side plates 500 maintain synchronous translational movement.

[0052] Reference Figure 1 and Figure 2As shown in this embodiment of the invention, the two ends of the push rod 200 are respectively connected to two side plates 500, and two levers 320 are correspondingly installed on the ends of the two side plates 500 away from the push rod 200. Specifically, the push rod 200 adopts a transverse through-type structure, and its two ends are fixed to the inner surface of the side plate 500 by bolts or welding. The levers 320 are installed on the front edge of the side plate 500 through a detachable interface, and their mounting surfaces are perpendicular to the moving direction of the side plate 500.

[0053] Understandably, the second drive assembly outputs power through a single shaft, which is then distributed to the two side plates 500 via a gearbox, causing the two side plates 500 to move synchronously along the pre-set sliding grooves on both sides of the base 100. When the push rod 200 moves with the side plate 500, its lateral span covers the width of the base 100, forming a comprehensive pushing surface for the material box 2000. The lever 320 is installed at the front extension of the side plate 500. When the side plate 500 moves forward, the lever 320 and the push rod 200 form a front-to-back clamping space. During material handling, the side plate 500 drives the push rod 200 and lever 320 forward as a whole. After the lever 320 passes the material box 2000, when the side plate 500 retracts, a uniform pushing force is applied through the contact surface between the lever 320 and the material box 2000, preventing the material box 2000 from shifting due to unilateral force application. This structure achieves linkage control between the push rod 200 and the lever 320 through a rigid frame, eliminating motion errors between multiple drive sources.

[0054] Reference Figure 3 and Figure 4 As shown in this embodiment of the invention, two first drive components 310 are provided. Each first drive component 310 includes a driver 311 corresponding to a shift finger 320. The driver 311 is mounted on the side of the side plate 500 facing away from the other side plate 500. Specifically, each driver 311 is independently disposed on the outside of the corresponding side plate 500. The driver 311 is connected to the shift finger 320 through a transmission mechanism. The driver 311 is a linear motor or a cylinder. The two drivers 311 respectively drive the corresponding shift finger 320 to move along the second direction. The driver 311 is fixed to the side plate 500 by bolts or clips.

[0055] Specifically, the driver 311 avoids occupying the internal space between the side plates 500 by mounting on the outside of the side plates 500, so that the spacing between the side plates 500 does not need to be increased due to the size of the driver 311, thus maintaining the compactness of the overall structure of the device. The driver 311 independently drives the corresponding shift finger 320, and transmits power to the shift finger 320 through the transmission gear 313 or the linkage. When the two drivers 311 work synchronously, symmetrical movement of the shift finger 320 can be achieved.

[0056] It is understood that, in this embodiment of the invention, because each finger 320 is equipped with an individual driver 311, the movement distance and speed of the finger 320 can be controlled more precisely. This design improves the flexibility and controllability of the finger 320's movement, enabling the pick-and-place device 1000 to adapt to hoppers 2000 of different sizes. Furthermore, mounting the driver 311 on the outside of the side plate 500 avoids occupying internal space, simplifies the overall structure, and helps improve the compactness and stability of the device.

[0057] Reference Figure 4 and Figure 5 As shown, in this embodiment of the invention, the shift finger 320 is provided with a rack 321 arranged along the second direction. In one example, the rack 321 is located on the upper end face of the shift finger 320. Each first drive assembly 310 also includes a transmission gear 313, which meshes with the rack 321. In this embodiment, the central axis of the transmission gear 313 is perpendicular to the second direction. The output shaft of the driver 311 is connected to the rotating shaft of the transmission gear 313 via a coupling. The driver 311 is configured to drive the transmission gear 313 to rotate, thereby moving the shift finger 320.

[0058] Specifically, after the driver 311 starts, it drives the transmission gear 313 to rotate around the axis. The gear teeth mesh with the tooth grooves of the rack 321, converting the rotational motion into linear displacement of the shift finger 320 in the second direction. Since the gear and rack 321 are continuously meshed, there is no gap or slippage during the movement, and the movement trajectory of the shift finger 320 is strictly limited to the second direction. By transmitting power through rigid meshing, elastic deformation caused by flexible transmission is avoided, enabling the two shift fingers 320 to move precisely synchronously towards or away from each other, ensuring that the hopper 2000 is stably limited when it moves into the base 100.

[0059] Continue to refer to Figure 4 and Figure 5 As shown in this embodiment of the invention, each first drive assembly 310 further includes a bracket 312 and a connector 314. The bracket 312 is connected to the driver 311, and one end of the connector 314 is fixedly connected to the shift finger 320, while the other end is movably connected to the bracket 312. It is understood that in this embodiment, the shift finger 320 is indirectly connected to the bracket 312 via the connector 314. Therefore, when the shift finger 320 moves in the second direction, the connector 314 can move relative to the bracket 312.

[0060] Specifically, in this embodiment of the invention, the connector 314 and the bracket 312 are connected by a guide assembly 600. The guide assembly 600 includes a guide post 610 and a guide hole 620. One of the guide post 610 and the guide hole 620 is located in the bracket 312, and the other is located in the connector 314. The guide post 610 is arranged along a second direction and movably passes through the guide hole 620. In one example, the guide post 610 is located in the bracket 312, and the guide hole 620 is located in the connector 314; in another example, the guide hole 620 is located in the bracket 312, and the guide post 610 is located in the connector 314.

[0061] Understandably, the cooperation between the guide post 610 and the guide hole 620 forms a sliding pair, restricting the connecting member 314 to move only in a straight line along the second direction, thus eliminating lateral offset or rotational deflection of the connecting member 314 during movement. When the driver 311 drives the shift finger 320 to move along the second direction through the transmission gear 313 and rack 321, the guide post 610 can slide along the axial direction of the guide hole 620, thereby guiding the movement of the shift finger 320.

[0062] Continue to refer to Figure 4 and Figure 5 As shown in the embodiment of this utility model, the connector 314 includes a first connecting portion 3141 and a second connecting portion 3142 that are interconnected. The first connecting portion 3141 and the second connecting portion 3142 are arranged at an included angle. A guide post 610 is disposed on the bracket 312, and a guide hole 620 is disposed on the first connecting portion 3141. The second connecting portion 3142 is fixedly connected to the shift finger 320 by fasteners. For example, the second connecting portion 3142 can be fixed to the shift finger 320 by bolts or screws. It is understood that the included angle between the first connecting portion 3141 and the second connecting portion 3142 creates spatial compensation between the movement path of the connector 314 and the movement direction of the shift finger 320, avoiding movement interference caused by installation position deviation.

[0063] Specifically, when the driver 311 drives the bracket 312 to move, the guide post 610 slides along the guide hole 620, and the constraint connector 314 translates along the second direction. The cooperation between the first connecting part 3141 and the guide hole 620 eliminates lateral offset, and the second connecting part 3142 transmits linear motion to the shift finger 320. The angled structure enhances the rigidity of the connector 314 and prevents the shift finger 320 from deviating in position due to deformation under force. The fastener fixing method facilitates disassembly and maintenance, while ensuring no relative displacement between the shift finger 320 and the connector 314. This structure improves the linearity and repeatability of the shift finger 320's movement trajectory through mechanical constraints, ensuring the stability and reliability of the limit assembly 300 during pitch change.

[0064] Reference Figure 4As shown, in this embodiment of the present invention, the bracket 312 includes a first mounting portion 3121 and a second mounting portion 3122, which are arranged sequentially from top to bottom. The first mounting portion 3121 is connected to the side wall of the driver 311, and a guide post 610 protrudes from the second mounting portion 3122. The guide post 610 and the driver 311 are spaced apart in the vertical direction. In this embodiment, the first mounting portion 3121 is used to fix the side wall of the driver 311, and the second mounting portion 3122 is located below the first mounting portion 3121 and supports the guide post 610. The guide post 610 and the driver 311 are spaced apart in the vertical direction, forming a layered layout. In one example, the first mounting portion 3121 and the second mounting portion 3122 are connected by a bending portion, and the first mounting portion 3121, the second mounting portion 3122, and the bending portion are integrally formed.

[0065] Specifically, the first mounting portion 3121 is rigidly connected to the side wall of the housing of the driver 311 by bolts or clips, and the second mounting portion 3122 extends downward to form a planar base, on which the guide post 610 is vertically fixed. When the driver 311 is running, vibration is transmitted to the bracket 312 through the first mounting portion 3121. The spaced arrangement of the second mounting portion 3122 and the guide post 610 reduces the interference of vibration on the guide post 610. During the movement of the shift finger 320, the connecting member 314 slides along the guide post 610, and the second mounting portion 3122 provides a stable sliding track to prevent the driver 311 from contacting the guide post 610. The layered arrangement of the mounting portions spatially separates the driver 311 and the guide post 610, ensuring structural strength and preventing motion interference, thus ensuring smooth execution of the pitch-changing action of the shift finger 320 in the second direction.

[0066] Reference Figure 1 and Figure 2 As shown, in this embodiment of the present invention, the base 100 further includes a base plate 110 for supporting the material box 2000. The base plate 110 is disposed between the two side plates 500 and located below the push rod 200 and the limiting component 300. The base plate 110 is horizontally arranged between the two side plates 500, with its width direction consistent with the second direction and its length direction consistent with the first direction. It is understood that in this embodiment, the upper surface of the base plate 110 maintains a distance from the lower side of the push rod 200 and the limiting component 300 to avoid movement interference; the length of the base plate 110 covers the movement range of the side plates 500 along the first direction, ensuring that the material box 2000 is always supported during movement.

[0067] When the hopper 2000 is pushed into the base 100 by the lever 320, the bottom of the hopper 2000 contacts the base plate 110 and slides along its surface, restricting the vertical displacement of the hopper 2000. When the push rod 200 pushes the hopper 2000 out of the base 100, the base plate 110 continues to support the hopper 2000 until it is completely detached from the base 100. Through the support of the base plate 110, the hopper 2000 maintains a horizontal posture during movement, avoiding deviation due to gravity or inertia, while reducing the load on the push rod 200 and the lever 320, thus improving the operational stability of the device.

[0068] An embodiment of this utility model also proposes a robot 10, including the pick-and-place device 1000 based on the variable pitch finger 320 limiting mechanism described in the above embodiment. Specifically, in one example, the robot 10 may be a Container Transport Unit (CTU) robot 10 of the bin type 2000.

[0069] The robot 10 of this utility model adopts the pick-and-place device 1000 based on the variable pitch finger 320 limit of the above embodiment. By optimizing the structural design of the pick-and-place device 1000, not only can the pick-and-place device 1000 adapt to material boxes 2000 of different sizes, improving the versatility of the robot 10, but also the pick-and-place process does not require the opening and closing action of the forks, which not only reduces the energy consumption of the robot 10, but also improves the handling efficiency of the robot 10 for material boxes 2000.

[0070] Since the robot 10 adopts all the technical solutions of the pick-and-place device 1000 based on the variable pitch finger 320 limit of the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be repeated here.

[0071] Reference Figure 6 As shown in this embodiment of the invention, the robot 10 further includes a storage rack 3000 and a lifting device 4000. The storage rack 3000 includes multiple storage platforms 3100 spaced apart along its height. Specifically, the storage rack 3000 is a support structure for supporting the material box 2000, and it has multiple storage platforms 3100 arranged along its height. This can be achieved by using a combination of a metal frame and shelves, thereby improving space utilization through layered design.

[0072] Continue to refer to Figure 6As shown, in this embodiment of the invention, the lifting device 4000 is connected to the clamping and picking device 1000 and is configured to drive the clamping and picking device 1000 to move up and down along the height direction of the storage rack 3000. In other words, the lifting device 4000 refers to the power mechanism that drives the clamping and picking device 1000 to move vertically, and it can control the lifting height to make the clamping and picking device 1000 accurately reach the target storage platform 3100. Driven by the lifting device 4000, the clamping and picking device 1000 can place the material box 2000 on the storage platform 3100.

[0073] Of course, this utility model is not limited to the above-described embodiments. Those skilled in the art can make equivalent modifications or substitutions without departing from the spirit of this utility model. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A pick-and-place device (1000) based on a variable-pitch finger (320) for limiting, characterized in that, include: The base (100) is configured to carry the hopper (2000); The push rod (200) is movably connected to the base (100); A limiting component (300) is movably connected to the base (100) and spaced apart from the push rod (200) along a first direction. The limiting component (300) includes a first drive component (310) and two shift fingers (320). The two shift fingers (320) are spaced apart along a second direction. The first drive component (310) is configured to drive the two shift fingers (320) to move toward each other or away from each other along the second direction. The second drive assembly is configured to drive the push rod (200) and the limiting assembly (300) to move along the first direction; Under the action of the second driving component, the two dial fingers (320) can cooperate to drive the hopper (2000) to move into the base (100) along the first direction, and the push rod (200) can drive the hopper (2000) to move out of the base (100) along the first direction.

2. The pick-and-place device (1000) based on the limiting of the variable pitch finger (320) according to claim 1, characterized in that, The pick-and-place device (1000) further includes two side plates (500) spaced apart along the second direction. The second drive assembly is connected to the two side plates (500) respectively to drive the two side plates (500) to move relative to the base (100) along the first direction. The two ends of the push rod (200) are respectively connected to the two side plates (500). The two dials (320) are correspondingly installed at the ends of the two side plates (500) away from the push rod (200).

3. The pick-and-place device (1000) based on the limiting of the variable pitch finger (320) according to claim 2, characterized in that, Two first drive components (310) are provided, each first drive component (310) including a driver (311) that corresponds one-to-one with the dial finger (320), the driver (311) being mounted on the side of the side plate (500) facing away from the other side plate (500).

4. The pick-and-place device (1000) based on the limiting of the variable pitch finger (320) according to claim 3, characterized in that, The shift finger (320) is provided with a rack (321) arranged along the second direction, and each of the first drive components (310) further includes a transmission gear (313) that meshes with the rack (321). The driver (311) is configured to drive the transmission gear (313) to rotate so as to move the shift finger (320).

5. The pick-and-place device (1000) based on the limiting of the variable pitch finger (320) according to claim 3, characterized in that, Each of the first drive components (310) further includes a bracket (312) and a connector (314), the bracket (312) being connected to the driver (311), and one end of the connector (314) being fixedly connected to the shift finger (320), and the other end being movably connected to the bracket (312).

6. The pick-and-place device (1000) based on the limiting of the variable pitch finger (320) according to claim 5, characterized in that, The connector (314) is connected to the bracket (312) via a guide assembly (600). The guide assembly (600) includes a guide post (610) and a guide hole (620). One of the guide post (610) and the guide hole (620) is located in the bracket (312), and the other of the guide post (610) and the guide hole (620) is located in the connector (314). The guide post (610) is arranged along the second direction and is movably inserted into the guide hole (620).

7. The pick-and-place device (1000) based on the limiting of the variable pitch finger (320) according to claim 6, characterized in that, The connector (314) includes a first connecting part (3141) and a second connecting part (3142) that are connected to each other. The first connecting part (3141) and the second connecting part (3142) are arranged at an angle. The guide post (610) is provided on the bracket (312). The guide hole (620) is provided on the first connecting part (3141). The second connecting part (3142) and the dial finger (320) are fixedly connected by fasteners.

8. The pick-and-place device (1000) based on the limiting of the variable pitch finger (320) according to claim 6, characterized in that, The bracket (312) includes a first mounting part (3121) and a second mounting part (3122), which are arranged sequentially from top to bottom. The first mounting part (3121) is connected to the side wall of the driver (311), and the guide post (610) protrudes from the second mounting part (3122). The guide post (610) and the driver (311) are spaced apart in the vertical direction.

9. The pick-and-place device (1000) based on the limiting of the variable pitch finger (320) according to claim 2, characterized in that, The base (100) also includes a base plate (110) for supporting the hopper (2000), the base plate (110) being disposed between the two side plates (500) and located below the push rod (200) and the limiting assembly (300).

10. A robot (10), characterized in that, The pick-and-place device (1000) based on the limiting of the variable pitch finger (320) as described in any one of claims 1 to 9.

11. The robot (10) according to claim 10, characterized in that, The robot (10) also includes a storage rack (3000) and a lifting device (4000). The storage rack (3000) includes a plurality of placement platforms (3100) spaced apart along its height direction. The lifting device (4000) is connected to the pick-and-place device (1000) and is configured to drive the pick-and-place device (1000) to lift and lower along the height direction of the storage rack (3000). The pick-and-place device (1000) is able to place the hopper (2000) on the placement platform (3100).

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