Pick-and-place actuators, handling devices, and warehouse systems
By designing a bidirectional extension pick-and-place mechanism, the problem of the handling robot needing to rotate 180 degrees between two rows of opposite shelves was solved, achieving bidirectional handling without rotation and improving space utilization and efficiency.
Patent Information
- Application Number
- CN202522054367.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-23
- Publication Date
- 2026-08-25
- Estimated Expiration
- 2035-09-23
AI Technical Summary
Existing handling robots need to rotate 180 degrees when moving boxes between two rows of shelves, resulting in large space requirements and low efficiency.
Design a pick-and-place actuator that uses a bidirectional extendable arm assembly and a hook assembly to move the bins on opposite sides of the shelf without rotating, and achieves bidirectional extension and retraction through forward and reverse extension states.
It reduces the space requirement between two adjacent shelves, increases the number of shelves that can be arranged, and improves the efficiency of material box handling.
Smart Images
Figure CN224677000U_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to the field of robotics, and more particularly to a pick-and-place actuator, a handling device, and a warehousing system. Background Technology
[0002] With the rapid development of industrial technology, the adoption rate of various robotic equipment is increasing, greatly reducing people's labor burden. As an important component of warehousing systems, material handling robots need to move back and forth between shelves to move boxes.
[0003] In related technologies, the actuators of material handling robots can only extend and retract in one direction. When transferring boxes between two rows of opposite shelves, the robot can only transfer the boxes on one side of the shelf first, then rotate 180 degrees to move the boxes on the opposite side of the shelf. This requires a large space between the two adjacent shelves to avoid interference when the robot rotates, and the robot's rotation also reduces the efficiency of box handling. Utility Model Content
[0004] This disclosure provides a pick-and-place actuator, a handling device, and a warehousing system to address the shortcomings of related technologies.
[0005] According to a first aspect of the present disclosure, a pick-and-place actuator is provided, comprising:
[0006] A base support, the base support including a first end and a second end disposed opposite to each other;
[0007] An extendable arm assembly, which is slidably connected to the base bracket;
[0008] A hook assembly, which is slidably connected to the extender arm assembly;
[0009] The pick-and-place actuator further includes a forward extension state, a reverse extension state, and a retracted state. When the pick-and-place actuator is in the forward extension state, the extended arm assembly extends beyond the first end. When the pick-and-place actuator is in the reverse extension state, the extended arm assembly extends beyond the second end. When the pick-and-place actuator is in the retracted state, the extended arm assembly is housed within the base bracket.
[0010] Optionally, the hook assembly includes a hook bracket and a hook claw. The hook bracket is slidably connected to the arm extension assembly, and the hook claw is slidably connected to the hook bracket. The sliding direction of the hook claw is perpendicular to the sliding direction of the hook bracket.
[0011] Optionally, the hook assembly further includes a lead screw and a first drive member connected to the lead screw, wherein the lead screw is rotatably connected to the hook bracket, and the hook claw is rotatably connected to the lead screw.
[0012] Optionally, the pick-and-place mechanism further includes a second driving member, the arm extension assembly includes an arm extension body and a first sliding part disposed on the arm extension body, the hooking assembly is slidably disposed on the first sliding part, and the second driving member is fixed to the arm extension assembly or the hooking assembly to drive the hooking assembly to slide.
[0013] Optionally, the boom assembly further includes a rack fixed to the boom body, the second drive member is fixed to the hook assembly, and the output shaft end of the second drive member is provided with a transmission gear, which meshes with the rack.
[0014] Optionally, the hook assembly includes a buffer member. When the hook assembly moves relative to the extender assembly to the hook state, the buffer member extends beyond the extender assembly and is used to contact the material box.
[0015] Optionally, a lifting mechanism is also included, which is fixed to the base bracket to drive the base bracket to move, wherein the direction of movement of the base bracket is perpendicular to the sliding direction of the extender arm assembly.
[0016] Optionally, the pick-and-place actuator further includes a third driving member, the base bracket further includes a second sliding portion located between the first end and the second end, and the extender assembly includes a third sliding portion; the third sliding portion is slidably connected to the second sliding portion, and the third driving member is fixed to the base bracket or the extender assembly for driving the extender assembly to slide.
[0017] According to a second aspect of the present disclosure, a conveying device is provided, comprising:
[0018] A mast, which is used for sliding connection with a shelf;
[0019] The pick-and-place actuator described above includes a lifting mechanism that is slidably connected to the gantry, and the sliding direction of the lifting mechanism is perpendicular to the sliding direction of the gantry.
[0020] According to a third aspect of the present disclosure, a warehousing system is provided, comprising:
[0021] Shelves;
[0022] As described above, the conveying device is used to move goods to and / or remove goods from the shelf, and the mast is slidably connected to the shelf along the length of the shelf.
[0023] As can be seen from the above embodiments, when the pick-and-place actuator of this disclosure is in the forward extension state, the extension arm assembly extends beyond the first end, and when it is in the reverse extension state, the extension arm assembly extends beyond the second end. This allows the actuator to extend and retract in both directions, so that the actuator can transport the boxes in the opposite two side shelves without rotating, reducing the space between two adjacent shelves, thereby increasing the number of shelves and improving the transport efficiency of the boxes.
[0024] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this specification. Attached Figure Description
[0025] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this specification and, together with the description, serve to explain the principles of this specification.
[0026] Figure 1 This is a perspective view of a take-up / take-up actuator retracting according to an exemplary embodiment.
[0027] Figure 2 This is a side view of a pick-and-place actuator when extended, according to an exemplary embodiment.
[0028] Figure 3 yes Figure 2 A three-dimensional view of the pick-and-place actuator extending and hooking the material box.
[0029] Figure 4 This is a schematic diagram illustrating a hook assembly hooking a material box according to an exemplary embodiment.
[0030] Figure 5 A cross-sectional schematic diagram of a pick-and-place actuator is shown according to an exemplary embodiment.
[0031] Figure 6 yes Figure 3 The side view of the pick-and-place actuator after it extends and hooks the material box.
[0032] Figure 7 This is a side view illustrating a pick-and-place actuator pulling a bin to the edge of a shelf according to an exemplary embodiment.
[0033] Figure 8 yes Figure 7 A schematic diagram of the base support and extender arm assembly sliding down in the take-up and put-down actuator.
[0034] Figure 9 This is a perspective view of a conveying device according to an exemplary embodiment.
[0035] Figure 10 This is a perspective view of a storage system according to an exemplary embodiment.
[0036] Figure 11 This is a partial enlarged view of a storage system according to an exemplary embodiment. Detailed Implementation
[0037] The technical solutions in the embodiments (or "implementations") of this disclosure will be clearly and completely described herein with reference to the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.
[0038] If this disclosure uses terms relating to directional indications or positional relationships (e.g., up, down, left, right, front, back, inside, outside, top, bottom, center, vertical, horizontal, longitudinal, transverse, length, width, counterclockwise, clockwise, axial, radial, circumferential, etc.), such terms are only used to explain the relative positional relationships and movements between components in a specific posture (as shown in the accompanying drawings); if the specific posture changes, the directional indications or positional relationships will also change accordingly. Furthermore, terms such as "first" and "second" in this disclosure are used only for descriptive convenience and should not be construed as indicating or implying relative importance.
[0039] Figure 1 This is a perspective view of a pick-and-place actuator according to an exemplary embodiment. Figure 2 This is a side view of a pick-and-place actuator when extended, according to an exemplary embodiment. Figure 1 and Figure 2 As shown, the pick-and-place actuator of this disclosure includes a base support 1, an extension arm assembly 2, and a hook assembly 3. The base support 1 includes a first end 11 and a second end 12 disposed opposite to each other. The extension arm assembly 2 is slidably connected to the base support 1, and the hook assembly 3 is slidably connected to the extension arm assembly 2. It is worth noting that the extension arm assembly 2 can reciprocate between the first end 11 and the second end 12 relative to the base support 1, thus allowing the extension arm assembly 2 to slide beyond either the first end 11 or the second end 12. The hook assembly 3 can reciprocate relative to the extension arm assembly 2, and the sliding direction of the extension arm assembly 2 is parallel to the sliding direction of the hook assembly 3. This allows the pick-and-place actuator to have different extension states and extension strokes, which will be described in detail below with reference to the different extension states of the pick-and-place actuator.
[0040] Assuming the sliding of the extension arm assembly 2 relative to the base support 1 is the first-level extension, and the sliding of the hook assembly 3 relative to the extension arm assembly 2 is the second-level extension, the pick-and-place actuator includes a forward extension state, a reverse extension state, and a retracted state. When the pick-and-place actuator switches the extension arm assembly 2 to the forward extension state through the first-level extension, part of the extension arm assembly 2 extends beyond the first end 11. In this state, the pick-and-place actuator uses the second-level extension to move the hook assembly 3 to the end of the extension arm assembly 2 away from the base support 1 for loading and unloading the material box 100. If both the first-level and second-level extensions reach their maximum stroke, the hook assembly 3 can extend to the maximum stroke position. Of course, the hook assembly 3 can slide to the target position as needed, combining the first-level and second-level extensions.
[0041] When the pick-and-place actuator switches the extended arm assembly 2 to the reverse extension state via the first-stage extension, part of the extended arm assembly 2 extends beyond the second end 12. In this state, the pick-and-place actuator allows the hook assembly 3 to move to the end of the extended arm assembly 2 away from the base bracket 1 via the second-stage extension for loading and unloading the material box 100. If both the first-stage and second-stage extensions reach their maximum stroke, the hook assembly 3 can extend to its maximum stroke position. Of course, the hook assembly 3 can also slide to the target position as needed, combining the first-stage and second-stage extensions.
[0042] When the pick-and-place actuator is in the retracted state, the extender arm assembly 2 is housed within the base bracket 1. It should be noted that if the length of the extender arm assembly 2 is less than the length of the base bracket 1, when the extender arm assembly 2 is housed within the base bracket 1, both the extender arm assembly 2 and the hook assembly 3 are located between the first end 11 and the second end 12 to prevent damage to the extender arm assembly 2 and the hook assembly 3 due to impact. Conversely, if the length of the extender arm assembly 2 is equal to the length of the base bracket 1, the opposite ends of the extender arm assembly 2 are flush with the first end 11 and the second end 12, respectively.
[0043] If the length of the extension arm assembly 2 is greater than the length of the base support 1, the two ends of the extension arm assembly 2 will extend beyond the first end 11 and the second end 12 respectively, or one end of the extension arm assembly 2 will be flush with the first end 11 and the other end will extend beyond the second end 12. At this time, the difference between the retracted state and the forward extension state and the reverse extension state can be distinguished by the size of the projected overlapping area between the extension arm assembly 2 and the base support 1 in the height direction. In the retracted state, the projected overlapping area between the extension arm assembly 2 and the base support 1 in the height direction reaches the maximum.
[0044] In this embodiment, if the arm extension assembly 2 needs to be switched to the forward extension state, the arm extension assembly 2 slides along the direction from the second end 12 to the first end 11, so that the end of the arm extension assembly 2 that extends beyond or is flush with the first end 11 further protrudes from the first end 11 until the arm extension assembly 2 is in the forward extension state. If the arm extension assembly 2 needs to be switched to the reverse extension state, the arm extension assembly 2 slides along the direction from the first end 11 to the second end 12, so that the end of the arm extension assembly 2 that extends beyond the second end 12 further protrudes from the second end 12 until the arm extension assembly 2 is in the reverse extension state.
[0045] The above is merely an illustrative example. Based on the structure of this disclosure, other arrangements of the ends of the boom assembly 2 with the first end 11 and the second end 12 are also within the scope of protection of this disclosure.
[0046] The pick-and-place actuator disclosed herein is configured with bidirectional extension, including a forward extension state and a reverse extension state. When the pick-and-place actuator is in the forward extension state, the extension arm assembly 2 extends beyond the first end 11, and when it is in the reverse extension state, the extension arm assembly 2 extends beyond the second end 12. This allows the actuator to extend and retract in both directions, so that the actuator can transport the boxes in the opposite two side shelves without rotating, reducing the arrangement space between two adjacent shelves, thereby increasing the number of shelves that can be arranged, and also eliminating the rotation action of the pick-and-place actuator, thereby improving the working efficiency of the pick-and-place actuator in transporting the boxes 100.
[0047] The following description exemplifies the first-stage extension and retraction of the pick-and-place actuator, with the extender assembly 2 sliding relative to the base support 1. The pick-and-place actuator of this disclosure may further include a third drive member 6. The base support 1 includes a second sliding portion 13 located between a first end 11 and a second end 12, and the extender assembly 2 includes a third sliding portion 24. The third sliding portion 24 is slidably connected to the second sliding portion 13, and the third drive member 6 is fixed to the base support 1 or the extender assembly 2 for driving the extender assembly 2 to slide relative to the base support 1.
[0048] The second sliding portion 13 can extend from the first end 11 to the second end 12, that is, the length of the second sliding portion 13 is equal to the distance between the first end 11 and the second end 12, thereby increasing the extension stroke of the arm assembly 2. Alternatively, the length of the second sliding portion 13 can be less than the distance between the first end 11 and the second end 12, thus facilitating the limiting of the arm assembly 2. The second sliding portion 13 can be a guide rail, and the third sliding portion 24 is correspondingly a guide groove that mates with the guide rail. Alternatively, the second sliding portion 13 can also be a guide groove, and the third sliding portion 24 can correspondingly be a guide rail that mates with the guide groove. The above is merely an illustrative example; the second sliding portion 13 and the third sliding portion 24 can also be other sliding structures, which are not limited herein.
[0049] In some embodiments, the third drive member 6 is fixed to the base bracket 1, and the third drive member 6 and the extension arm assembly 2 cooperate through a transmission mechanism such as a pulley or sprocket, so that the extension arm assembly 2 slides relative to the base bracket 1.
[0050] In some other embodiments, the third drive member 6 is fixed to the arm assembly 2, and the third drive member 6 and the base bracket 1 are engaged by a gear and rack transmission.
[0051] The above is merely an illustrative example. Other drive mechanisms may also be included between the arm assembly 2 and the base bracket 1, and this document does not impose any restrictions on them.
[0052] Figure 3 yes Figure 2 A three-dimensional view of the pick-and-place actuator extending and hooking the material box. Figure 4 This is a schematic diagram illustrating a hook assembly hooking a material box according to an exemplary embodiment. Figure 5 A cross-sectional schematic diagram of a pick-and-place actuator is shown according to an exemplary embodiment. Figures 3 to 5 As shown, component 3 includes a hook bracket 31 and a hook claw 32. The hook bracket 31 is slidably connected to the extension arm component 2, and the hook claw 32 is slidably connected to the hook bracket 31, with the sliding direction of the hook claw 32 perpendicular to the sliding direction of the hook bracket 31. It is worth noting that due to manufacturing and installation errors, the sliding direction of the hook claw 32 is approximately perpendicular to the sliding direction of the hook bracket 31.
[0053] The hook 32 is used to pull the material box 100, and the hook 32 can slide back and forth relative to the hooking bracket 31. The following explanation focuses on the handling of the material box 100 by the pick-and-place actuator. When the pick-and-place actuator is in the forward or reverse extended state and the material box 100 is being stored, taking the storage of the material box 100 as an example, after the extender arm assembly 2 delivers the material box 100 to the target position, the hook 32 slides down relative to the hooking bracket 31 to disengage from the material box 100. Furthermore, through the sliding of the hooking assembly 3, the hook 32 can contact the outer surface of the material box 100, thereby pushing the material box 100 into the shelf. When the pick-and-place actuator is in the forward or reverse extended state and the material box 100 is being retrieved, after the hooking assembly 3 moves to the gripping position, the hook 32 moves upward relative to the hooking bracket 31 to grip the material box 100.
[0054] The hook assembly 3 may further include a lead screw 33 and a first drive member 34. The lead screw 33 is rotatably connected to the hook bracket 31, and the first drive member 34 is fixed to the hook bracket 31 and connected to the lead screw 33 to drive the lead screw 33 to rotate. The hook 32 is rotatably connected to the lead screw 33 to reciprocate relative to the hook bracket 31. The first drive member 34 is preferably a motor. Of course, the first drive member 34 may also be a cylinder, hydraulic cylinder, or other components, and this is not a limitation herein.
[0055] To ensure that the hooks 32 can grip the material box 100 in both directions when the pick-and-place actuator extends, the hooks 32 include a connecting plate 321 and a gripping part 322. The connecting plate 321 is rotatably connected to the lead screw 33. Two gripping parts 322 are provided, located on opposite sides of the connecting plate 321, and each gripping part 322 is bent from one side of the connecting plate 321. It is worth noting that the gripping part 322 can be bent upwards or downwards from one side of the connecting plate 321 to adapt to the material box 100. In this embodiment, the upward and downward direction is approximately parallel to the sliding direction of the hooks 32. Along the sliding direction of the hook assembly 3, the gripping part 322 extends beyond the hook bracket 31 to facilitate the gripping part 322's engagement with the material box 100.
[0056] The hook assembly 3 may also include a buffer 35. When the hook assembly 3 moves to the hooking state relative to the extension arm assembly 2, the buffer 35 extends beyond the extension arm assembly 2. The buffer 35 is used to contact the material box 100 to reduce wear and impact on the surface of the material box 100 when the hook assembly 3 pushes the material box 100. Specifically, the end of the buffer 35 is made of a flexible material, such as rubber, plastic, or foam. In addition, to reduce the friction between the buffer 35 and the material box 100, the end of the buffer 35 includes a roller 351, which is made of rubber, plastic, or foam. To improve the stability of the buffer 35 when pushing the material box 100, two buffers 35 are provided, located on both sides of the hook bracket 31, with the hook claw 32 located between the two buffers 35.
[0057] In some embodiments, the pick-and-place actuator of this disclosure may further include a second driving member 4, and the arm extension assembly 2 includes an arm extension body 21 and a first sliding portion 22 disposed on the arm extension body 21. The arm extension body 21 is slidably connected to the base support 1, and the hook assembly 3 is slidably disposed on the first sliding portion 22. It is worth noting that the first sliding portion 22 may be a guide rail, and the hook assembly 3 is correspondingly provided with a guide groove (not shown) to cooperate with the guide rail. Alternatively, the first sliding portion 22 may also be a guide groove, and the hook assembly 3 may correspondingly be provided with a guide rail (not shown) to cooperate with the guide groove. The above is merely an illustrative example; the first sliding portion 22 and the hook assembly 3 may also be other sliding structures, which are not limited herein.
[0058] The second driving member 4 is fixed to the boom assembly 2 or the hook assembly 3 to drive the hook assembly 3 to slide. Specifically, the second driving member 4 is fixed to the hook assembly 3, and the output shaft end of the second driving member 4 is provided with a transmission gear 41. The boom assembly 2 may also include a rack 23 fixed to the boom body 21. The transmission gear 41 meshes with the rack 23, thereby causing the hook assembly 3 to slide relative to the boom assembly 2 under the meshing transmission of the rack 23 and the transmission gear 41.
[0059] In some other embodiments, the second drive member 4 is fixed to the arm extension assembly 2, and the second drive member 4 and the hook assembly 3 are connected by a transmission mechanism such as a pulley or sprocket, so that the hook assembly 3 slides relative to the arm extension assembly 2.
[0060] The above is merely an illustrative example. Other driving methods may also be included between the arm extension assembly 2 and the hook assembly 3, and this document does not impose any restrictions on them.
[0061] In some embodiments, the pick-and-place actuator of this disclosure may further include a lifting mechanism 5, which is fixed to the base support 1 to drive the base support 1 to move. The direction of movement of the base support 1 is perpendicular to the sliding direction of the extender arm assembly 2. Thus, the lifting mechanism 5 can drive the base support 1, the extender arm assembly 2, and the hook assembly 3 to move up and down as a whole, which is beneficial for aligning the extender arm assembly 2 with the shelf during subsequent picking and placing processes. This allows the hook assembly 3 to hook the bin into the extender arm assembly 2 or push the bin from the extender arm assembly 2 into the shelf. It should be noted that due to manufacturing and assembly errors, the direction of movement of the base support 1 is approximately perpendicular to the sliding direction of the extender arm assembly 2.
[0062] Figure 6 yes Figure 3 The side view of the pick-and-place actuator after it extends and hooks the material box. Figure 7 This is a side view illustrating a pick-and-place actuator pulling a bin to the edge of a shelf according to an exemplary embodiment. Figure 8 yes Figure 7 A schematic diagram of the base support and extender arm assembly sliding down in the pick-and-place actuator. (See diagram 6 to...) Figure 8 As shown, based on the structural design of the above-mentioned pick-and-place actuator, the following describes the picking process of the pick-and-place actuator by taking the picking of the material box 100 as an example. In this overall process, the base support 1 is adjacent to the shelf 200, and this overall process includes the extension process, the retraction process, and the material box transfer process in sequence.
[0063] During the extension process, firstly, the drive arm assembly 2 extends out of the base support 1 and approaches the material box 100. In this step, the drive arm assembly 2 is at least above the placement layer 201 of the shelf 200, and the material box 100 is placed on the placement layer 201. Then, the drive hook assembly 3 slides towards the material box 100 so that the hook 32 is positioned below the hooking part 101 of the material box 100. In this step, the hook assembly 3 can also move synchronously with the drive arm assembly 2, and the contact of the buffer 35 with the material box 100 determines whether the hook assembly 3 has slid into place. Finally, the drive hook 32 slides upward so that it extends into the hooking part 101.
[0064] During the retraction process, simply drive the extender arm assembly 2 to retract toward the base bracket 1 to pull the material box 100 to the edge of the shelf 200. During this step, the hook assembly 3 remains fixed.
[0065] During the transfer of the material box, firstly, the lifting mechanism 5 is driven to slide downwards so that the part of the extension arm assembly 2 supporting the material box 100 is at least approximately flush with the placement layer 201. In this step, as the lifting mechanism 5 slides down, the base support 1 and the extension arm assembly 2 also slide down as a whole, causing the hook 32 to at least partially move out of the hooking part 101. Therefore, the hook 32 needs to be driven to slide upwards so that it re-enters the hooking part 101. In this step, the upward sliding of the hook 32 and the downward sliding of the lifting mechanism 5 can be performed synchronously. Finally, the hooking assembly 3 is driven to reset, thereby pulling the material box 100 to the extension arm assembly 2. In this step, if the extension arm assembly 2 has already reset, only the hooking assembly 3 needs to be driven to slide; if the extension arm assembly 2 has not reset, both the extension arm assembly 2 and the hooking assembly 3 need to be driven to slide back to their original positions. Thus, the material box 100 is transferred from the shelf 200 to the pick-and-place actuator. The process of pushing the bin 100 into the shelf 200 is the reverse of the process described above, and will not be repeated here.
[0066] Figure 9 This is a perspective view of a conveying device according to an exemplary embodiment. Figure 9 As shown, correspondingly, this disclosure also provides a handling device, including a gantry 7 and the pick-and-place mechanism as described above. The gantry 7 is slidably connected to the shelf of the storage system, and the lifting mechanism 5 is slidably connected to the gantry 7. The sliding direction of the lifting mechanism 5 is perpendicular to the sliding direction of the gantry 7, for example... Figure 9 As shown, the lifting mechanism 5 can slide vertically relative to the gantry 7, allowing the gantry 7 to move horizontally along the shelf 200, thus covering as many storage compartments on the shelf 200 as possible. The connection between the gantry 7 and the shelf facilitates the suspended movement of the handling device relative to the ground, freeing up ground space and allowing for the placement of other types of robots within that space.
[0067] Figure 10 This is a perspective view of a storage system according to an exemplary embodiment. Figure 11 This is a partially enlarged view of a storage system according to an exemplary embodiment. Accordingly, this disclosure also provides a storage system including a rack 200 and a handling device as described above. The handling device is used to move goods to and / or remove goods from the rack 200. In the length direction of the rack 200, the mast 7 is slidably connected to the rack 200, thereby allowing the handling device to move in the length direction of the rack 200. Furthermore, through the sliding of the lifting mechanism 5 relative to the mast 7, the handling device can be translated in the height direction of the rack 200, facilitating the handling device to grasp materials in each compartment of the rack 200. The length direction of the rack 200, the height direction of the rack 200, and the depth direction of the compartment are all perpendicular to each other.
[0068] It should be noted that the technical solutions or features described in the above embodiments can be combined or complemented by each other without conflict. The scope of protection of this disclosure is not limited to the precise structures described in the above embodiments and shown in the accompanying drawings; all modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.
Claims
1. A pick-and-place actuator, characterized in that, include: A base support, the base support including a first end and a second end disposed opposite to each other; An extendable arm assembly, which is slidably connected to the base bracket; A hook assembly, which is slidably connected to the extender arm assembly; The pick-and-place actuator further includes a forward extension state, a reverse extension state, and a retracted state. When the pick-and-place actuator is in the forward extension state, the extended arm assembly extends beyond the first end. When the pick-and-place actuator is in the reverse extension state, the extended arm assembly extends beyond the second end. When the pick-and-place actuator is in the retracted state, the extended arm assembly is housed within the base bracket.
2. The pick-and-place actuator according to claim 1, characterized in that, The hook assembly includes a hook bracket and a hook claw. The hook bracket is slidably connected to the arm extension assembly, and the hook claw is slidably connected to the hook bracket. The sliding direction of the hook claw is perpendicular to the sliding direction of the hook bracket.
3. The pick-and-place actuator according to claim 2, characterized in that, The hook assembly further includes a lead screw and a first drive member connected to the lead screw. The lead screw is rotatably connected to the hook bracket, and the hook claw is rotatably connected to the lead screw.
4. The pick-and-place actuator according to claim 1, characterized in that, The pick-and-place mechanism further includes a second driving member. The arm extension assembly includes an arm extension body and a first sliding part disposed on the arm extension body. The hooking assembly is slidably disposed on the first sliding part. The second driving member is fixed to the arm extension assembly or the hooking assembly to drive the hooking assembly to slide.
5. The pick-and-place actuator according to claim 4, characterized in that, The boom assembly also includes a rack fixed to the boom body, the second drive member is fixed to the hook assembly, and the output shaft end of the second drive member is provided with a transmission gear, which meshes with the rack.
6. The pick-and-place actuator according to claim 1, characterized in that, The hook assembly includes a buffer member. When the hook assembly moves to the hook state relative to the extender assembly, the buffer member extends beyond the extender assembly and is used to contact the material box.
7. The pick-and-place actuator according to claim 1, characterized in that, It also includes a lifting mechanism, which is fixed to the base bracket to drive the base bracket to move. The direction of movement of the base bracket is perpendicular to the sliding direction of the extender arm assembly.
8. The pick-and-place actuator according to claim 1, characterized in that, The pick-and-place mechanism further includes a third driving member, the base bracket further includes a second sliding portion located between the first end and the second end, and the extender assembly includes a third sliding portion; the third sliding portion is slidably connected to the second sliding portion, and the third driving member is fixed to the base bracket or the extender assembly to drive the extender assembly to slide.
9. A conveying device, characterized in that, include: A gantry, which is used for sliding connection with a shelf; The pick-and-place actuator as described in any one of claims 1 to 8, the pick-and-place actuator includes a lifting mechanism, the lifting mechanism being slidably connected to the gantry, and the sliding direction of the lifting mechanism being perpendicular to the sliding direction of the gantry.
10. A warehousing system, characterized in that, include: Shelves; The handling device as claimed in claim 9 is used to handle goods to and / or remove goods from the shelf, wherein the mast is slidably connected to the shelf along the length of the shelf.