A goods taking and placing device, robot, and goods taking and placing system

Abstract

The application relates to a kind of taking and placing device, robot and goods taking and placing system, comprising: bottom fixed support, the bottom fixed support defines first length direction;First fork assembly and second fork assembly, the first fork assembly and second fork assembly are respectively installed in the two sides of the bottom fixed support along the first length direction extension;Transmission shaft, the transmission shaft is connected between the first fork assembly and the second fork assembly;Drive motor, the drive motor drives the first telescopic component and second telescopic component via the transmission shaft, to synchronously drive the first fork and the second fork along the first length direction telescopic movement, box clamping is between the first fork and second fork, to along the first length direction relative to the bottom fixed support bidirectional movement.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a cargo handling device, a robot, and a cargo handling system. Background Technology

[0002] The current conventional solution for picking and placing goods involves installing the picking and placing device on a mobile chassis. Although it can pick and place boxes between multiple sets of shelves, the structure of the picking and placing device is cumbersome and the size is large, so a large amount of walking space is required, which leads to a reduction in the utilization rate of warehouse space. Utility Model Content

[0003] The embodiments of this application provide a picking and placing device, a robot, and a goods picking and placing system. The fork assembly of the picking and placing device can move bidirectionally and telescopically relative to the bottom fixed bracket to realize bidirectional picking and placing of the hopper. A single motor drives a pair of fork assemblies simultaneously, reducing the overall volume and operating space of the picking and placing device.

[0004] In one embodiment of this application, a goods retrieval and placement device is provided, comprising: A bottom fixing bracket, wherein the bottom fixing bracket defines a first length direction; The first fork assembly and the second fork assembly are symmetrically mounted on both sides of the bottom fixed bracket extending along the first length direction. The first fork assembly includes a first mounting plate installed on the side of the bottom fixed bracket, a first telescopic assembly installed inside the first mounting plate, and a first fork driven by the first telescopic assembly. The second fork assembly includes a second mounting plate installed on the side of the bottom fixed bracket, a second telescopic assembly installed inside the second mounting plate, and a second fork driven by the second telescopic assembly; A drive shaft, which connects the first fork assembly and the second fork assembly; A drive motor drives the first telescopic component and the second telescopic component simultaneously via the transmission shaft to synchronously drive the first fork and the second fork to telescopically move along the first length direction. The hopper is clamped between the first fork and the second fork to move bidirectionally relative to the bottom fixed bracket along the first length direction.

[0005] In one embodiment, the first fork includes at least two first forks spaced apart in the first length direction, and the first end edge of the hopper is limited between a pair of first forks. The second fork includes at least one pair of second forks spaced apart in the first length direction, and the second end edge of the hopper is limited between the pair of second forks, with the first end edge opposite to the second end edge.

[0006] In one embodiment, the first shift fork is rotatably mounted on the first fork about a first central axis parallel to the first length direction. The first shift fork has a retracted position coplanar with the first fork and an open position perpendicular to the extension direction of the first fork and located between the first fork and the second fork. The second shift fork is rotatably mounted on the second fork about a second central axis parallel to the first length direction. The second shift fork has a retracted position embedded in the second fork and an open position perpendicular to the extension direction of the second fork and located between the first fork and the second fork.

[0007] In one embodiment, the first fork includes at least three first shift forks, wherein a pair of first shift forks are respectively mounted at both ends of the extension and retraction direction of the first fork, and the distance between any two first shift forks corresponds to the length of the hopper; The second fork includes at least three second forks, wherein a pair of second forks are respectively installed at both ends of the extension and retraction direction of the second fork, and the distance between any two second forks corresponds to the length of the hopper.

[0008] In one embodiment, the first telescopic component includes: The first zero-stage telescopic component is fixedly connected to the first mounting plate; and The first-stage telescopic component is slidably supported on the first zero-stage telescopic component, so as to move bidirectionally relative to the first mounting plate along the first length direction; Wherein, the first fork is slidably supported on the first primary telescopic component, so as to move bidirectionally relative to the first primary telescopic component along the first length direction, and the first fork and the first primary telescopic component extend in the same direction. The second telescopic component includes: The second zero-stage telescopic assembly is fixedly connected to the second mounting plate; and The second-stage telescopic assembly is slidably supported on the second-zero-stage telescopic assembly to move bidirectionally relative to the second mounting plate along the first length direction; The second fork is slidably supported on the second primary telescopic assembly to move bidirectionally relative to the second primary telescopic assembly along the first length direction, and the extension directions of the second fork and the second primary telescopic assembly are the same.

[0009] In one embodiment, the first telescopic assembly includes a first drive belt, the two ends of which are respectively fixed to the first mounting plate and the first fork, and wound around the two ends of the first primary telescopic assembly, so as to drive the first fork and the first primary telescopic assembly to move bidirectionally relative to the first mounting plate under the drive of the drive motor. The second telescopic assembly includes a second drive belt, the two ends of which are respectively fixed to the second mounting plate and the second fork, and wound around the two ends of the second primary telescopic assembly, so as to drive the second fork and the second primary telescopic assembly to move bidirectionally relative to the second mounting plate under the drive of the drive motor.

[0010] In one embodiment, the first drive belt includes a first metal core for transmitting electrical signals, and the second drive belt includes a second metal core for transmitting electrical signals.

[0011] In one embodiment, it includes: A material bin tray, which is supported on the bottom fixed bracket to support the material bin on the bottom fixed bracket.

[0012] In one embodiment, the device includes an image acquisition device mounted at both ends of the bottom fixing bracket in the first length direction and facing outwards from the bottom fixing bracket in the first length direction.

[0013] Another example of this application provides a robot, including: A walking robot, comprising a walking base and a lifting mechanism, wherein the lifting mechanism is mounted on the walking base and the walking base drives the lifting mechanism to move along the ground; As described above, in the loading and unloading device, the bottom fixed bracket of the loading and unloading device is directly mounted on the lifting mechanism, and the lifting mechanism drives the bottom fixed bracket to move vertically.

[0014] Another example of this application provides a robot, including: A mast, which is mounted on the racking assembly and is movable horizontally relative to the racking assembly; As described above, the bottom fixed bracket of the picking and placing device is installed on the gantry, and the bottom fixed bracket is movable relative to the gantry in the vertical direction to pick up and place the material boxes placed in the shelf device.

[0015] In one embodiment, one or more of the following sensors are included: A fork extension direction sensor detects the extension position and direction of the first fork assembly and the second fork assembly. A hopper sensor is used to detect hopper signals on the bottom fixed bracket; A zero-position sensor is used to detect the initial positions of the first fork assembly and the second fork assembly; A rack bin sensor is used to detect bin signals at target positions of the first fork assembly and the second fork assembly. A bin positioning sensor is used to detect bin orientation signals at the target positions of the first fork assembly and the second fork assembly.

[0016] This application also provides a cargo retrieval and placement system, including: A shelving unit includes adjacent first and second shelving units, which are spaced apart to form an aisle; The robot described above is configured to: move the bottom fixed support relative to the shelf device in a horizontal direction, move the bottom fixed support relative to the shelf device in a vertical direction, and / or move the picking and placing device bidirectionally along a first length direction to allow the picking and placing device to remove the box from either the first shelf or the second shelf and store the box in either the first shelf or the second shelf.

[0017] In this example, a single power output is used to simultaneously drive the movement of two fork assemblies. A transmission shaft, positioned between the two fork assemblies, transmits torque from the drive motor to both the first and second fork assemblies, enabling synchronized movement. This reduces the overall size and manufacturing cost of the picking and placing device. The extension and retraction directions of the first and second fork assemblies are bidirectional along the first length direction, allowing for direct picking and placing of boxes on the shelves located on either side of the bottom fixed support along the first length direction without any steering. This bidirectional operation significantly reduces the operating space and number of picking and placing devices, enabling simultaneous picking and placing of boxes on both sides of the shelves without steering.

[0018] In this example, the picking and placing device is supported by a walking robot, allowing it to move horizontally within the aisle under the robot's base and vertically under the lifting mechanism. This eliminates the need for additional tracks, resulting in faster speeds, smoother picking and placing at heights, and less required safety margin and walking space. Overall, this improves work efficiency and warehouse space utilization. Furthermore, the picking and placing device has no horizontal or vertical movement restrictions when moving in front of the shelves, allowing it to travel along any trajectory on the plane, further enhancing picking and placing efficiency. Attached Figure Description

[0019] The following figures are for illustrative purposes only and do not limit the scope of this application: Figure 1 This is a schematic diagram of the structure of the picking and placing device in the embodiments of this application; Figure 2 and Figure 3 This is a schematic diagram of the structure of the first fork assembly and the second fork assembly in the embodiments of this application; Figure 4 This is a schematic diagram of the usage state of the picking and placing device in the embodiments of this application; Figure 5 This is a schematic diagram of the bottom fixing bracket of the loading and unloading device in the embodiments of this application; Figures 6a to 6d This is a schematic diagram of the material box retrieval and placement process of the retrieval and placement device in the embodiments of this application. Detailed Implementation

[0020] To provide a clearer understanding of the technical features, objectives, and effects of this utility model, specific embodiments of the present utility model are now described with reference to the accompanying drawings, in which the same reference numerals denote the same parts.

[0021] In this document, “illustrative” means “serving as an example, illustration or description”, and any illustration or implementation described herein as “illustrative” should not be construed as a more preferred or advantageous technical solution.

[0022] To keep the drawings concise, only the parts related to this utility model are shown schematically in each drawing, and do not represent their actual structure as a product. In addition, to make the drawings concise and easy to understand, in some drawings, only one of the components with the same structure or function is shown schematically, or only one of them is labeled.

[0023] In this article, terms such as "up," "down," "front," "back," "left," and "right" are used only to indicate the relative positional relationship between related parts, rather than to define the absolute position of these related parts.

[0024] In this article, "first," "second," etc., are used only to distinguish one another, and not to indicate degree of importance, order, or prerequisite for each other.

[0025] In this document, terms such as "equal" and "same" are not strict mathematical and / or geometric limitations, but also include errors that are understandable to those skilled in the art and permissible in manufacturing or use. Unless otherwise stated, numerical ranges in this document include not only the entire range within its two endpoints, but also several subranges contained therein.

[0026] The exemplary embodiments will now be described more fully with reference to the accompanying drawings.

[0027] like Figures 1 to 3 As shown, one embodiment of this application provides a goods picking and placing device, including: Bottom fixing bracket 10, the bottom fixing bracket 10 defines the first length direction L; The first fork assembly 20 and the second fork assembly 30 are symmetrically mounted on both sides of the bottom fixed bracket 10 extending along the first length direction L. The first fork assembly 20 includes a first mounting plate 21 installed on the side of the bottom fixed bracket 10, a first telescopic assembly 22 installed inside the first mounting plate 21, and a first fork 23 driven by the first telescopic assembly 22. The second fork assembly 30 includes a second mounting plate 31 installed on the side of the bottom fixed bracket 10, a second telescopic assembly 32 installed inside the second mounting plate 31, and a second fork 33 driven by the second telescopic assembly 32. Drive shaft 41, drive shaft 41 is connected between the first fork assembly 20 and the second fork assembly 30; A drive motor is installed on the first fork assembly 20 or the second fork assembly 30. The drive motor drives the first telescopic assembly 22 and the second telescopic assembly 32 simultaneously via the transmission shaft 41, so as to synchronously drive the first fork 23 and the second fork 33 to move telescopically along the first length direction L. The hopper is clamped between the first fork 23 and the second fork 33, so as to move relative to the bottom fixed bracket 10 along the first length direction L.

[0028] In this example, the loading and unloading device takes the form of a platform. A bottom fixed bracket 10 supports the bin and mounts the fork assemblies. The bottom fixed bracket 10 may be rectangular, and its dimensions may be greater than or equal to the bin's dimensions. In a specific example, to achieve compatibility with bins of various sizes, the width of the bottom fixed bracket 10 may be the same as the width of the bin, while its length in the first length direction L may be greater than or equal to the maximum length of the bin. Then, the distance between the first fork assembly 20 and the second fork assembly 30 is consistent with the width of bins of various sizes, thus making it suitable for bins of various sizes.

[0029] In order to ensure the synchronous movement of the first fork assembly 20 and the second fork assembly 30, and in order to reduce the overall size of the loading and unloading device, the two fork assemblies can be driven to move simultaneously by a single power output. The torque output by the drive motor is transmitted to the first fork assembly 20 and the second fork assembly 30 simultaneously through the transmission shaft 41 set between the two fork assemblies.

[0030] The drive motor is installed in only one of the first fork assembly 20 and the second fork assembly 30. The torque of the drive motor is transmitted to the other of the first fork assembly 20 and the second fork assembly 30 through the drive shaft 41, and the synchronous movement of the first fork assembly 20 and the second fork assembly 30 is achieved through the synchronous pulley 42 and the synchronous belt 43. The drive motor drives the synchronous pulley 42 to rotate, which in turn drives the synchronous belt 43. The first fork assembly or the second fork assembly has teeth that mesh with the synchronous belt so as to move together with the synchronous belt 43.

[0031] The extension and retraction directions of the first fork assembly 20 and the second fork assembly 30 are along the first length direction L, and are bidirectional along the first length direction L. That is, the bottom fixed bracket 10 has two long sides extending along the first length direction L, the first fork assembly 20 and the second fork assembly 30 are respectively mounted on the two long sides, and the first fork assembly 20 and the second fork assembly 30 can extend or retract from the two short sides of the bottom fixed bracket 10 respectively.

[0032] The first fork assembly 20 and the second fork assembly 30 clamp the food box in the middle so that the food box can be moved from the shelf to the surface of the bottom fixed support 10 or from the surface of the bottom fixed support 10 to the shelf by their telescopic movement. The first fork assembly 20 and the second fork assembly 30 have the same structure and are symmetrically arranged.

[0033] In this example, a single power output is used to simultaneously drive the movement of two fork assemblies. Through a transmission shaft 41 positioned between the two fork assemblies to transmit torque, the torque output from the drive motor is simultaneously transmitted to the first fork assembly 20 and the second fork assembly 30, enabling synchronous movement of both. This reduces the overall size and manufacturing cost of the picking and placing device. Since the extension and retraction directions of the first fork assembly 20 and the second fork assembly 30 are bidirectional along the first length direction L, the picking and placing of food boxes on the shelves located on both sides of the bottom fixed support 10 along the first length direction L can be performed directly without any steering operation. For example, if the first shelf A and the second shelf B are located on both sides of the bottom fixed support 10 along the first length direction L, the following operations can be performed using the same picking and placing device: (1) Pick up the material box from the first position of the first shelf A, and then place it in the second position of the first shelf A; (2) Pick up the material box from the first position of the second shelf B, and then place it in the second position of the second shelf B; (3) Pick up the material box from the first position of the first shelf A, and then place it in the second position of the second shelf B; (4) Pick up the material box from the first position of the second shelf B and then place it in the second position of the first shelf A.

[0034] This bidirectional operation significantly reduces the operating space and number of picking and placing devices, allowing them to simultaneously pick up and place boxes on shelves on both sides without needing to turn. In a specific example, the picking and placing device can be mounted on a mobile robot, which can move in a horizontal plane, such as on the ground, to move the picking and placing device. The picking and placing device is directly mounted on the vertical track of the mobile robot to enable picking up and placing boxes at any location on the shelf.

[0035] In one example, such as Figure 4 As shown, the first fork 23 includes at least two first forks 231, which are spaced apart in the first length direction L, and the hopper is confined between a pair of first forks 231. The second fork 33 includes at least one pair of second forks 331, which are spaced apart in the first length direction L, and the hopper is confined between the pair of second forks 331.

[0036] Since the first fork assembly 20 and the second fork assembly 30 move along the first length direction L, the first fork assembly 20 and the second fork assembly 30 include a plurality of forks spaced apart in the first length direction L to limit the material box in the moving direction. The forks and the forks together clamp the material box, so that the picking and placing of the material box can be achieved by only using translational movement in the first length direction L.

[0037] The first fork 231 and the second fork 331 are positioned identically and are symmetrically arranged on the first fork 23 and the second fork 33, respectively. The distance between the two first forks 231 and the distance between the two second forks 331 correspond to the length of the material box in the first length direction L.

[0038] The first fork 231 is rotatably mounted on the first fork 23 about a first central axis extending along the first length direction L. The first fork 231 has a retracted position coplanar with the first fork 23 and an open position perpendicular to the extension and retraction direction of the first fork 23 and located between the first fork 23 and the second fork 33. The second fork 331 is rotatably mounted on the second fork 33 about a second central axis extending along the first length direction L. The second fork 331 has a retracted position coplanar with the second fork 33 and an open position perpendicular to the second fork 33 and located between the first fork 23 and the second fork 33.

[0039] The first fork 231 and the second fork 331 can rotate around a first length direction under the drive of a motor. When they are in the open position, the first fork 231 and the second fork 331 extend between the first fork 23 and the second fork 33 to form a limit with the hopper located between the first fork 23 and the second fork 33. When they are in the retracted position, the first fork 231 is at least partially embedded in the first fork 23 and is coplanar with the first fork 23, and the second fork 331 is at least partially embedded in the second fork 33 and is coplanar with the second fork 33. Therefore, when the first fork 23 and the second fork 33 extend or retract along the first length direction L, they will not form a limit with the hopper, and the hopper can be left in its original position. During the action of gripping the material box, firstly, the first fork 231 and the second fork 331 are in the retracted position, and the first fork 23 and the second fork 33 extend along the first length direction L until they reach the gripping position of the material box. Then, the first fork 231 and the second fork 331 are driven to the open position to form a limit with the material box. Subsequently, the first fork 23 and the second fork 33 retract along the first length direction L, together with the first fork 231 and the second fork 331, causing the material box to retract until it is placed on the surface of the bottom fixed bracket 10. During the action of placing the material box, firstly, the first fork 231 and the second fork 331 are in the open position to form a limit with the material box, and the first fork 23 and the second fork 33 extend along the first length direction L, together with the first fork 231 and the second fork 331, causing the material box to extend to the target position. Subsequently, the first fork 231 and the second fork 331 are driven to the storage position, the first fork 23 and the second fork 33 retract along the first length direction L, and the hopper is retained in the target position.

[0040] To accommodate various bin sizes, in this example, the first fork 23 includes at least three first forks 231 respectively mounted on the first fork 23, wherein a pair of first forks 231 are located at both ends of the first fork 23, and another fork is mounted between the pair of first forks 231 in the first length direction L, wherein the distance between any two first forks 231 corresponds to the length of the bin. The second fork 33 includes at least three second forks 331 respectively mounted on the second fork 33, wherein a pair of second forks 331 are located at both ends of the second fork 23, and another fork is mounted between the pair of second forks 331 in the first length direction L, wherein the distance between any two second forks 331 corresponds to the length of the hopper.

[0041] When each fork includes three or more shift forks, it can be applied to a variety of different bin sizes. For example, when there are three first shift forks 231, if the first shift fork in the middle position is located at the midpoint of the pair of first shift forks 231 at both ends, it can correspond to two bin sizes: the length between the pair of first shift forks 231 at both ends, and the length between the first shift fork in the middle position and one of the first shift forks at the end. If the first shift fork in the middle position does not correspond to the midpoint of the pair of first shift forks 231 at both ends, it can correspond to three bin sizes: the length between the pair of first shift forks 231 at both ends, and two lengths between the first shift fork in the middle position and any one of the first shift forks at the end.

[0042] Furthermore, such as Figure 2 and Figure 3 As shown, the first telescopic component 22 includes: The first zero-stage telescopic component 221 is fixedly connected to the first mounting plate 21; and The first-stage telescopic component 222 is slidably supported on the first zero-stage telescopic component 221, so as to move bidirectionally relative to the first mounting plate 21 along the first length direction L. The first fork 23 is slidably supported on the first primary telescopic assembly 222 so as to move bidirectionally relative to the first primary telescopic assembly 222 along the first length direction L, and the first fork 23 and the first primary telescopic assembly 222 extend in the same direction. The second telescopic component 32 includes: The second zero-stage telescopic component 321 is fixedly connected to the second mounting plate 31; and The second-stage telescopic component 322 is slidably supported on the second zero-stage telescopic component 321 so as to move bidirectionally relative to the second mounting plate 31 along the first length direction L. The second fork 33 is slidably supported on the second primary telescopic assembly 322, so as to move bidirectionally relative to the second primary telescopic assembly 322 along the first length direction L, and the extension directions of the second fork 33 and the second primary telescopic assembly 322 are the same.

[0043] In the first fork assembly 20, a first mounting plate 21 is installed on the side of the bottom fixed bracket 10 to form a support body. A first zero-stage telescopic assembly 221 is fixedly connected to the first mounting plate 21. A first-stage telescopic assembly 222 is slidably supported on the first zero-stage telescopic assembly 221, and the first fork 23 is slidably supported on the first-stage telescopic assembly 222 to form a two-stage telescopic stroke. The first-stage telescopic assembly 222 and the first fork 23 have the same or similar lengths, thus forming double the stroke of the first fork 23.

[0044] The first-stage telescopic assembly 222 can slide bidirectionally relative to the first zero-stage telescopic assembly 221, and the first fork 23 can slide bidirectionally relative to the first-stage telescopic assembly 222 to achieve bidirectional extension and retraction of the first telescopic assembly 22. The sliding directions of the first-stage telescopic assembly 222 and the first fork 23 are the same, thus achieving double the stroke.

[0045] The first telescopic component 22 and the second telescopic component 32 have the same structure and are arranged symmetrically.

[0046] In one embodiment, the first telescopic component 22 includes a first transmission belt 223, the two ends of which are fixed to the first mounting plate 21 and the first fork 23 respectively, and are wound around the two ends of the first primary telescopic component 222, so as to drive the first fork 23 and the first primary telescopic component 222 to move bidirectionally relative to the first mounting plate 21 under the drive of the drive motor. The second telescopic assembly 32 includes a second transmission belt 323, the two ends of which are fixed to the second mounting plate 31 and the second fork 33 respectively, and are wound around the two ends of the second primary telescopic assembly 322, so as to drive the second fork 33 and the second primary telescopic assembly 322 to move bidirectionally relative to the second mounting plate 31 under the drive of the drive motor.

[0047] The first drive belt 223 is supported by the first primary telescopic component 222 and connected between the first mounting plate 21 and the first fork 23, so that the first telescopic component 22 forms a movable pulley system, thereby making the first fork 23 and the first primary telescopic component 222 move in the same direction relative to the first mounting plate 21 based on the first mounting plate 21.

[0048] Similarly, the second drive belt 323 is supported by the second first-stage telescopic assembly 322 and connected between the second mounting plate 31 and the second fork 33, so that the second telescopic assembly 32 is formed into a movable pulley system, thereby making the second fork 33 and the second first-stage telescopic assembly 322 move in the same direction relative to the second mounting plate 31 based on the second mounting plate 31.

[0049] To enable bidirectional movement of the first telescopic component 22 and the second telescopic component 32, the connection between the first drive belt 223 and the first-stage telescopic component 222 has a bidirectional limiting structure, allowing both the inner and outer surfaces of the first drive belt 223 to limit the movement of the first-stage telescopic component 222, thus enabling the application of driving force to the first-stage telescopic component 222 in both directions. Similarly, the connection between the second drive belt 323 and the second-stage telescopic component 322 has a bidirectional limiting structure, allowing both the inner and outer surfaces of the second drive belt 323 to limit the movement of the second-stage telescopic component 322, thus enabling the application of driving force to the second-stage telescopic component 322 in both directions. For example, the first-stage telescopic component 222 has a first roller 225 that pushes the first drive belt 223, thereby transmitting power to the first fork 23. Similarly, the second-stage telescopic component 322 has a second roller 325 that pushes the second drive belt 323, thereby transmitting power to the second fork 33.

[0050] In one example, in the first telescopic assembly 22, the first fork 23 and the first primary telescopic assembly 222 may have mutually cooperating first slide rails 224. Similarly, in the second telescopic assembly 32, the second fork 33 and the second primary telescopic assembly 322 may have mutually cooperating second slide rails 324.

[0051] In one example, the first drive belt 223 includes a first metal core for transmitting electrical signals, and the second drive belt 323 includes a second metal core for transmitting electrical signals. In addition to providing a transmission function, the first drive belt 223 and the second drive belt 323 can also be used to provide power signals and control signals to terminal components such as the first fork, the second fork, the first shift fork, and the second shift fork.

[0052] Optionally, the first mounting plate 21 and the second mounting plate 31 may further include a fork extension direction sensor. In the event of a power failure or a restart, when the system has lost data on the fork extension direction, the fork extension direction sensor detects the extension position and direction of the forks, enabling the forks to quickly return to their original position. Otherwise, multiple extension and retraction actions may be required for the forks to return to their original position. Optionally, a zero-position sensor is also included to detect the initial position of the first and second fork assemblies, and also to detect whether the forks have returned to their original position.

[0053] In a specific example, such as Figure 5 As shown, the bottom fixing bracket 10 is formed as a frame structure, which includes: The material box tray 11 is supported on the bottom fixed bracket 10 to support the material box on the bottom fixed bracket 10.

[0054] Furthermore, the bottom mounting bracket 10 may also include a detection sensor, such as a bin sensor 12, installed below the bin tray 11 to detect whether there is a bin on the shelf.

[0055] Optionally, the bottom mounting bracket 10 may further include an image acquisition device 40, which is mounted at both ends of the bottom mounting bracket 10 in the first length direction L and faces outwards from the bottom mounting bracket 10 in the first length direction L. The image acquisition device 40 is used to face the shelf to capture or collect information associated with the shelf, such as shelf information, information on the bins stored on the shelf, etc. The image acquisition device 40 can be implemented as a barcode scanner or as a camera that only captures images. Correspondingly, the bottom mounting bracket 10 has an internally hollow cable tray 13 for mounting cables for the image acquisition device 40 and / or detection sensors.

[0056] Another embodiment of this application also provides a robot, including: The walking robot includes a walking base and a lifting mechanism. The lifting mechanism is mounted on the walking base, and the walking base drives the lifting mechanism to move along the ground, that is, to move horizontally. The picking and placing device has a bottom fixed bracket 10 directly mounted on the lifting mechanism of the walking robot, so that it can move vertically under the drive of the lifting mechanism.

[0057] The walking robot in this example can be applied to a goods retrieval and placement system, such as... Figures 6a to 6d As shown, the goods retrieval system in this example includes multiple shelves and one or more retrieval and placement devices. Wherein... Figure 6a As shown, it includes at least a set of first shelves A and second shelves B spaced apart in a first direction. The first shelves A and second shelves B are located on both sides of the bottom fixed support 10 in the first length direction L. The first shelves A and second shelves B use the same picking and placing device, and the interval between them forms an aisle for the walking robot to walk. The extension direction of the aisle is perpendicular to the first length direction L. The walking robot moves horizontally along the extension direction of the aisle to drive the robot installed on it to move horizontally.

[0058] The robot mounted on the walking robot can perform the following operations: (1) Pick up the material box from the first position of the first shelf A, and then place it in the second position of the first shelf A; (2) Pick up the material box from the first position of the second shelf B, and then place it in the second position of the second shelf B; (3) Pick up the material box from the first position of the first shelf A, and then place it in the second position of the second shelf B; (4) Pick up the material box from the first position of the second shelf B and then place it in the second position of the first shelf A.

[0059] refer to Figures 6a to 6d The process for picking up and placing the material bins is shown.

[0060] like Figure 6a As shown, the picking and placing device moves to the target position under the drive of the walking robot. Taking operation (1) as an example, as follows... Figure 6a As shown, the picking and placing device moves between the first shelf A and the second shelf B, with the walking robot aligned with the first shelf A. A bottom fixed bracket 10 supports the walking robot. The first shelf A and the second shelf B are spaced apart along a first length direction L, and the distance between them is greater than the length of the bottom fixed bracket 10 along the first length direction L. The bottom fixed bracket 10 is located at the distance between the first shelf A and the second shelf B. Then, the action of picking up a material box from a first position on the first shelf A begins.

[0061] like Figure 6b As shown, the first fork assembly 20 and the second fork assembly 30 extend simultaneously toward the first position of the first shelf A. The first position has a target bin. After the bin is in place, the first fork 231 of the first fork assembly 20 and the second fork 331 of the second fork assembly 30 corresponding to the target bin are pushed down to the open position. The distance between a pair of first forks 231 or a pair of second forks 331 corresponds to the length of the bin.

[0062] In a preferred example, the first fork 231 or the second fork 331 that moves downwards can be one or a pair. For example, in the direction in which the target hopper is to move, the first fork 231 and the second fork 331 that move downwards are one fork on the rear side of the target hopper in the direction of movement. Alternatively, they can also be a pair of forks that hold the target hopper in the direction of movement.

[0063] Subsequently, the first fork assembly 20 and the second fork assembly 30 extend or retract simultaneously to move the target bin to the second position of the first shelf A.

[0064] Finally, as Figure 6a As shown, the first fork assembly 20 and the second fork assembly 30 retract toward the bottom fixed bracket 10, and the first shift fork 231 and the second shift fork 331 are retracted to their storage positions. The retraction of the fork assemblies and the retraction of the shift forks can be performed simultaneously or sequentially, and the order can be interchanged.

[0065] The operation process of operation (1) and operation (2) is similar.

[0066] Optionally, the explanation will take operation (3) as an example, such as Figure 6aAs shown, the picking and placing device moves between the first shelf A and the second shelf B, with the walking robot aligned with the first shelf A. A bottom fixed bracket 10 supports the walking robot. The first shelf A and the second shelf B are spaced apart along a first length direction L, and the distance between them is greater than the length of the bottom fixed bracket 10 along the first length direction L. The bottom fixed bracket 10 is located at the distance between the first shelf A and the second shelf B. Then, the action of picking up a material box from a first position on the first shelf A begins.

[0067] like Figure 6b As shown, the first fork assembly 20 and the second fork assembly 30 extend simultaneously toward the first position of the first shelf A. The first position has a target bin. After the bin is in place, the first fork 231 of the first fork assembly 20 and the second fork 331 of the second fork assembly 30 corresponding to the target bin are pushed down to the open position. The distance between a pair of first forks 231 or a pair of second forks 331 corresponds to the length of the bin.

[0068] In a preferred example, the first fork 231 or the second fork 331 that moves downwards can be one or a pair. For example, in the direction in which the target hopper is to move, the first fork 231 and the second fork 331 that move downwards are one fork on the rear side of the target hopper in the direction of movement. Alternatively, they can also be a pair of forks that hold the target hopper in the direction of movement.

[0069] like Figure 6c As shown, the first fork assembly 20 and the second fork assembly 30 retract toward the bottom fixed bracket 10 to move the target hopper onto the bottom fixed bracket 10. Optionally, the first fork 231 and the second fork 331, which are in the open position, retract to the storage position.

[0070] like Figure 6d As shown, the first fork 231 of the first fork assembly 20 and the second fork 30 of the second fork assembly 30 corresponding to the target bin are pushed down to the open position. Based on the operation process of operation (3), the moving directions of the first fork assembly 20 and the second fork assembly 30 are always in the same direction. Therefore, the process of retracting and then opening the first fork 231 and the second fork 331 can be omitted in this process, and the first fork 231 and the second fork 331 are always kept in the open position. Then the first fork assembly 20 and the second fork assembly 30 extend toward the second shelf B to the second position, so as to move the target bin to the second position of the second shelf B via the first fork 231 and the second fork 331.

[0071] Subsequently, as Figure 6aAs shown, the first fork assembly 20 and the second fork assembly 30 retract toward the bottom fixed bracket 10, and the first shift fork 231 and the second shift fork 331 are retracted to their storage positions. The retraction of the fork assemblies and the retraction of the shift forks can be performed simultaneously or sequentially, and the order can be interchanged.

[0072] The operation process of operation (3) and operation (4) is similar.

[0073] In this example of the shelving device, a shelving bin sensor may be further included to detect whether a bin is on the shelf. Optionally, a bin positioning sensor may be included to detect whether the bin is protruding, tilted, or has other directional signals when it is placed on the shelf.

[0074] In this example, the picking and placing device is supported by a walking robot, allowing it to move horizontally within the aisle under the robot's base and vertically under the lifting mechanism. This eliminates the need for additional tracks, resulting in faster speeds, smoother picking and placing at heights, and less required safety margin and walking space. Overall, this improves work efficiency and warehouse space utilization. Furthermore, the picking and placing device has no horizontal or vertical movement restrictions when moving in front of the shelves, allowing it to travel along any trajectory on the plane, further enhancing picking and placing efficiency.

[0075] Optionally, another embodiment of this application also provides a robot, including: A mast is mounted on a racking assembly and is movable horizontally relative to the racking assembly. As described above, the bottom fixed bracket 10 of the picking and placing device is installed on the gantry, and the bottom fixed bracket is movable relative to the gantry in the vertical direction to pick up and place the material boxes placed in the shelf device.

[0076] In this example, the picking and placing device is applied to a shelf robot scenario. The shelf robot includes a mast mounted on the shelf, which is typically formed as a planar frame structure and is movable along the extension direction of the shelf (usually the extension direction of the aisle), i.e., movable in the horizontal direction. The picking and placing device is mounted on the mast and can move horizontally relative to the shelf under the action of the mast. Furthermore, the mast also includes a lifting mechanism that can drive the bottom fixed support 10 of the picking and placing device to move vertically. Specifically, it can move along the vertical edge of the mast.

[0077] The shelf robot in this example can be applied to goods retrieval and placement systems, such as... Figures 6a to 6d As shown, the goods retrieval system in this example includes multiple shelves and one or more retrieval and placement devices. Wherein... Figure 6aAs shown, the system includes at least one set of first shelves A and second shelves B spaced apart in a first direction. The first shelves A and second shelves B are located on opposite sides of the bottom fixed support 10 along a first length direction L. The first shelves A and second shelves B utilize the same picking and placing device, and the interval between them forms an aisle for the walking robot to traverse. The aisle extends perpendicularly to the first length direction L. The shelf robot can be installed on either the first shelf A or the second shelf B, or a mast can be installed in a one-to-one correspondence with the shelves. The mast moves horizontally along the extension direction of the shelf (aisle) to drive the picking and placing device installed on it to move horizontally. The picking and placing device can move vertically relative to the mast; specifically, it can move vertically relative to the mast under the action of a lifting mechanism.

[0078] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A goods taking and placing device, characterized in that, include: Bottom fixing bracket (10), the bottom fixing bracket (10) defines a first length direction (L); The first fork assembly (20) and the second fork assembly (30) are symmetrically mounted on both sides of the bottom fixed bracket (10) extending along the first length direction (L). The first fork assembly (20) includes a first mounting plate (21) installed on the side of the bottom fixed bracket (10), a first telescopic assembly (22) installed on the inner side of the first mounting plate (21), and a first fork (23) driven by the first telescopic assembly (22). The second fork assembly (30) includes a second mounting plate (31) installed on the side of the bottom fixed bracket (10), a second telescopic assembly (32) installed on the inner side of the second mounting plate (31), and a second fork (33) driven by the second telescopic assembly (32). A drive shaft (41) is connected between the first fork assembly (20) and the second fork assembly (30); A drive motor drives the first telescopic assembly (22) and the second telescopic assembly (32) simultaneously via the transmission shaft (41) to synchronously drive the first fork (23) and the second fork (33) to telescopically move along the first length direction (L). The hopper is clamped between the first fork (23) and the second fork (33) to move in both directions relative to the bottom fixed bracket (10) along the first length direction (L).

2. The goods-to-person device of claim 1, wherein, include: The first fork (23) includes at least two first forks (231) spaced apart in the first length direction (L), and the first end edge of the hopper is confined between a pair of first forks (231); The second fork (33) includes at least one pair of second forks (331) spaced apart in the first length direction (L), and the second end edge of the hopper is limited between the pair of second forks (331), with the first end edge opposite to the second end edge.

3. The goods-to-person device of claim 2, wherein, The first fork (231) is rotatably mounted on the first fork (23) around a first central axis, the first central axis being parallel to the first length direction (L). The first fork (231) has a retracted position coplanar with the first fork (23) and an open position perpendicular to the extension direction of the first fork (23) and located between the first fork (23) and the second fork (33). The second fork (331) is rotatably mounted on the second fork (33) about a second central axis parallel to the first length direction (L). The second fork (331) has a retracted position embedded in the second fork (33) and an open position perpendicular to the extension direction of the second fork (33) and located between the first fork (23) and the second fork (33).

4. The goods placing and taking apparatus according to claim 2, wherein The first fork (23) includes at least three first forks (231), wherein a pair of first forks (231) are respectively installed at both ends of the first fork (23) in the extension direction, and the distance between any two first forks (231) corresponds to the length of the hopper; The second fork (33) includes at least three second forks (331), wherein a pair of second forks (331) are respectively installed at both ends of the extension and retraction direction of the second fork (33), and the distance between any two second forks (331) corresponds to the length of the hopper.

5. The goods placing and taking apparatus according to claim 1, wherein The first telescopic component (22) includes: The first zero-level telescopic component (221) is fixedly connected to the first mounting plate (21); and The first-stage telescopic assembly (222) is slidably supported on the first zero-stage telescopic assembly (221) to move bidirectionally relative to the first mounting plate (21) along the first length direction (L); The first fork (23) is slidably supported on the first primary telescopic assembly (222) to move bidirectionally relative to the first primary telescopic assembly (222) along the first length direction (L), and the first fork (23) and the first primary telescopic assembly (222) extend in the same direction. The second telescopic component (32) includes: The second zero-level telescopic assembly (321) is fixedly connected to the second mounting plate (31); and The second-stage telescopic assembly (322) is slidably supported on the second zero-stage telescopic assembly (321) to move bidirectionally relative to the second mounting plate (31) along the first length direction (L); The second fork (33) is slidably supported on the second primary telescopic assembly (322) to move bidirectionally relative to the second primary telescopic assembly (322) along the first length direction (L), and the second fork (33) and the second primary telescopic assembly (322) extend in the same direction.

6. The goods-to-person device of claim 5, wherein, The first telescopic assembly (22) includes a first transmission belt (223), the two ends of which are fixed to the first mounting plate (21) and the first fork (23) respectively, and are wound around the two ends of the first primary telescopic assembly (222) so as to drive the first fork (23) and the first primary telescopic assembly (222) to move bidirectionally relative to the first mounting plate (21) under the drive of the drive motor; The second telescopic assembly (32) includes a second drive belt (323), the two ends of which are fixed to the second mounting plate (31) and the second fork (33) respectively, and are wound around the two ends of the second primary telescopic assembly (322) so as to drive the second fork (33) and the second primary telescopic assembly (322) to move bidirectionally relative to the second mounting plate (31) under the drive of the drive motor.

7. The goods-to-person device of claim 6, wherein, The first transmission belt (223) includes a first metal core for transmitting electrical signals, and the second transmission belt (323) includes a second metal core for transmitting electrical signals.

8. The goods-to-person device of claim 1, wherein, include: A material box tray (11) is supported on the bottom fixed bracket (10) to support the material box on the bottom fixed bracket (10).

9. The goods-to-person device of claim 1, wherein, include: The image acquisition device (40) is mounted on both ends of the bottom fixed bracket (10) in the first length direction (L) and faces outward from the bottom fixed bracket (10) in the first length direction (L).

10. A robot, characterized in that include: A walking robot, comprising a walking base and a lifting mechanism, wherein the lifting mechanism is mounted on the walking base and the walking base drives the lifting mechanism to move along the ground; According to any one of claims 1 to 9, the bottom fixed bracket (10) of the picking and placing device is directly mounted on the lifting mechanism, and the lifting mechanism drives the bottom fixed bracket (10) to move in the vertical direction.

11. A robot, characterized in that include: A mast, which is mounted on the racking assembly and is movable horizontally relative to the racking assembly; According to any one of claims 1 to 9, the bottom fixed bracket (10) of the picking and placing device is installed on the gantry, and the bottom fixed bracket (10) is movable in the vertical direction relative to the gantry to pick up and place the material box placed in the shelf device.

12. The robot according to claim 10 or 11, characterized in that, Includes one or more of the following sensors: A fork extension direction sensor detects the extension position and extension direction of the first fork assembly (20) and the second fork assembly (30); A bin sensor is used to detect bin signals above the bottom fixed bracket (10); A zero-position sensor is used to detect the initial position of the first fork assembly (20) and the second fork assembly (30); A rack bin sensor is used to detect bin signals at target positions of the first fork assembly (20) and the second fork assembly (30); A bin positioning sensor is used to detect bin orientation signals at the target positions of the first fork assembly (20) and the second fork assembly (30).

13. A goods pick-and-place system, characterized by, include: The shelving unit includes adjacent first shelving (A) and second shelving (B), which are spaced apart to form an aisle; The robot as claimed in claim 10 or 11, wherein the robot is configured to move the bottom fixed support (10) along a horizontal direction relative to the shelf device, move the bottom fixed support (10) along a vertical direction relative to the shelf device, and / or move the bin along a first length direction (L) relative to the shelf device, so that the bin is taken out from and stored into any one of the first shelf (A) and the second shelf (B) by the taking and placing device.

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