A magazine taking-out device and magazine taking-out robot

Abstract

The utility model embodiment provides a kind of material box taking and placing device and material box taking and placing robot, it is related to logistics equipment technical field, the material box taking and placing device includes: taking and placing device main body, side shift mechanism and connecting base;Taking and placing device main body includes: main body bottom plate, material box accommodating cavity and telescopic taking and placing mechanism;Material box accommodating cavity is set on main body bottom plate;Telescopic taking and placing mechanism is set in material box accommodating cavity;Side shift mechanism is set between the bottom of main body bottom plate and connecting base;The top of side shift mechanism is movably connected with main body bottom plate, bottom is fixedly connected with connecting base;Connecting base is used to support side shift mechanism and its above taking and placing device main body. Through side shift mechanism, the posture of material box taking and placing device is adjusted, the swing amplitude of material box taking and placing device, to improve the docking adjustment speed of material box taking and placing device, further improve the taking and placing goods efficiency of material box taking and placing robot.

Description

Technical Field

[0001] This utility model relates to the field of logistics equipment technology, and in particular to a bin picking and placing device and a bin picking and placing robot. Background Technology

[0002] In related technologies, a bin-handling robot typically includes: a mobile chassis, a lifting gantry mounted on the chassis, and a bin-handling device mounted on the lifting gantry. The bin-handling device can move up and down along the lifting gantry to achieve lifting and lowering. Before performing the picking and placing operation, a docking operation is required to align the bin-handling device with the shelf location. The docking operation typically involves the bin-handling robot, based on the mobile chassis, first moving to the approximate position of the corresponding shelf for coarse positioning. Then, the bin-handling device is raised and lowered to the corresponding shelf location, and fine adjustments are made through the movement of the chassis unit to precisely dock the bin-handling device with the shelf location.

[0003] When performing fine adjustments at high positions, the material bin handling device is raised to a considerable height, resulting in a higher center of gravity for the material bin handling robot. When the robot's chassis unit moves, the generated torque is significant, causing the robot to wobble. This necessitates multiple chassis adjustments for precise docking.

[0004] This results in slow docking and adjustment of the material bin loading and unloading device, leading to low loading and unloading efficiency. Utility Model Content

[0005] The purpose of this utility model embodiment is to provide a bin loading / unloading device and a bin loading / unloading robot to improve the docking and adjustment speed of the bin loading / unloading device. The specific technical solution is as follows:

[0006] This utility model provides a bin picking and placing robot equipped with a lifting gantry. The bin picking and placing device includes: a picking and placing device body, a side shifting mechanism and a connecting base.

[0007] The main body of the picking and placing device includes: a main body base plate, a material box receiving cavity, and a telescopic picking and placing mechanism; the material box receiving cavity is disposed on the main body base plate; the telescopic picking and placing mechanism is disposed in the material box receiving cavity and is used to extend and retract along the front and rear direction of the main body base plate to pick up the material box on the shelf back into the material box receiving cavity, or to move the material box in the material box receiving cavity to the shelf;

[0008] The lateral shifting mechanism is disposed between the bottom of the main body base plate and the connecting base; the top of the lateral shifting mechanism is movably connected to the main body base plate, and the bottom of the lateral shifting mechanism is fixedly connected to the connecting base plate, for driving the main body of the picking and placing device to move relative to the connecting base along the left and right sides of the main body base plate;

[0009] The connecting base is used to support the lateral shifting mechanism and the main body of the picking and placing device above it, and to connect the entire material box picking and placing device to the lifting gantry.

[0010] This utility model also provides a bin handling robot, including a bin handling device, a lifting gantry, a mobile chassis and a lifting mechanism as described in any one of the embodiments of this application;

[0011] The lifting gantry is positioned above the mobile chassis and is fixedly connected to the mobile chassis;

[0012] The lifting mechanism is mounted on the lifting gantry and is fixedly connected to the material box picking and placing device, and is used to drive the material box picking and placing device to move up and down along the vertical direction of the lifting gantry.

[0013] Beneficial effects:

[0014] This utility model provides a bin-picking and placing device and a bin-picking and placing robot, with a lateral shifting mechanism slidably connected to the lower part of the device body. When adjusting the position of the device body relative to the shelf, the position of the device body can be adjusted solely through the lateral shifting mechanism without moving the moving chassis. During adjustment, the lateral shifting mechanism drives the device body to move laterally to the left and right. When the bin-picking and placing device on the lifting mast is raised to a high position and adjusted for docking with the warehouse, the distance between the lateral shifting mechanism and the device body is closer than the distance between the device and the moving chassis. Therefore, the torque generated between the lateral shifting mechanism and the device body is smaller when adjusting the device's posture, effectively reducing the swaying amplitude of the device and improving the docking adjustment speed, thereby further improving the picking and placing efficiency of the bin-picking and placing robot.

[0015] Of course, any product implementing this utility model does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings.

[0017] Figure 1 This is a schematic diagram of the material box loading and unloading device provided by this utility model;

[0018] Figure 2a for Figure 1Exploded view of the hopper loading and unloading device shown from a top angle;

[0019] Figure 2b for Figure 1 Exploded view of the bin loading and unloading device shown from an overhead angle;

[0020] Figure 3 for Figure 1 The diagram shown illustrates the structure of the hopper loading and unloading device without the baffle housing installed.

[0021] Figure 4a A schematic diagram of the structure when the lateral shifting mechanism, the main body of the picking and placing device, and the rotating mechanism provided by this utility model are connected;

[0022] Figure 4b for Figure 4a A structural diagram from another perspective;

[0023] Figure 4c for Figure 4a Exploded view;

[0024] Figure 4d for Figure 4a An exploded view from another perspective;

[0025] Figure 4e An exploded view of the lateral driven wheel;

[0026] Figure 5 for Figure 1 The front view of the material bin loading and unloading device shown during lateral movement;

[0027] Figure 6a A schematic diagram of the support mechanism provided by this utility model in its extended state;

[0028] Figure 6b for Figure 6a A magnified view of a section of M1;

[0029] Figure 6c This is a schematic diagram of the return spring.

[0030] Figure 7 A schematic diagram of the support mechanism provided by this utility model in its retracted state;

[0031] Figure 8 for Figure 7 The bottom view of the support mechanism shown;

[0032] Figure 9 A schematic diagram of the transmission of the left and right telescopic struts;

[0033] Figure 10 This is a schematic diagram of the structure when the bin loading and unloading device is supported between two shelves;

[0034] Figure 11 A partial cross-sectional view of the support mechanism with a self-locking spring when it is unlocked;

[0035] Figure 12 This is a partial sectional view of the support mechanism with a self-locking spring when it is self-locking.

[0036] Figure 13 for Figure 12 A magnified view of the area at position M2 in the middle;

[0037] Figure 14a This is a schematic diagram of the friction block structure;

[0038] Figure 14b This is a schematic diagram of the unlocking block;

[0039] Figure 15 This is a schematic diagram of the hook mechanism;

[0040] Figure 16a A schematic diagram of the structure when the suction cup mechanism is in the extended state and the telescopic mechanism is in the extended state;

[0041] Figure 16b for Figure 16a A structural diagram from another perspective;

[0042] Figure 17 This is a structural schematic diagram of the bin-handling robot provided by this utility model.

[0043] 100 material bin loading and unloading device, 200 lifting gantry, 300 mobile chassis, 400 shelves, 500 material bins;

[0044] The main body of the picking and placing device is 1, the main body base plate is 11, the material box baffle is 111, the connecting block is 1111, the left baffle shell is 112, the right baffle shell is 113, the material box support platform is 114, the material box receiving cavity is 12, the telescopic picking and placing mechanism is 13, the telescopic drive mechanism is 131, the telescopic mechanism is 132, the picking and placing mechanism is 133, the hook mechanism is 1330, and the suction cup mechanism is 1331.

[0045] Lateral shift mechanism 2, lateral shift base plate 21, zero position baffle 211, zero position sensor 212, drag chain 213, fixed mounting clamp 214, lateral shift drive assembly 22, lateral shift motor 221, first connecting plate 2211, lateral shift synchronous belt 222, lateral shift drive wheel 223, lateral shift driven wheel 224, second connecting plate 2241, sliding connection structure 23, lateral shift guide rail 231, lateral shift slider 232;

[0046] Connecting base 3, rotating mechanism 31, bottom support 32;

[0047] Support mechanism 4, support frame 41, first support guide rail 411, second support guide rail 412, motor mounting slot 413, telescopic strut drive assembly 42, telescopic strut drive motor 421, support drive wheel 422, support driven wheel 423, support synchronous belt 424, first translational part 4241, second translational part 4242, left telescopic strut 43, first support clamping plate 431, first support slider 432, right telescopic strut 44, second support clamping plate 441, second support slider 442, strut flip plate 45, flip plate body 451, flip plate guide. Wheel 452, return spring 453, support rod pressure plate 46, pressure plate body 461, pressure plate guide part 462, active end sliding part 471, transmission plate 472, receiving through hole 4721, passive end sliding part 473, unlocking screw 474, elastic transmission connector 475, transmission screw 476, self-locking mechanism 48, friction block 481, fixing screw 4811, self-locking roller 482, unlocking block 483, unlocking protrusion 4831, wedge groove 484, friction cavity 485, free end 4851, locking end 4852, self-locking spring 486;

[0048] Camera 5, rotation center axis A, and the center axis B of the main body of the pick-and-place device. Detailed Implementation

[0049] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art based on this application are within the protection scope of the present utility model.

[0050] In existing bin-handling robots, the bin-handling device is raised to over 6.5m when handling high-bay bins. At this point, the position of the bin-handling device needs to be precisely adjusted by moving the chassis to align it with the shelf.

[0051] However, due to the large distance (no less than 6.5m) between the bin loading / unloading device and the mobile chassis, the transmission arm between them is also quite long. Understandably, torque equals force multiplied by the lever arm; the large torque generated during precise adjustment results in significant swaying of the bin loading / unloading device.

[0052] The bin-picking and placing device is equipped with a camera. The camera captures images to determine if the device is aligned with the shelf. Excessive shaking of the device reduces the camera's recognition efficiency, thus decreasing the overall picking and placing efficiency.

[0053] To solve the above-mentioned technical problems, this utility model provides a bin loading and unloading device for a bin loading and unloading robot equipped with a lifting gantry, such as... Figure 1 , Figure 2a and Figure 2b As shown, Figure 1 This is a schematic diagram of the material box loading and unloading device provided by this utility model; Figure 2a for Figure 1 Exploded view of the hopper loading and unloading device shown from a top angle; Figure 2b for Figure 1 The exploded view of the bin picking and placing device shown is from a bottom angle. The bin picking and placing device 100 includes: a picking and placing device body 1, a lateral shifting mechanism 2, and a connecting base 3; the picking and placing device body 1 includes: a main body base plate 11, a bin receiving cavity 12, and a telescopic picking and placing mechanism 13; the bin receiving cavity 12 is disposed on the main body base plate 11; the telescopic picking and placing mechanism 13 is disposed within the bin receiving cavity 12 and is used to extend and retract along the front-rear direction of the main body base plate 11 to retrieve bins 500 from the shelf 400 into the bin receiving cavity 12, or to retrieve bins 500 from the bin receiving cavity 12. 0 is moved onto the shelf 400; the side shift mechanism 2 is set between the bottom of the main body base plate 11 and the connecting base 3; the top of the side shift mechanism 2 is movably connected to the main body base plate 11, and the bottom of the side shift mechanism 2 is fixedly connected to the connecting base 3, for driving the picking and placing device body 1 to move relative to the connecting base 3 along the left and right sides of the main body base plate 11; the connecting base 3 is used to support the side shift mechanism 2 and the picking and placing device body 1 above it, and to connect the entire bin picking and placing device 100 to the lifting gantry.

[0054] The bin picking and placing device 100 provided in this application embodiment has a lateral shifting mechanism 2 slidably connected to the lower part of the picking and placing device body 1. When adjusting the position of the picking and placing device body 1 relative to the shelf 400, the position of the picking and placing device body 1 can be adjusted only by the lateral shifting mechanism 2 without moving the movable chassis 300. During the adjustment process, the lateral shifting mechanism 2 can drive the picking and placing device body 1 of the bin picking and placing device 100 to move laterally to the left and right. When the bin picking and placing device 100 on the lifting gantry is raised to the high position and adjusted to dock with the warehouse, the distance between the side-shifting mechanism 2 and the main body 1 of the picking and placing device is closer than the distance between the bin picking and placing device 100 and the moving chassis. Therefore, when the bin picking and placing device 100 is adjusted to dock with the side-shifting mechanism 2, the torque generated between the side-shifting mechanism 2 and the main body 1 of the picking and placing device is smaller. This can effectively reduce the shaking amplitude of the bin picking and placing device 100, thereby improving the docking adjustment speed of the bin picking and placing device 100 and further improving the picking and placing efficiency of the bin picking and placing robot.

[0055] In some embodiments of this utility model, such as Figure 3 , Figures 4a-4e As shown, Figure 3 for Figure 1 The diagram shown illustrates the structure of the hopper loading and unloading device without the baffle housing installed. Figure 4a A schematic diagram of the structure when the lateral shifting mechanism, the main body of the picking and placing device, and the rotating mechanism provided by this utility model are connected; Figure 4b for Figure 4a A structural diagram from another perspective. Figure 4c for Figure 4a Exploded view; Figure 4d for Figure 4a An exploded view from another perspective; Figure 4e This is an exploded view of the lateral driven wheel. The lateral movement mechanism 2 includes: a lateral movement base plate 21, a lateral movement drive assembly 22, and a sliding connection structure 23. The sliding connection structure 23 is disposed between the lateral movement base plate 21 and the main body base plate 11, allowing the main body base plate 11 to slide relative to the lateral movement base plate 21 along its left-right sides. The lateral movement drive assembly 22 is connected to the lateral movement base plate 21 and transmits driving force through the lateral movement base plate 21 to the sliding connection structure 23, driving the main body base plate 11 to slide relative to the lateral movement base plate 21 along its left-right sides. The top of the connecting base 3 is fixedly connected to the bottom of the lateral movement base plate 21.

[0056] In this embodiment, the lateral shifting base plate 21 of the lateral shifting mechanism 2 and the main body base plate 11 of the pick-and-place device body 1 are slidably connected through a sliding connection structure 23. When the lateral shifting drive assembly 22 outputs power to drive, the lateral shifting base plate 21 cannot move because it is fixedly connected to the connecting base 3. At this time, under the action of the driving force, the main body base plate 11 slides relative to the lateral shifting base plate 21 in the left-right direction, realizing the lateral shifting movement of the pick-and-place device body 1 relative to the lateral shifting mechanism 2.

[0057] In some embodiments of this utility model, such as Figure 3 , Figure 4a and Figure 4bAs shown, the lateral shift drive assembly 22 includes: a lateral shift motor 221, a lateral shift synchronous belt 222, a lateral shift drive wheel 223, and a lateral shift driven wheel 224; the lateral shift synchronous belt 222 is sleeved on the lateral shift drive wheel 223 and the lateral shift driven wheel 224; the lateral shift drive wheel 223 and the lateral shift driven wheel 224 are respectively disposed on the left and right sides of the material box receiving cavity 12, located below the main body base plate 11; the output shaft of the lateral shift motor 221 is coaxially connected to the lateral shift drive wheel 223 to drive the lateral shift drive wheel 223 to rotate; one side of the lateral shift base plate 21 is fixedly installed on the outside of the lateral shift synchronous belt 222 at a preset position; so that when the lateral shift drive wheel 223 rotates, the lateral shift base plate 21 remains stationary, and the driving force is transmitted to the sliding connection structure 23 through the lateral shift base plate 21 to drive the main body base plate 11 to slide relative to the lateral shift base plate 21 in the left and right directions of the main body base plate 11. Meanwhile, a camera 5 is also installed on the side of the main body base plate 11 facing the shelf 400 to identify the location of the storage space. In this embodiment, the lateral movement motor 221, the lateral movement drive wheel 223, and the lateral movement driven wheel 224 are fixedly connected to the main body 1 of the pick-and-place device. A section of the lateral movement base plate 21 and the lateral movement synchronous belt 222 can be fixedly connected by a fixing clamp 214. The fixing clamp 214 is fixed to the front end of the lateral movement base plate 21 and clamps and fixes a section of the lateral movement synchronous belt 222, so that the lateral movement base plate 21 and the main body 1 of the pick-and-place device can move relative to each other in the left and right directions under the action of the lateral movement synchronous belt 222. When the axles of the lateral movement drive wheel 223 and the lateral movement driven wheel 224 are perpendicular to the lateral movement base plate 21, the lateral movement synchronous belt 222 is parallel to the circumferential side of the lateral movement base plate 21. At this time, a section of the lateral movement synchronous belt 222 is fixedly installed on the circumferential side of the lateral movement base plate 21. When the axles of the lateral drive wheel 223 and the lateral driven wheel 224 are parallel to the lateral base plate 21, the lateral timing belt 222 is parallel to the top and bottom sides of the lateral base plate 21. At this time, a section of the lateral timing belt 222 is fixedly installed on the top or bottom side of the lateral base plate 21.

[0058] During transmission, the lateral shift motor 221 outputs power to drive the lateral shift drive wheel 223, which is coaxially connected to its motor shaft, to rotate. The lateral shift drive wheel 223 drives the lateral shift synchronous belt 222 to rotate around the lateral shift drive wheel 223 and the lateral shift driven wheel 224. Since the lateral shift base plate 21 is fixedly connected to a section of the lateral shift synchronous belt 222, the movement of the lateral shift synchronous belt 222 is restricted. Under the reaction force of the driving force, the lateral shift motor 221, the lateral shift drive wheel 223, and the lateral shift driven wheel 224 drive the main body 1 of the pick-and-place device connected to them to move along the left and right sides of the main body base plate 11.

[0059] Applying the above embodiments, when the bin-picking and placing device 100 on the lifting gantry is raised to a high position (above 6.5m) and its docking posture is adjusted with the cargo compartment, the picking and placing device body 1 of the bin-picking and placing device 100 can be driven to move laterally to the left and right by the lateral shifting mechanism 2. At this time, the distance between the lateral shifting mechanism 2 and the picking and placing device body 1 is closer than the distance between the bin-picking and placing device 100 and the moving chassis. The torque generated between the lateral shifting mechanism 2 and the picking and placing device body 1 is smaller, which can effectively reduce the swaying amplitude of the bin-picking and placing device 100, effectively reduce the number of position recognitions by the camera 5, improve the recognition efficiency of the camera 5, thereby improving the docking adjustment speed of the bin-picking and placing device, and further improving the picking and placing efficiency of the bin-picking and placing robot.

[0060] In some embodiments of this utility model, see Figure 2a and Figure 2b The top of the side-shifting base plate 21 is also provided with: a zero-position baffle 211 and a zero-position sensor 212; the zero-position baffle 211 is fixedly connected to the top of the side-shifting base plate 21, and the zero-position sensor 212 is fixedly connected to the bottom of the main body base plate 11; the zero-position baffle 211 and the zero-position sensor 212 are slidably engaged to detect the relative position of the main body base plate 11 and the side-shifting mechanism 2; the length of the zero-position baffle 211 is longer than the maximum value of the side-shifting stroke of the zero-position sensor 212, and is used to cooperate with the zero-position sensor 212 to determine the position of the side-shifting mechanism 2.

[0061] In this embodiment, the position of the main body 1 of the pick-and-place device is reset to zero using the zero-position baffle 211 and the zero-position sensor 212. The zero-position sensor 212 is fixedly connected to the main body base plate 11, and the zero-position baffle 211 is fixedly connected to the side-shifting base plate 21, allowing them to slide together.

[0062] In this embodiment, the zero-position sensor 212 can be a photoelectric sensor. When the hopper loading and unloading device 100 needs to be zeroed and reset, it is adjusted according to the feedback signal of the zero-position sensor 212. The zeroing and reset process of the hopper loading and unloading device 100 will be described below, taking the position of the zero-position sensor 212 near the right end of the zero-position baffle 211 as an example. When the zero-position sensor 212 moves above the zero-position baffle 211, the light emitted by the zero-position sensor 212 is blocked by the zero-position baffle 211, triggering the zero-position sensor 212 and generating an electrical signal; conversely, when the zero-position sensor 212 moves out of the zero-position baffle 211, the light emitted by the zero-position sensor 212 is not blocked by the zero-position baffle 211, and therefore is not triggered.

[0063] When the zero-position sensor 212 is triggered, the control lateral shift mechanism 2 causes the main body 1 of the pick-and-place device to continuously move to the right until the zero-position sensor 212 is no longer triggered. At this time, the zero-position sensor 212 disengages from the zero-position baffle 211, and the control lateral shift mechanism 2 causes the main body 1 of the pick-and-place device to move to the left by a first fixed distance, completing the zero-return action.

[0064] When the zero-position sensor 212 is not triggered, the control lateral movement mechanism 2 causes the main body 1 of the pick-and-place device to continuously move to the left until the zero-position sensor 212 is triggered. At this time, the zero-position sensor 212 cooperates with the zero-position baffle 211, and the control lateral movement mechanism 2 causes the main body 1 of the pick-and-place device to continue to move to the left by a second fixed distance, completing the return-to-zero action.

[0065] In some embodiments of this utility model, see Figure 2a and Figure 2b The top of the side-shifting base plate 21 is also provided with a horizontally installed drag chain 213. One end of the drag chain 213 is fixedly connected to the side-shifting base plate 21, and the other end is fixedly connected to the main base plate 11. When there is a relative lateral shift between the main base plate 11 and the side-shifting base plate 21, the two ends of the drag chain 213 can move with the main base plate 11 and the side-shifting base plate 21 respectively.

[0066] In this embodiment, a cable chain 213 is used to protect the connecting line of the main body 1 of the pick-and-place device. Furthermore, one end of the cable chain 213 is fixedly connected to the main body base plate 11, and the other end is fixedly connected to the side-moving base plate 21, so that both ends of the cable chain 213 can move with the main body base plate 11 and the side-moving base plate 21 respectively, thereby avoiding damage to the connecting line caused by the side movement.

[0067] In some embodiments of this utility model, such as Figure 2a , Figure 2b and Figure 3As shown, the material box receiving cavity 12 is formed by material box baffles 111 arranged on the left and right sides of the main body base plate 11 and a material box support platform 114 arranged on the main body base plate 11; wherein, the material box support platform 114 is used to support the material box 500 during the process of picking up and putting down the material box 500; the lateral movement motor 221 and the lateral movement drive wheel 223 are fixedly connected to the outer side of one material box baffle 111 and the connecting block 1111 below the material box baffle 111 through the first connecting plate 2211; the lateral movement driven wheel 224 is fixedly connected to the connecting block 1111 below the other material box baffle 111 through the second connecting plate 2241. One end of the first connecting plate 2211 extends toward the side away from the material box baffle 111, forming a motor mounting plate; the motor shaft of the lateral moving motor 221 passes through the motor mounting plate and is fixedly mounted on the first connecting plate 2211; the second connecting plate 2241 has a driven wheel mounting part and a connecting part, the driven wheel mounting part being perpendicular to the connecting part; the rotation shaft of the lateral moving driven wheel 224 is fixedly mounted on the driven wheel mounting part, and the connecting part is connected to the connecting block 1111 below the material box baffle 111.

[0068] In this embodiment, the baffles 111 on both sides of the hopper receiving cavity 12 can limit the hopper 500 when the hopper is picked up or put down, so as to prevent the hopper 500 from falling out of the hopper receiving cavity 12. The hopper support platform 114 is used to provide support for the hopper 500.

[0069] Also see Figure 3 The upper part of the first connecting plate 2211 is connected to the outer side of the material box baffle 111, and the lower part is connected to the connecting block 1111 below the material box baffle 111. The motor mounting plate of the first connecting plate 2211 can fix the side-moving motor 221 to the first connecting plate 2211.

[0070] See Figure 4b The driven wheel mounting part of the second connecting plate 2241 can mount the lateral driven wheel 224 onto the second connecting plate 2241, and the connecting part is connected to the connecting block 1111 below the material box baffle 111.

[0071] In some embodiments of this utility model, see Figure 1 , Figure 2a and Figure 3 The main body 1 of the pick-and-place device also includes: a left baffle shell 112 and a right baffle shell 113; the left baffle shell 112 is fastened to the outside of the material box baffle 111 located on the left side of the main body base plate 11 to form a left receiving cavity; a side-moving motor 221 and a side-moving drive wheel 223 are located in the left receiving cavity; the right baffle shell 113 is fastened to the outside of the material box baffle 111 located on the right side of the main body base plate 11 to form a right receiving cavity; a side-moving driven wheel 224 is located in the right receiving cavity.

[0072] In this embodiment, the left baffle shell 112 and the right baffle shell 113 cooperate with the material box baffles 111 located on the left and right sides of the main body base plate 11, respectively, to form a left receiving cavity and a right receiving cavity. During use, the lateral movement motor 221, the lateral movement timing belt 222, the lateral movement drive wheel 223, and the lateral movement driven wheel 224 are located in either the left or right receiving cavity, with the lateral movement timing belt 222 sleeved over the lateral movement drive wheel 223 and the lateral movement driven wheel 224. This provides protection for the lateral movement timing belt 222, the lateral movement drive wheel 223, and the lateral movement driven wheel 224.

[0073] In some embodiments of this utility model, see Figures 4a to 4d The sliding connection structure 23 includes: a lateral guide rail 231 and a lateral slider 232, which are respectively fixedly installed on the bottom of the main body base plate 11 and the top of the lateral base plate 21; the lateral slider 232 is used to cooperate with the lateral guide rail 231 to realize relative sliding between the bottom of the main body base plate 11 and the top of the lateral base plate 21.

[0074] In this embodiment, the main body base plate 11 and the lateral shift base plate 21 are slidably engaged by the lateral shift guide rail 231 and the lateral shift slider 232, which can effectively limit the lateral shift direction between the main body 1 of the pick-and-place device and the lateral shift mechanism 2.

[0075] In actual use, when the side-shifting guide rail 231 is fixedly installed at the bottom of the main body base plate 11, the side-shifting slider 232 is fixedly installed at the top of the side-shifting base plate 21; when the side-shifting guide rail 231 is fixedly installed at the top of the side-shifting base plate 21, the side-shifting slider 232 is fixedly installed at the bottom of the main body base plate 11.

[0076] In some embodiments of this utility model, see Figure 2a The connecting base 3 includes: a rotating mechanism 31 and a bottom support 32; the rotating mechanism 31 is fixedly connected to the side-shifting base plate 21 and rotatably connected to the bottom support 32; it is used to drive the side-shifting mechanism and the main body 1 of the picking and placing device on it to rotate relative to the bottom support 32; the bottom support 32 is used to connect to the lifting gantry.

[0077] In this embodiment, when it is necessary to adjust the angle between the main body 1 of the picking and placing device and the lateral shifting mechanism 2, the lateral shifting mechanism 2 and the main body 1 of the picking and placing device thereon are driven to rotate relative to the bottom support 32 by the rotating mechanism 31, so that the main body 1 of the picking and placing device is aligned with the warehouse. The bottom support 32 is used to connect with the lifting gantry, driving the bin picking and placing device 100 to rise and fall in the vertical direction.

[0078] See Figure 5 , Figure 5 for Figure 1 The front view of the hopper loading / unloading device shown during lateral movement. Figure 5As shown, the central axis B of the main body of the pick-and-place device is displaced relative to the rotational central axis A of the rotating mechanism 31 of the connecting base 3. This demonstrates that the main body 1 of the pick-and-place device can undergo lateral movement between itself and the connecting base 3 via the lateral movement mechanism 2.

[0079] Furthermore, in the prior art, when the bin picking and placing device 100 picks up or places a bin 500, there is sliding friction between the bin 500, the bin picking and placing device 100, and the shelf 400. When picking up goods, the bin picking and placing device 100 moves away from the shelf 400; when placing goods, the bin picking and placing device 100 moves towards the shelf 400. This leads to inaccurate picking and placing, and even damage to the equipment due to collisions with the shelf 400.

[0080] To solve the above-mentioned technical problems, in some embodiments of this utility model, see [reference needed]. Figures 2a to 6b , Figure 6a This is a structural diagram of the support mechanism provided by this utility model in its extended state. Figure 6b for Figure 6a A partial enlarged view of M1. The bin loading and unloading device 100 also includes: a support mechanism 4; located below the side-shifting base plate 21 and fixedly connected to the connecting base 3; the support mechanism 4 includes: a support frame 41, a telescopic strut drive assembly 42, a left telescopic strut 43, and a right telescopic strut 44; one end of the connecting base 3 is used to connect to the lifting gantry, and the other end is fixedly connected to the support frame 41; the left telescopic strut 43 and the right telescopic strut 44 are installed inside the support frame 41; the telescopic strut drive assembly 42 is installed in the support frame 41 and is drively connected to the left telescopic strut 43 and the right telescopic strut 44, for driving the left telescopic strut 43 and the right telescopic strut 44 to extend or retract into the support frame 41 along the left and right sides of the main base plate 11, so that when extended, the bin loading and unloading device is supported between two adjacent shelves.

[0081] In this embodiment, see Figure 6a , Figure 6b and Figure 7 , Figure 7 This is a structural diagram of the support mechanism provided by this utility model in its retracted state. A support mechanism 4 is provided below the side-shifting base plate 21 and is fixedly connected to the connecting base 3 via a support frame 41. The left telescopic strut 43 and right telescopic strut 44 of the support mechanism 4 are disposed inside the support frame 41 and are slidably connected to the support frame 41, allowing them to extend or retract from the support frame 41 under the drive of the telescopic strut drive assembly 42.

[0082] See Figure 10 , Figure 10This is a schematic diagram of the structure of the bin picking and placing device when it is supported between two shelves. By extending the left telescopic support rod 43 and the right telescopic support rod 44 of the support mechanism 4 and fixing them in contact with the side wall of the shelf 400, the bin picking and placing device is supported between two adjacent shelves, thereby reducing the collision caused by shaking during the picking and placing process and improving the picking and placing accuracy.

[0083] In some embodiments of this utility model, such as Figures 6a to 10 As shown, the first ends of the left telescopic support rod 43 and the right telescopic support rod 44 extend out of the support frame 41, and the second ends of the left telescopic support rod 43 and the right telescopic support rod 44 are located inside the support frame 41; the first ends of the left telescopic support rod 43 and the right telescopic support rod 44 are each hinged with a support rod flap 45; the support rod flap 45 is used to make the plate surface parallel to the side wall of the shelf 400 and abut against the shelf 400 when the left telescopic support rod 43 and the right telescopic support rod 44 are extended.

[0084] In this embodiment, a support flap 45 is hinged to the first end of both the left telescopic support rod 43 and the right telescopic support rod 44. The support flap 45 abuts against the shelf 400, effectively increasing the contact area between the support structure 4 and the shelf 400, thereby improving support stability. Additionally, a buffer pad can be provided on the support flap 45 to further enhance the support effect.

[0085] In some embodiments of this utility model, see Figure 6a , Figure 6b , Figure 6c , Figure 7 and Figure 8 , Figure 6c This is a schematic diagram of the return spring. Figure 8 for Figure 7The diagram shows a bottom view of the support mechanism. At the first and second ends of the support frame 41 along the left and right sides of the main body base plate 11, there are also strut pressure plates 46. The strut pressure plates 46 include: a pressure plate body 461 fixedly connected to the support frame 41, and a pressure plate guide portion 462 extending outward from the pressure plate body 461. Each strut flap 45 includes: a flap body 451 for hinged to the left telescopic strut 43 or the right telescopic strut 44, a flap guide wheel 452 fixedly installed on the flap body 451, and a return spring 453. Each strut flap 45 retracts to the strut pressure plate position under the action of the left telescopic strut 43 or the right telescopic strut 44. When the plate 46 is in position, the pressure plate guide 462 presses the flip plate guide wheel 452 to make the flip plate body 451 parallel to the pressure plate body 461; one end of the return spring 453 is connected to the left telescopic support rod 43 or the right telescopic support rod 44, and the other end is connected to the flip plate body 451; when the left telescopic support rod 43 and the right telescopic support rod 44 retract into the support frame 41, the return spring 453 is in the stretched state; when the left telescopic support rod 43 and the right telescopic support rod 44 extend out of the support frame 41, the return spring 453 is in the reset state, stretching the flip plate body 451 to a position where the plate surface is parallel to the side wall of the shelf 400.

[0086] In this embodiment, the posture of the strut flap 45 is adjusted using a fixed installation on the support frame 41 and a return spring 453. See also... Figure 6a When the left telescopic support rod 43 and the right telescopic support rod 44 extend out of the support frame 41, one end of the return spring 453 is fixedly connected to the left telescopic support rod 43 or the right telescopic support rod 44, and the other end is fixedly connected to the support rod flap 45. Under the tension of the return spring 453, the end of the support rod flap 45 away from its hinge point with the left telescopic support rod 43 or the right telescopic support rod 44 rotates around the hinge point, making the support rod flap 45 perpendicular to the left telescopic support rod 43 or the right telescopic support rod 44. At this time, the side of the support rod flap 45 with the larger area can contact and fix with the shelf 400.

[0087] When the left telescopic strut 43 and the right telescopic strut 44 retract into the support frame 41, see Figure 8 The pressure plate guide 462 of the strut pressure plate 46 presses against the flap guide wheel 452 of the strut flap 45. The end of the strut flap 45 away from its hinge point with the left telescopic strut 43 or the right telescopic strut 44 rotates around that hinge point, making the strut flap 45 parallel to the left telescopic strut 43 or the right telescopic strut 44. At this time, the return spring 453 is stretched, accumulating potential energy for the next extension action.

[0088] In some embodiments of this utility model, such as Figure 8As shown, the telescopic strut drive assembly 42 includes: a telescopic strut drive motor 421, a support drive wheel 422, a support driven wheel 423, and a support timing belt 424; the support drive wheel 422 and the support driven wheel 423 are respectively installed inside the first end and the second end of the support frame 41; the support timing belt 424 is sleeved on the outside of the support drive wheel 422 and the support driven wheel 423; the second ends of the left telescopic strut 43 and the right telescopic strut 44 are respectively fixedly installed on the first translational part 4241 and the second translational part 4242 of the support timing belt 424; the telescopic strut drive motor 421 is coaxially connected to the support drive wheel 422 and is used to drive the support drive wheel 422 to rotate, so as to drive the second ends of the left telescopic strut 43 and the right telescopic strut 44 connected to both sides of the support timing belt 424 to extend and retract.

[0089] In this embodiment, one side of the support frame 41 extends outward, and the extension is formed as a motor mounting groove 413. The telescopic strut drive motor 421 is mounted in the motor mounting groove 413 and coaxially connected with the support drive wheel 422. The support timing belt 424 is sleeved on the outside of the support drive wheel 422 and the support driven wheel 423, and the first translational part 4241 and the second translational part 4242 of the support timing belt 424 are fixedly connected to the second ends of the left telescopic strut 43 and the right telescopic strut 44, respectively, which can drive the left telescopic strut 43 and the right telescopic strut 44 to extend to both sides respectively.

[0090] During transmission, the telescopic strut drive motor 421 drives the support drive wheel 422 to rotate, and the support drive wheel 422 drives the support synchronous belt 424 to rotate around the support drive wheel 422 and the support driven wheel 423. (See also...) Figure 9 , Figure 9 This diagram illustrates the transmission of the left and right telescopic support rods. The black arrows point in the directions of movement of the left telescopic support rod 43 and the right telescopic support rod 44, respectively. Since the left telescopic support rod 43 and the right telescopic support rod 44 are fixedly connected to the first translational part 4241 and the second translational part 4242 of the supporting synchronous belt 424, respectively, their directions of movement are opposite when the supporting synchronous belt 424 rotates, allowing the left telescopic support rod 43 and the right telescopic support rod 44 to extend or retract to the sides, respectively.

[0091] In some embodiments of this utility model, see Figure 8The second ends of the left telescopic strut 43 and the right telescopic strut 44 are fixedly installed on the first translational part 4241 and the second translational part 4242 of the supporting synchronous belt 424 via the first supporting clamp 431 and the second supporting clamp 441. The inner top wall of the supporting frame 41 is provided with the first supporting guide rail 411 and the second supporting guide rail 412 in parallel. The second ends of the left telescopic strut 43 and the right telescopic strut 44 are also provided with the first supporting slider 432 and the second supporting slider 442, respectively. The first supporting slider 432 and the second supporting slider 442 are fixedly connected to the first supporting clamp 431 and the second supporting clamp 441, respectively, so that the second ends of the left telescopic strut 43 and the right telescopic strut 44 are slidably connected to the supporting frame 41.

[0092] In this embodiment, the first support slider 432 of the left telescopic strut 43 is fixedly connected to the first translational part 4241 of the support timing belt 424 via the first support clamp 431; the second support slider 442 of the right telescopic strut 44 is fixedly connected to the second translational part 4242 of the support timing belt 424 via the second support clamp 441. The support timing belt 424 drives the left telescopic strut 43 and the right telescopic strut 44 to slide along both sides of the support frame 41 inside the support frame 41, thereby realizing the extension or retraction of the left telescopic strut 43 and the right telescopic strut 44.

[0093] In some embodiments of this utility model, such as Figures 9 to 12 As shown, Figure 11 A partial cross-sectional view of the support mechanism with a self-locking spring when it is unlocked; Figure 12 This is a partial cross-sectional view of the support mechanism with a self-locking spring in the self-locking state. The first support slider 432 and the second support slider 442 both include: an active end sliding part 471, a transmission plate 472, and a passive end sliding part 473; the upper parts of the active end sliding part 471 and the passive end sliding part 473 are slidably connected to the first support guide rail 411 or the second support guide rail 412; the passive end sliding part 473 is fixedly connected to the second end of the left telescopic support rod 43 or the right telescopic support rod 44; one end of the transmission plate 472 is fixedly connected to the lower part of the active end sliding part 471, and the other end is fixedly connected to one end of the elastic transmission connector 475; the other end of the elastic transmission connector 475 is fixedly connected to the passive end sliding part 473, for connecting the active end sliding part 471 and the passive end sliding part 473.

[0094] In this embodiment, the active end sliding portion 471 and the passive end sliding portion 473 in the first support slider 432 and the second support slider 442 are connected by a transmission plate 472. One end of the transmission plate 472 is fixedly connected to the active end sliding portion 471, and the other end is fixedly connected to one end of the elastic transmission connector 475. The other end of the elastic transmission connector 475 is fixedly connected to the passive end sliding portion 473, thereby realizing the transmission connection between the active end sliding portion 471 and the passive end sliding portion 473.

[0095] When the active sliding part 471 slides relative to the first support slide rail 411 or the second support slide rail 412 under the drive of the support synchronous belt 424, the passive sliding part 473 is driven to slide in the same direction through the transmission plate 472 and the elastic transmission connector 475. At this time, the passive sliding part 473 drives the left telescopic support rod 43 or the right telescopic support rod 44 mounted on it to move in the same direction, thereby realizing the extension or retraction of the left telescopic support rod 43 or the right telescopic support rod 44.

[0096] In some embodiments of this utility model, such as Figures 9 to 12 As shown, the elastic transmission connector 475 is a transmission spring; a receiving through hole 4721 is provided at the middle position of the transmission plate 472; the transmission spring is installed in the receiving through hole 4721; the end of the transmission spring away from the active end sliding part 471 is fixedly connected to the transmission plate 472; the end of the transmission spring close to the active end sliding part 471 is fixedly connected to the passive end sliding part 473.

[0097] In this embodiment, the elastic transmission connector 475 can be a transmission spring. When the elastic transmission connector 475 is an elastic connector, a movable connection can be formed between the active end sliding part 471 and the passive end sliding part 473. At this time, a receiving through hole 4721 can be provided at the middle position of the transmission plate 472.

[0098] Taking the movement of the active end sliding part 471 to the right as an example, during the transmission process, the active end sliding part 471 drives the transmission plate 472 to move to the right. At this time, the transmission spring is stretched. When the elastic force of the transmission spring is sufficient to pull the passive end sliding part 473, the transmission spring drives the passive end sliding part 473 to move to the right.

[0099] When the support structure 4 comes into contact with the shelf 400, the passive end sliding part 473 will move to the left due to the reaction force. At this time, the transmission spring is stretched, forming a buffer, so that the active end sliding part 471 will not move to the left under the action of the reaction force. This improves the stability of the support structure 4.

[0100] In some embodiments of this utility model, such as Figures 11 to 14b As shown, Figure 13 for Figure 12 A magnified view of a section at location M2. Figure 14a This is a schematic diagram of the friction block structure. Figure 14b This is a schematic diagram of the unlocking block. The transmission plate 472 and the elastic transmission connector 475 are fixedly connected by an unlocking screw 474; the elastic transmission connector 475 is fixedly connected to another elastic transmission connector 475 by a transmission screw 476; a self-locking mechanism 48 is provided inside the passive end sliding part 473; the self-locking mechanism 48 includes: a friction block 481 fixedly connected to the passive end sliding part 473, a self-locking roller 482, and an unlocking block 483 slidably connected to the passive end sliding part 473; the friction block 481 has a wedge-shaped groove 484, and the wedge-shaped groove 484 is connected to the first support. A friction cavity 485 is formed between the guide rail 411 or the second support guide rail 412; the end of the friction cavity 485 near the active end sliding part 471 is the free end 4851; the end of the friction cavity 485 away from the active end sliding part 471 is the locking end 4852; the volume of the friction cavity 485 gradually decreases from the free end 4851 towards the locking end 4852; a self-locking roller 482 is disposed within the friction cavity 485; the self-locking roller 482 can slide freely at the free end 4851 and is locked at the locking end 4852; Figures 14a-14b As shown, the unlocking block 483 is located below the friction block 481, and the two sides of the unlocking block 483 extend to the two sides of the friction block 481. The bottom of the unlocking block 483 facing the passive end sliding part 473 abuts against the unlocking screw 474, and the unlocking block 483 and the friction block 481 can slide relative to each other. Unlocking protrusions 4831 are provided on both sides of the unlocking block 483 for pushing the self-locking roller 482 out of the locking end 4852.

[0101] In this embodiment, the passive end sliding portion 473 is provided with a self-locking mechanism 48. The self-locking structure 48 can effectively improve the situation where the passive end sliding portion 473 moves in the opposite direction when subjected to a reaction force. The friction block 481 in the self-locking structure 48 is fixedly connected to the passive end sliding portion 473 by a fixing screw 4811. The friction block 481 is located below the first support guide rail 411 or the second support guide rail 412, so that the wedge-shaped groove 484 on the friction block 481 forms a friction cavity 485 with the lower surface of the first support guide rail 411 or the second support guide rail 412. The volume of the friction cavity 485 gradually decreases from the free end 4851 toward the locking end 4852. This allows the self-locking roller 482 disposed in the friction cavity 485 to roll freely only at the free end 4851. When the self-locking roller 482 rolls to the locking end 4852, it will lock the passive end sliding portion 473 to the first support guide rail 411 or the second support guide rail 412.

[0102] As mentioned earlier, when the support structure 4 contacts the shelf 400, the passive end sliding part 473 moves in the retracting direction due to the reaction force. At this time, the transmission spring is stretched, forming a buffer. Due to the reverse movement of the passive end sliding part 473, the self-locking roller 482 inside the passive end sliding part 473 will move relative to the passive end sliding part 473 to the locking end 4852 under the action of inertia, causing the passive end sliding part 473 to lock with the first support guide rail 411 or the second support guide rail 412. This improves the problem of large shaking during the loading and unloading of goods by the bin loading and unloading device 100, and further improves the stability of the bin loading and unloading device 100.

[0103] After the necessary pick-up and put-down action is completed, the active end sliding part 471 drives the passive end sliding part 473 to retract into the support frame 41. At this time, the unlocking screw 474 on the transmission plate 472 drives the unlocking block 483 to move towards the active end sliding part 471, and a relative displacement occurs between the unlocking block 483 and the friction block 481. The unlocking protrusion 4831 on the unlocking block 483 can push the self-locking roller 482 to disengage from the locking end 4852, thereby releasing the self-locking state and allowing the left telescopic support rod 43 or the right telescopic support rod 44 to retract into the support frame 41.

[0104] In some embodiments of this utility model, such as Figure 11 , Figure 12 and Figure 13 As shown, the self-locking mechanism 48 also includes a self-locking spring 486; the self-locking spring 486 is disposed in the free end 4851 of the friction block 481 near the active end sliding part 471; one end of the self-locking spring 486 abuts against the inner wall of the free end 4851 near the active end sliding part 471, and the other end abuts against the self-locking roller 482; when the support mechanism 4 is in the extended or retracted state, the self-locking spring 486 is in the pop-out state, so as to push the self-locking roller 482 towards the locking end 4852; when the support mechanism 4 actively extends, the self-locking spring 486 is in the pop-out state, and the self-locking roller 482 moves relative to the friction block 481 towards the free end 4851 of the friction cavity 485 under inertia, without blocking the active extension action; when the support mechanism 4 actively retracts, the unlocking protrusions 4831 on both sides of the unlocking block 483 push the self-locking roller 482 towards the free end 4851, and the self-locking spring 486 is in the compressed state.

[0105] In this embodiment, one end of the self-locking spring 486 abuts against the inner wall of the free end 4851 near the active end sliding portion, and the other end abuts against the self-locking roller 482, so that the self-locking spring 486 can provide a supporting force to the self-locking roller 482 toward the passive end sliding portion 473. See also Figure 11When the support mechanism 4 is in the extended or retracted state, the self-locking spring 486 is compressed by the self-locking roller 482 and is in the pop-out state. At this time, the self-locking spring 486 can push the self-locking roller 482 towards the locking end 4852.

[0106] When the support mechanism 4 is in its extended state and in contact with the shelf 400, the passive end sliding part 473 will move in the retracting direction due to the reaction force. Since the self-locking roller 482 is pushed towards the locking end 4852 by the self-locking spring 486, under inertia, the self-locking roller 482 can move further relative to the friction block 481 towards the locking end 4852 of the friction cavity 485. At this time, the self-locking roller 482 is locked at the locking end 4852, forming a self-locking mechanism.

[0107] When support mechanism 4 retracts actively, see Figure 12 , Figure 13 and Figure 14a Since the unlocking screw 474 installed on the active end sliding part 471 abuts against the unlocking block 483, the unlocking screw 474 can drive the unlocking block 483 to move towards the active end sliding part 471. During the movement, due to the relative displacement between the unlocking block 483 and the friction block 481, the unlocking protrusions 4831 on both sides of the unlocking block 483 can push the self-locking roller 482 to move towards the free end 4851, and the self-locking spring 486 is compressed under the squeezing action of the self-locking roller 482. At this time, the support mechanism 4 is unlocked, and the active retraction action can be realized.

[0108] When support mechanism 4 extends actively, see Figure 11 The passive end sliding part 473 moves in the extension direction under the drive of the active end sliding part 471. At this time, the self-locking roller 482 moves relative to the friction block 481 towards the free end 4851 of the friction cavity 485 due to inertia, and will not block the extension action.

[0109] In some embodiments of this utility model, such as Figures 1 to 4a As shown, the telescopic loading and unloading mechanism 13 includes a telescopic drive mechanism 131, a telescopic mechanism 132, and a loading and unloading mechanism 133. The telescopic drive mechanism 131 is mounted on the main body base plate 11, and the telescopic mechanism 132 is connected to the telescopic drive mechanism 131. The telescopic mechanism 132 has a front end and a rear end. The front end is the telescopic end, and the rear end is the fixed end. The rear end of the telescopic mechanism 132 is located at the rear end of the main body base plate 11. (See also...) Figure 15 , Figure 15This is a schematic diagram of the hook mechanism. The picking and placing mechanism can be a hook mechanism 1330, which is installed at the front end of the telescopic mechanism 132. The telescopic mechanism 132 is used to drive the hook mechanism 1330 to extend and retract in the front-back direction under the drive of the telescopic drive mechanism 131. The hook mechanism 1330 is used to hook the material box on the warehouse shelf and move it to the material box support platform 114, or push the material box on the material box support platform 114 to move it to the warehouse shelf.

[0110] In some embodiments of this utility model, such as Figure 16a and Figure 16b As shown, Figure 16a This is a schematic diagram of the suction cup mechanism when the telescopic mechanism is in the extended state. Figure 16b for Figure 16a A structural schematic diagram from another perspective. The picking and placing mechanism 133 can also be a suction cup mechanism 1331, which includes at least one suction cup mounted on the front end of the telescopic mechanism 132. The telescopic mechanism 132 is used to drive the suction cup to extend and retract in the front-back direction under the drive of the telescopic drive mechanism 131. The suction cup is used to pick up the boxes on the warehouse shelf and move them onto the box support platform 114, or to push the boxes on the box support platform 114 to move them onto the warehouse shelf.

[0111] In some embodiments of this utility model, such as Figure 16a and Figure 16b As shown, the telescopic drive mechanism 131 includes: a telescopic guide rail disposed on the main body base plate 11 along the telescopic direction; a drive arm movably connected to the telescopic guide rail; a drive assembly disposed on the main body base plate 11, connected to the drive arm, and used to drive the drive arm to slide along the telescopic direction; the drive assembly is electrically connected to the controller; and a drive frame connected to the drive arm and also connected to the telescopic mechanism 132, wherein the drive arm is used to drive the drive frame to move along the telescopic direction, so that the drive frame drives the telescopic mechanism 132 to telescopically extend and retract.

[0112] In some embodiments of this utility model, such as Figure 16a and Figure 16bThe telescopic mechanism 132 includes: a fixing member connected to the rear end of the main body base plate 11 via a motor fixing plate; a first positioning link group, including a first positioning link and a second positioning link, the first end of the first positioning link and the first end of the second positioning link are both hinged to the fixing member via a first hinge block; a tail link group, including a first tail link and a second tail link, the first end of the first tail link is hinged to the second end of the second positioning link via an eighth rotation axis, the first end of the second tail link is hinged to the second end of the first positioning link via a ninth rotation axis; the first tail link is hinged to the second tail link via a thirteenth rotation axis; and multiple telescopic link groups, each telescopic link group including a first telescopic link and a second telescopic link, the middle part of the first telescopic link is hinged to the middle part of the second telescopic link via a first rotation axis, the first end of the first telescopic link is hinged to the first end of the second telescopic link on the adjacent side via a second rotation axis, and the second end of the first telescopic link is hinged to the first end of the second telescopic link on the adjacent side via a second rotation axis. The three rotating shafts are hinged to the second end of the second telescopic link on the adjacent side; the first end of the first telescopic link located at the tail is hinged to the second end of the second tail link via the fourth rotating shaft, and the first end of the second telescopic link located at the tail is hinged to the second end of the first tail link via the fifth rotating shaft; one of the multiple telescopic link groups is hinged to the drive frame; the head link group includes a first head link and a second head link, the first end of the first head link is hinged to the second end of the second telescopic link located at the head via the tenth rotating shaft, and the first end of the second head link is hinged to the second end of the first telescopic link located at the head via the eleventh rotating shaft; the first head link is hinged to the second head link via the twelfth rotating shaft; a positioning guide rail is provided on the side of the suction cup fixing plate facing the telescopic mechanism; the second end of the first head link is movably connected to the positioning guide rail via the second hinge block; the second end of the second head link is movably connected to the positioning guide rail via the third hinge block.

[0113] This utility model also provides a bin-loading robot, such as... Figure 17 As shown, Figure 17 This is a schematic diagram of the structure of the bin-handling robot provided by this utility model. The bin-handling robot includes: a bin-handling device 100, a lifting gantry 200, a movable chassis 300, and a lifting mechanism 600 as described in any of the above embodiments; the lifting gantry 200 is disposed above the movable chassis 300 and is fixedly connected to the movable chassis 300; the lifting mechanism 600 is disposed on the lifting gantry 200 and is fixedly connected to the bin-handling device 100, and is used to drive the bin-handling device 100 to move up and down along the vertical direction of the lifting gantry 200.

[0114] In this embodiment, the bin-picking robot can move to the target shelf 400 position under the drive of the mobile chassis 300. At this time, the bin-picking device 100 is raised and lowered along the lifting gantry 200 under the action of the lifting mechanism 600 to the target bin 500 position. When the bin-picking device 100 on the lifting gantry 200 is raised to the high position (above 6.5m) and adjusted to dock with the warehouse, the picking and placing device body 1 of the bin-picking device 100 is driven to move laterally to the left and right by the lateral movement mechanism 2. Since the distance between the lateral shift mechanism 2 and the main body 1 of the picking and placing device is closer than the distance between the bin picking and placing device 100 and the moving chassis 300, the torque generated between the lateral shift mechanism 2 and the main body 1 of the picking and placing device is smaller when the posture of the picking and placing device 1 is adjusted by the lateral shift mechanism 2. This can effectively reduce the shaking amplitude of the bin picking and placing device 100, improve the recognition efficiency of the camera 5, thereby improving the docking adjustment speed of the bin picking and placing device 100 and further improving the picking and placing efficiency of the bin picking and placing robot.

[0115] The above description is merely a preferred embodiment of this utility model and is not intended to limit the scope of protection of this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model are included within the scope of protection of this utility model.

Claims

1. A material bin loading and unloading device, characterized in that, For a bin picking and placing robot equipped with a lifting gantry (200), the bin picking and placing device (100) includes: a picking and placing device body (1), a side shifting mechanism (2) and a connecting base (3); The main body (1) of the picking and placing device includes: a main body base plate (11), a bin receiving cavity (12), and a telescopic picking and placing mechanism (13); the bin receiving cavity (12) is disposed on the main body base plate (11); the telescopic picking and placing mechanism (13) is disposed in the bin receiving cavity (12) and is used to extend and retract along the front and rear direction of the main body base plate (11) to pick up the bin (500) on the shelf (400) back into the bin receiving cavity (12), or to move the bin (500) in the bin receiving cavity (12) onto the shelf (400); The side-shifting mechanism (2) is disposed between the bottom of the main body base plate (11) and the connecting base (3); the top of the side-shifting mechanism (2) is movably connected to the main body base plate (11), and the bottom of the side-shifting mechanism (2) is fixedly connected to the connecting base (3), for driving the main body (1) of the picking and placing device to move relative to the connecting base (3) along the left and right sides of the main body base plate (11); The connecting base (3) is used to support the lateral shifting mechanism (2) and the main body (1) of the picking and placing device above it, and to connect the entire material box picking and placing device (100) to the lifting gantry (200).

2. The material bin loading and unloading device according to claim 1, characterized in that, The lateral shifting mechanism (2) includes: a lateral shifting base plate (21), a lateral shifting drive assembly (22), and a sliding connection structure (23); The sliding connection structure (23) is disposed between the side-shifting base plate (21) and the main body base plate (11) so that the main body base plate (11) can slide relative to the side-shifting base plate (21) along the left and right sides of the main body base plate (11); The lateral shift drive assembly (22) is connected to the lateral shift base plate (21) and transmits the driving force to the sliding connection structure (23) through the lateral shift base plate (21) to drive the main body base plate (11) to slide relative to the lateral shift base plate (21) along the left and right sides of the main body base plate (11); The top of the connecting base (3) is fixedly connected to the bottom of the side-shifting base plate (21).

3. The material bin loading and unloading device according to claim 2, characterized in that, The lateral movement drive assembly (22) includes: a lateral movement motor (221), a lateral movement timing belt (222), a lateral movement drive wheel (223), and a lateral movement driven wheel (224); the lateral movement timing belt (222) is sleeved on the lateral movement drive wheel (223) and the lateral movement driven wheel (224); The lateral drive wheel (223) and the lateral driven wheel (224) are respectively disposed on the left and right sides of the material box receiving cavity (12), located below the main body bottom plate (11); The output shaft of the lateral motor (221) is coaxially connected to the lateral drive wheel (223) to drive the lateral drive wheel (223) to rotate; One side of the lateral shift base plate (21) is fixedly installed on the outside of the preset position of the lateral shift synchronous belt (222); so that when the lateral shift drive wheel (223) rotates, the lateral shift base plate (21) remains stationary, and the driving force is transmitted to the sliding connection structure (23) through the lateral shift base plate (21) to drive the main body base plate (11) to slide relative to the lateral shift base plate (21) along the left and right sides of the main body base plate (11).

4. The material bin loading and unloading device according to claim 3, characterized in that, The top of the side-shifting base plate (21) is also provided with: a zero-position baffle (211) and a zero-position sensor (212); The zero-position baffle (211) is fixedly connected to the top of the side-shifting base plate (21), and the zero-position sensor (212) is fixedly connected to the bottom of the main body base plate (11); the zero-position baffle (211) and the zero-position sensor (212) are slidably engaged to detect the relative position of the main body base plate (11) and the side-shifting mechanism (2); The length of the zero-position baffle (211) is longer than the maximum value of the lateral stroke of the zero-position sensor (212), and is used to cooperate with the zero-position sensor (212) to determine the position of the lateral movement mechanism (2).

5. The material bin loading and unloading device according to claim 3, characterized in that, The material box receiving cavity (12) is formed by the material box baffles (111) set on the left and right sides of the main body base plate (11) and the material box support platform (114) set on the main body base plate (11); wherein, the material box support platform (114) is used to support the material box (500) during the process of picking up and putting down the material box (500). The lateral motor (221) and the lateral drive wheel (223) are fixedly connected to the outer side of one of the material box baffles (111) and the connecting block (1111) below the material box baffle (111) via the first connecting plate (2211); The lateral driven wheel (224) is fixedly connected to the connecting block (1111) below the other material box baffle (111) via the second connecting plate (2241).

6. The material bin loading and unloading device according to claim 5, characterized in that, One end of the first connecting plate (2211) extends toward the side away from the material box baffle (111) to form a motor mounting plate; the motor shaft of the side-moving motor (221) passes through the motor mounting plate and is fixedly mounted on the first connecting plate (2211); The second connecting plate (2241) has a driven wheel mounting part and a connecting part, the driven wheel mounting part being perpendicular to the connecting part; the rotation shaft of the lateral driven wheel (224) is fixedly mounted on the driven wheel mounting part, and the connecting part is connected to the connecting block (1111) below the material box baffle (111).

7. The material bin loading and unloading device according to claim 2, characterized in that, The connecting base (3) includes: a rotating mechanism (31) and a bottom support base (32); The rotating mechanism (31) is fixedly connected to the side-shifting base plate (21) and rotatably connected to the bottom support base (32); it is used to drive the side-shifting mechanism (2) and the main body (1) of the picking and placing device on it to rotate relative to the bottom support base (32); The bottom support (32) is used to connect to the lifting gantry (200).

8. The material bin loading and unloading device according to claim 2, characterized in that, It also includes: a support mechanism (4); located below the side-shifting base plate (21) and fixedly connected to the connecting base (3); The support mechanism (4) includes: a support frame (41), a telescopic strut drive assembly (42), a left telescopic strut (43) and a right telescopic strut (44); one end of the connecting base (3) is used to connect to the lifting gantry (200), and the other end is fixedly connected to the support frame (41); The left telescopic strut (43) and the right telescopic strut (44) are installed inside the support frame (41); The telescopic support rod drive assembly (42) is installed on the support frame (41) and is connected to the left telescopic support rod (43) and the right telescopic support rod (44) for driving the left telescopic support rod (43) and the right telescopic support rod (44) to extend or retract into the support frame (41) along the left and right sides of the main body base plate (11) so that when extended, the material box picking and placing device is supported between two adjacent shelves.

9. The material bin loading and unloading device according to claim 8, characterized in that, The first ends of the left telescopic support rod (43) and the right telescopic support rod (44) extend out of the support frame (41), and the second ends of the left telescopic support rod (43) and the right telescopic support rod (44) are located inside the support frame (41); The first ends of the left telescopic support rod (43) and the right telescopic support rod (44) are both hinged with support rod flaps (45); The strut flap (45) is used to make the flap surface parallel to the side wall of the shelf (400) and abut against the shelf (400) when the left telescopic strut (43) and the right telescopic strut (44) are extended.

10. The material bin loading and unloading device according to claim 9, characterized in that, The first and second ends of the support frame (41) along the left and right sides of the main body base plate (11) are also provided with a strut pressure plate (46); the strut pressure plate (46) includes: a pressure plate body (461) fixedly connected to the support frame (41), and a pressure plate guide part (462) extending outward from the pressure plate body (461); Each of the strut flaps (45) includes: a flap body (451) for hinged to the left telescopic strut (43) or the right telescopic strut (44), a flap guide wheel (452) fixedly installed on the flap body (451), and a return spring (453); When each of the support rod flaps (45) retracts to the position of the support rod pressure plate (46) under the action of the left telescopic support rod (43) or the right telescopic support rod (44), the pressure plate guide part (462) squeezes the flap guide wheel (452) so that the flap body (451) is parallel to the pressure plate body (461); One end of the return spring (453) is connected to the left telescopic support rod (43) or the right telescopic support rod (44), and the other end is connected to the flap body (451); when the left telescopic support rod (43) and the right telescopic support rod (44) retract into the support frame (41), the return spring (453) is in a stretched state; When the left telescopic support rod (43) and the right telescopic support rod (44) extend out of the support frame (41), the reset spring (453) is in the reset state, stretching the flip panel body (451) to a position where the panel surface is parallel to the side wall of the shelf (400).

11. The material bin loading and unloading device according to claim 9, characterized in that, The telescopic strut drive assembly (42) includes: a telescopic strut drive motor (421), a support drive wheel (422), a support driven wheel (423), and a support timing belt (424); the support drive wheel (422) and the support driven wheel (423) are respectively installed inside the first end and the second end of the support frame (41); The supporting synchronous belt (424) is sleeved on the outside of the supporting drive wheel (422) and the supporting driven wheel (423); The second ends of the left telescopic support rod (43) and the right telescopic support rod (44) are respectively fixedly installed on the first translational part (4241) and the second translational part (4242) of the supporting synchronous belt (424); The telescopic strut drive motor (421) is coaxially connected to the support drive wheel (422) and is used to drive the support drive wheel (422) to rotate, so as to drive the second ends of the left telescopic strut (43) and the right telescopic strut (44) connected to both sides of the support timing belt (424) to extend and retract.

12. The material bin loading and unloading device according to claim 11, characterized in that, The second ends of the left telescopic strut (43) and the right telescopic strut (44) are fixedly installed on the first translational part (4241) and the second translational part (4242) of the supporting synchronous belt (424) through the first support clamp (431) and the second support clamp (441); The inner top wall of the support frame (41) is provided with a first support guide rail (411) and a second support guide rail (412) arranged side by side; The second ends of the left telescopic strut (43) and the right telescopic strut (44) are respectively provided with a first support slider (432) and a second support slider (442); The first support slider (432) and the second support slider (442) are fixedly connected to the first support clamp (431) and the second support clamp (441) respectively, so that the second ends of the left telescopic support rod (43) and the right telescopic support rod (44) are slidably connected to the support frame (41).

13. The material bin loading and unloading device according to claim 12, characterized in that, The first support slider (432) and the second support slider (442) each include: an active end sliding part (471), a transmission plate (472), and a passive end sliding part (473); the upper parts of the active end sliding part (471) and the passive end sliding part (473) are slidably connected to the first support guide rail (411) or the second support guide rail (412); the passive end sliding part (473) is fixedly connected to the second end of the left telescopic support rod (43) or the right telescopic support rod (44); One end of the transmission plate (472) is fixedly connected to the lower part of the active end sliding part (471), and the other end is fixedly connected to one end of the elastic transmission connector (475). The other end of the elastic transmission connector (475) is fixedly connected to the passive end sliding part (473) to connect the active end sliding part (471) and the passive end sliding part (473).

14. The material bin loading and unloading device according to claim 13, characterized in that, The transmission plate (472) and the elastic transmission connector (475) are fixedly connected by an unlocking screw (474); The elastic transmission connector (475) is fixedly connected to the other elastic transmission connector (476) by transmission screws (476); The passive end sliding part (473) is provided with a self-locking mechanism (48); The self-locking mechanism (48) includes: a friction block (481) fixedly connected to the passive end sliding part (473), a self-locking roller (482), and an unlocking block (483) slidably connected to the passive end sliding part (473); The friction block (481) has a wedge-shaped groove (484), and the wedge-shaped groove (484) forms a friction cavity (485) with the first support rail (411) or the second support rail (412); The end of the friction cavity (485) closest to the active end sliding part (471) is the free end (4851); the end of the friction cavity (485) furthest from the active end sliding part (471) is the locking end (4852); the volume of the friction cavity (485) gradually decreases from the free end (4851) toward the locking end (4852); The self-locking roller (482) is disposed in the friction cavity (485); the self-locking roller (482) can roll freely at the free end (4851) position and is locked at the locking end (4852) position; The unlocking block (483) is disposed below the friction block (481), and the two sides of the unlocking block (483) extend to the two sides of the friction block (481). The bottom of the unlocking block (483) facing the passive end sliding part (473) abuts against the unlocking screw (474), and the unlocking block (483) and the friction block (481) can slide relative to each other. The unlocking block (483) is provided with unlocking protrusions (4831) on both sides for pushing the self-locking roller (482) out of the locking end (4852); The self-locking mechanism (48) further includes a self-locking spring (486); the self-locking spring (486) is disposed in the free end (4851) of the friction block (481) near the active end sliding part (471); One end of the self-locking spring (486) abuts against the inner wall of the free end (4851) near the active end sliding part (471), and the other end abuts against the self-locking roller (482).

15. A bin-handling robot, characterized in that, include: The hopper loading and unloading device (100), lifting gantry (200), movable chassis (300), and lifting mechanism (600) as described in any one of claims 1-14; The lifting gantry (200) is disposed above the mobile chassis (300) and is fixedly connected to the mobile chassis (300); The lifting mechanism (600) is mounted on the lifting gantry (200) and is fixedly connected to the bin picking and placing device (100), and is used to drive the bin picking and placing device (100) to rise and fall along the vertical direction of the lifting gantry (200).

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