Self-locking limiting type taking and placing device and robot

Abstract

The utility model discloses a kind of self-locking limit type taking and placing device and robot, belong to intelligent warehousing technical field.Limited component is included in taking and placing device, pedestal and limit component, pedestal is equipped with the accommodating cavity suitable for accommodating material box, the side of pedestal is equipped with the opening communicating accommodating cavity;Limit component includes the reset structure and limit piece being connected with each other, reset structure is connected with pedestal;Wherein, limit piece has first position and second position, when limit piece is in first position, at least part of limit piece is inserted into opening, to block material box and pass through opening;Limit piece is configured to be able to move from first position to second position under the extrusion effect of material box, when limit piece is in second position, limit piece is separated from opening, to pass through opening and move into accommodating cavity for material box;Reset structure is used to drive limit piece from second position to first position.The utility model improves the versatility and compatibility of taking and placing device, also simplify the structure of taking and placing device.

Description

Technical Field

[0001] This utility model relates to the field of intelligent warehousing technology, and in particular to a self-locking limiting type pick-and-place device and robot. Background Technology

[0002] In related technologies, the automated handling of bins generally relies on handling robots in warehouse automation systems. Currently, common handling robots typically use mechanical grippers to hold bins or vacuum suction cups to pick them up. However, such handling robots are often highly dependent on the structural characteristics of the bins. For example, mechanical grippers need to be compatible with the specific structure of the bin, while vacuum suction cups require the bin surface to be flat and without holes. This results in poor versatility for handling robots. Utility Model Content

[0003] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a self-locking limiting type pick-and-place device, which can improve the versatility and compatibility of the pick-and-place device.

[0004] This utility model also proposes a robot that includes the above-mentioned self-locking limiting pick-and-place device.

[0005] According to a first aspect of the present invention, a self-locking limiting pick-and-place device includes: a base and a limiting assembly. The base has a receiving cavity suitable for accommodating a material box, and one side of the base has an opening communicating with the receiving cavity. The limiting assembly includes a reset structure and a limiting member connected to each other. The reset structure is connected to the base. The limiting member has a first position and a second position. When the limiting member is in the first position, at least a portion of the limiting member extends into the opening to prevent the material box from passing through the opening. The limiting member is configured to move from the first position to the second position under the squeezing action of the material box. When the limiting member is in the second position, the limiting member disengages from the opening to allow the material box to move into the receiving cavity through the opening. The reset structure is used to drive the limiting member to move from the second position to the first position.

[0006] The self-locking limiting pick-and-place device according to the embodiments of the present utility model has at least the following beneficial effects: The self-locking limiting pick-and-place device of this utility model embodiment is equipped with a limiting component. When the hopper is pushed into the receiving cavity, its own forward force will squeeze the limiting component, causing it to move from the first position used for blocking to the second position that allows passage. This process is passively triggered and does not require additional control by the pick-and-place device. When the hopper is completely inside the receiving cavity, the squeezing effect on the limiting component disappears, and the reset structure will drive the limiting component back to the first position, thereby blocking the hopper from the outside and preventing it from sliding out of the receiving cavity. This makes the pick-and-place structure no longer sensitive to the structure of the hopper, thus enabling it to handle various hoppers with different shapes and structures. This improves the versatility and compatibility of the pick-and-place device, simplifies the structure of the pick-and-place device, and realizes a reliable and stable hopper pick-and-place operation.

[0007] According to some embodiments of the present invention, the limiting member further has a third position, the limiting component further includes a movable seat, the reset structure is disposed on the movable seat, the limiting member and the movable seat are connected through the reset structure, and the movable seat is used to drive the limiting member to switch between the first position and the third position; When the limiting member is in the third position, the limiting member disengages from the opening, allowing the hopper to be moved out of the receiving cavity through the opening. According to some embodiments of the present invention, the base includes two fork structures arranged opposite to each other along a first direction, the receiving cavity is formed between the two fork structures, and two limiting components are provided, which are correspondingly provided at the ends of the two fork structures near the opening. The two limiting components can move away from each other along the first direction under the squeezing action of the hopper, and can also move towards each other along the first direction under the driving action of the reset structure.

[0008] According to some embodiments of the present invention, the movable seat is provided with a guide hole extending along the first direction, and the reset structure includes an elastic member passing through the guide hole, one end of the elastic member abutting against the bottom wall of the guide hole, and the other end connected to the limiting member. According to some embodiments of the present invention, the limiting member has a guide surface on the side facing away from the receiving cavity, the guide surface is offset toward the receiving cavity along the direction of the limiting member toward the other limiting member, and the limiting member has an abutment surface extending along the first direction on the side facing the receiving cavity, the abutment surface is used to abut against the material box located in the receiving cavity. According to some embodiments of the present invention, the base further includes a first drive assembly, each fork structure includes a clamping plate, the first drive assembly is used to drive the clamping plate to move along a second direction, the second direction is perpendicular to the first direction, the clamping plate is connected to a second drive assembly, the second drive assembly is used to drive the moving seat to drive the limiting member to rotate around the second direction. According to some embodiments of the present invention, the base further includes a limiting rod extending along a first direction, with both ends of the limiting rod connected to the two clamping plates respectively. The limiting rod and the limiting assembly are arranged at intervals along the second direction to form the receiving cavity. The limiting rod is used to abut against the material box located in the receiving cavity to push the material box out of the receiving cavity. According to some embodiments of the present invention, the base further includes a bottom plate disposed between the two fork structures, and the bottom plate is used to support the hopper located in the receiving cavity. According to some embodiments of the present invention, the bottom plate is provided with guide plates on both sides along the first direction, the two guide plates are arranged opposite to each other, the guide plates extend along the second direction and are used to guide the material box into the receiving cavity. The robot according to a second aspect of the present invention includes the self-locking limiting pick-and-place device described in the first aspect embodiment.

[0009] The robot according to the embodiments of this utility model has at least the following beneficial effects: The robot of this utility model adopts the self-locking limiting pick-and-place device of the first aspect embodiment. By optimizing the structural design of the pick-and-place device, not only is the versatility and compatibility of the robot improved, but the efficiency of the robot in picking and placing the material box is also improved.

[0010] According to some embodiments of the present invention, the robot further includes a storage rack and a lifting device. The storage rack includes a plurality of placement platforms spaced apart along its height direction. The lifting device is connected to the self-locking limiting pick-and-place device and is configured to drive the self-locking limiting pick-and-place device to move up and down along the height direction of the storage rack. The self-locking limiting pick-and-place device can place the material box on the placement platform. Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0011] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 This is a schematic diagram of the structure of a robot according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a self-locking limiting type pick-and-place device according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of a limiting component according to an embodiment of the present invention.

[0012] Icon labels: 10 robots; 20 material bins; 1000 self-locking limit pick-and-place device; 2000 storage rack; 2100 storage platform; 3000 lifting device; Base 100; Receiving cavity 110; Opening 111; Fork structure 120; Clamping plate 121; Limiting rod 130; Base plate 140; Guide plate 150; Limiting component 200; reset structure 210; limiting element 220; guide surface 221; abutment surface 222; moving seat 230; guide hole 231. Detailed Implementation

[0013] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0014] In the description of this utility model, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0015] In the description of this utility model, the use of "first" and "second" is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features or the order of the technical features.

[0016] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0017] In related technologies, the automated handling of bins generally relies on handling robots in warehouse automation systems. Currently, common handling robots typically use mechanical grippers to hold bins or vacuum suction cups to pick them up. However, such handling robots are often highly dependent on the structural characteristics of the bins. For example, mechanical grippers need to be compatible with the specific structure of the bin, while vacuum suction cups require the bin surface to be flat and without holes. This results in poor versatility for handling robots.

[0018] To address the aforementioned problems, some embodiments of this utility model propose a self-locking limiting pick-and-place device 1000, suitable for robot 10, which improves the versatility and compatibility of the pick-and-place device. See details below. Figures 1 to 3 The self-locking limit type pick-and-place device 1000 is described below.

[0019] Reference Figures 1 to 3 As shown in the embodiment of this utility model, the self-locking limiting type pick-and-place device 1000 includes: a base 100 and a limiting component. The base 100 is provided with a receiving cavity 110 suitable for accommodating the material box 20, and one side of the base 100 is provided with an opening 111 communicating with the receiving cavity 110. Specifically, the base 100 refers to the main structure that supports the material box 20, which can be implemented using a metal frame. The limiting component refers to the mechanical structure that controls the opening and closing of the material box 20's entry and exit path. The limiting component includes a reset structure 210 and a limiting member 220 connected to each other, and the reset structure 210 is connected to the base 100.

[0020] The limiting member 220 has a first position and a second position. In this embodiment, the first position refers to the state in which the limiting member 220 partially extends into the opening 111 to form a physical block, and the second position refers to the state in which the limiting member 220 completely detaches from the opening 111 and avoids it.

[0021] When the limiting member 220 is in the first position, at least a portion of the limiting member 220 extends into the opening 111 to prevent the hopper 20 from passing through the opening 111. The limiting member 220 is configured to move from the first position to a second position under the pressure of the hopper 20. When the limiting member 220 is in the second position, the limiting member 220 disengages from the opening 111 to allow the hopper 20 to move through the opening 111 into the receiving cavity 110. The reset structure 210 is used to drive the limiting member 220 from the second position to the first position. It should be noted that the reset structure 210 can apply a reset force to the limiting member 220. In one example, the reset structure 210 is a hydraulic system, in which case the reset force is hydraulic pressure; in another example, the reset structure 210 is a spring, in which case the reset force is elastic force.

[0022] Specifically, when the hopper 20 is pushed in through the opening 111, its sidewall contacts the limiting member 220, generating a squeezing force that forces the limiting member 220 to move laterally to the second position. At this time, the opening 111 is fully open, and the hopper 20 can smoothly enter the receiving cavity 110. After the hopper 20 is fully inside, the resetting force of the resetting structure 210 can drive the limiting member 220 to return to the first position, and the front end of the limiting member 220 re-extends into the opening 111 to form a block, preventing the hopper 20 from accidentally sliding out. Compared to existing technologies, traditional grippers require pre-set gripping points and cannot adapt to irregularly shaped hoppers 20, while vacuum suction cups are limited by surface flatness requirements. This invention utilizes the movement of the hopper 20 itself to trigger a limiting mechanism, eliminating the need for pre-set gripping structures or suction surfaces, and is compatible with hoppers 20 of different sizes, shapes, and surface features. The automatic reset characteristic of the limiting component 220 ensures immediate locking after the hopper 20 is positioned, avoiding the need for additional power sources and achieving adaptive limiting control during the hopper 20's loading and unloading process, eliminating dependence on the hopper 20's structure. The limiting component completes opening and closing actions without external energy input, reducing system complexity. The device can stably support the hopper 20 and prevent accidental detachment during transportation, making it suitable for automated handling of diverse hoppers 20 in logistics warehousing.

[0023] The self-locking limiting pick-and-place device 1000 of this utility model embodiment is equipped with a limiting component. When the material box 20 is pushed into the receiving cavity 110, its own forward force will squeeze the limiting member 220, causing it to move from the first position used for blocking to the second position that allows passage. This process is passively triggered and does not require additional control by the pick-and-place device. When the material box 20 is completely inside the receiving cavity 110, the squeezing effect on the limiting member 220 disappears, and the reset structure 210 will drive the limiting member 220 back to the first position, thereby blocking the material box 20 from the outside and preventing it from sliding out of the receiving cavity 110. This makes the pick-and-place structure no longer sensitive to the structure of the material box 20, so that it can be compatible with various material boxes 20 with different shapes and structures, thereby improving the versatility and compatibility of the pick-and-place device, simplifying the structure of the pick-and-place device, and realizing a reliable and stable pick-and-place operation of the material box 20.

[0024] Reference Figures 1 to 3 As shown in this embodiment of the invention, the limiting member 220 also has a third position. The limiting component further includes a movable seat 230, which is a movable part that carries the reset structure 210 and the limiting member 220. The reset structure 210 is disposed on the movable seat 230, and the limiting member 220 and the movable seat 230 are connected through the reset structure 210. The movable seat 230 is used to drive the limiting member 220 to switch between the first position and the third position. The third position refers to another position where the limiting member 220 is completely out of the opening 111 area, which can be specifically achieved through the stroke control of the movable seat 230.

[0025] When the limiting member 220 is in the third position, it disengages from the opening 111, allowing the material box 20 to be moved out of the receiving cavity 110 through the opening 111. Specifically, when the material box 20 needs to be removed from the receiving cavity 110, the moving seat 230 is driven to move along a predetermined trajectory, causing the limiting member 220 to move from the first position blocking the material box 20 to the third position completely disengaged from the opening 111. When the material box 20 moves outward, the state of the limiting member 220 in the third position makes the area of ​​the opening 111 unobstructed, allowing the material box 20 to slide freely along the direction of the opening 111. The movement trajectory of the moving seat 230 can be achieved through a linear guide or a rotating shaft structure, such as using a cylinder-driven slide rail or a servo motor-controlled rack and pinion transmission.

[0026] Reference Figures 1 to 3 As shown, in this embodiment of the present invention, the base 100 includes two fork structures 120 arranged opposite to each other along a first direction, and a receiving cavity 110 is formed between the two fork structures 120, that is, the two fork structures 120 can define the receiving cavity 110. In one example, the first direction is the left-right direction. Two limiting components 200 are provided, and the two limiting components are correspondingly provided at the ends of the two fork structures 120 near the opening 111. In other words, the positions of the limiting components are aligned with the opening 111 ends of the fork structures 120, thereby ensuring that the limiting component 220 can effectively block or release the hopper 20.

[0027] In this embodiment of the invention, the two limiting members 220 can move away from each other along a first direction under the squeezing action of the hopper 20, and can also move towards each other along the first direction under the driving action of the reset structure 210. Specifically, when the hopper 20 enters the receiving cavity 110 from the opening 111, its sidewall will contact the two limiting members 220. The squeezing force of the hopper 20 forces the two limiting members 220 to move in opposite directions along the first direction, thereby disengaging from the opening 111 area and allowing the hopper 20 to fully enter the receiving cavity 110. The reset structure 210 then drives the limiting members 220 to move in the opposite direction to the initial position, restoring the blocking effect on the opening 111. When it is necessary to remove the hopper 20, the limiting members 220 can be driven to switch to a third position by the moving seat 230, disengaging from the opening 111 to release the hopper 20.

[0028] Reference Figures 1 to 3As shown, in this embodiment of the invention, the movable base 230 is provided with a guide hole 231 extending along a first direction. The reset structure 210 includes an elastic member passing through the guide hole 231. One end of the elastic member abuts against the bottom wall of the guide hole 231, and the other end is connected to the limiting member 220. The guide hole 231 refers to a channel structure extending along the first direction on the movable base 230, which can be implemented as a straight through hole. It is used to constrain the movement trajectory of the elastic member and transmit the reset force. In this embodiment, the elastic member can be implemented as a helical spring, disc spring, or rubber component, etc., storing mechanical energy through compression deformation and driving the limiting member 220 to reset after the external force disappears.

[0029] Specifically, when the hopper 20 contacts the limiting member 220, the applied compressive force pushes the limiting member 220 to move along the guide hole 231. At this time, the elastic member is compressed and stores elastic potential energy. When the hopper 20 fully enters the receiving cavity 110, the elastic member releases the stored energy, pushing the limiting member 220 to precisely reset to the blocking position along the guide hole 231. The length direction of the guide hole 231 is consistent with the direction of movement, ensuring that the limiting member 220 always moves along the predetermined trajectory, avoiding jamming caused by deviation.

[0030] Reference Figures 1 to 3 As shown in this embodiment of the invention, the limiting member 220 has a guide surface 221 on the side facing away from the receiving cavity 110. The guide surface 221 is offset towards the receiving cavity 110 along the direction of the limiting member 220 toward the other limiting member 220. The limiting member 220 has an abutment surface 222 extending in a first direction on the side facing the receiving cavity 110. The abutment surface 222 is used to abut against the material box 20 located in the receiving cavity 110. The guide surface 221 refers to the inclined surface on the outer side of the limiting member 220, which can be implemented using a sloped or arc-shaped structure. This inclined direction causes the material box 20 to slide along its surface when moved in, generating a lateral force that pushes the limiting member 220 to move. The abutment surface 222 refers to the plane on the inner side of the limiting member 220, which can be implemented using a contact surface matching the shape of the side wall of the material box 20. This surface is used to form surface contact with the material box 20 in the limiting state, restricting its movement.

[0031] Specifically, when the hopper 20 enters the receiving cavity 110 through the opening 111, its edge contacts the guide surface 221. Under the action of the pushing force of the hopper 20, the guide surface 221 converts part of the pushing force into a lateral component, causing the limiting member 220 to move to the second position along the first direction. At this time, the hopper 20 can completely enter the receiving cavity 110. After the hopper 20 is completely inside, the reset structure 210 drives the limiting member 220 back to the first position. At this time, the abutment surface 222 contacts the side wall of the hopper 20, preventing it from coming out in the opposite direction. When it is necessary to remove the hopper 20, the limiting member 220 moves to the third position, and the abutment surface 222 disengages from the hopper 20, allowing it to be pushed out.

[0032] Reference Figures 1 to 3 As shown in this embodiment of the invention, the base 100 further includes a first drive assembly. Each fork structure 120 includes a clamping plate 121. The first drive assembly is used to drive the clamping plate 121 to move along a second direction, which is perpendicular to the first direction. In one example, the second direction is a front-rear direction. The first drive assembly refers to a mechanical structure capable of providing linear power. Specifically, it can be implemented using a hydraulic cylinder or a motor in conjunction with a transmission component. Its function is to adjust the position of the clamping plate 121 in the second direction to move the clamping plate 121 to both sides of the hopper 20.

[0033] In this embodiment of the invention, the clamping plate 121 is connected to a second driving assembly, which drives the movable seat 230 to rotate the limiting member 220 around a second direction. The second driving assembly refers to a mechanical structure that can provide rotational power, specifically a servo motor or a stepper motor. Its function is to drive the movable seat 230 to rotate around the second direction, thereby changing the angular position of the limiting member 220, and thus moving it into or out of the opening 111.

[0034] Reference Figures 1 to 3 As shown in this embodiment of the invention, the base 100 further includes a limiting rod 130 extending along a first direction. The two ends of the limiting rod 130 are respectively connected to two clamping plates 121. The limiting rod 130 and the limiting assembly are arranged at intervals along a second direction to form a receiving cavity 110. The limiting rod 130 refers to a rod-shaped structure extending along the first direction, which can be implemented using a metal rod or a composite material rod. Its two ends are fixed to the clamping plates 121 by bolts or welding, serving to form a spatial constraint with the limiting assembly in the second direction. The limiting rod 130 abuts against the material box 20 located within the receiving cavity 110 to push the material box 20 out of the receiving cavity 110. Specifically, when the hopper 20 is moved into the receiving cavity 110, the limiting rod 130 contacts the outer surface of the hopper 20, at which point the limiting rod 130 is stationary to maintain the position of the hopper 20. When it is necessary to remove the hopper 20, the first drive assembly drives the clamping plate 121 to move along the second direction, causing the limiting rod 130 to move synchronously. The limiting rod 130 applies a pushing force through its contact surface with the hopper 20, causing the hopper 20 to be pushed out of the receiving cavity 110 along the second direction.

[0035] Reference Figures 1 to 3 As shown in this embodiment of the invention, the base 100 further includes a base plate 140, which is disposed between the two fork structures 120. The base plate 140 is used to support the hopper 20 located in the receiving cavity 110. Specifically, the base plate 140 refers to the load-bearing component disposed between the two fork structures 120, and can be made of metal plate or composite material plate. Its planar dimensions can be adapted to the bottom dimensions of the hopper 20 to provide uniform support. Reference Figures 1 to 3 As shown in this embodiment of the utility model, the bottom plate 140 is provided with guide plates 150 on both sides along the first direction. The two guide plates 150 are arranged opposite to each other. The guide plates 150 extend along the second direction and are used to guide the material box 20 into the receiving cavity 110. Specifically, when the hopper 20 moves into the receiving cavity 110 through the opening 111, the channel formed by the two guide plates 150 can constrain the movement trajectory of the hopper 20. After the edge of the hopper 20 contacts the guide plate 150, the surface of the guide plate 150 extending in the second direction continuously guides the hopper 20, so that the hopper 20 automatically adjusts its position during movement until it is completely inside the receiving cavity 110 surrounded by the two fork structures 120 and the bottom plate 140.

[0036] An embodiment of this utility model also proposes a robot 10, including the self-locking limiting type pick-and-place device 1000 described in the above embodiment.

[0037] The robot 10 of this utility model adopts the self-locking limiting pick-and-place device 1000 of the above embodiment. By optimizing the structural design of the pick-and-place device, not only is the versatility and compatibility of the robot 10 improved, but the pick-and-place efficiency of the material box 20 of the robot 10 is also improved.

[0038] Since the robot 10 adopts all the technical solutions of the self-locking limiting pick-and-place device 1000 of the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be repeated here.

[0039] Reference Figure 1 As shown in the embodiment of this utility model, the robot 10 also includes a storage rack 2000 and a lifting device 3000. The storage rack 2000 includes a plurality of storage platforms 2100 spaced apart along its height direction. Specifically, the storage rack 2000 is a support structure for carrying the material box 20. It has multiple storage platforms 2100 arranged along its height direction. Specifically, it can be realized by a combination structure of metal frame and shelf, and the space utilization rate is improved through the layered design.

[0040] Continue to refer to Figure 1 As shown, in this embodiment of the invention, the lifting device 3000 is connected to the material box 20 conveying device and is configured to drive the material box 20 conveying device to move up and down along the height direction of the storage rack 2000. In other words, the lifting device 3000 refers to the power mechanism that drives the material box 20 conveying device to move vertically, and it can control the lifting height to enable the material box 20 conveying device to accurately reach the target storage platform 2100. Driven by the lifting device 3000, the material box 20 conveying device can place the material box 20 on the storage platform 2100.

[0041] Of course, this utility model is not limited to the above-described embodiments. Those skilled in the art can make equivalent modifications or substitutions without departing from the spirit of this utility model. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A self-locking limiting type pick-and-place device, characterized in that, include: The base (100) is provided with a receiving cavity (110) suitable for accommodating the material box (20), and one side of the base (100) is provided with an opening (111) communicating with the receiving cavity (110). The limiting assembly includes a reset structure (210) and a limiting member (220) connected to each other, wherein the reset structure (210) is connected to the base (100); The limiting member (220) has a first position and a second position. When the limiting member (220) is in the first position, at least a portion of the limiting member (220) extends into the opening (111) to prevent the hopper (20) from passing through the opening (111). The limiting member (220) is configured to move from the first position to the second position under the squeezing action of the hopper (20). When the limiting member (220) is in the second position, the limiting member (220) disengages from the opening (111) so that the hopper (20) can move into the receiving cavity (110) through the opening (111). The reset structure (210) is used to drive the limiting member (220) to move from the second position to the first position.

2. The self-locking limiting type pick-and-place device according to claim 1, characterized in that, The limiting member (220) also has a third position. The limiting component also includes a movable seat (230). The reset structure (210) is disposed on the movable seat (230). The limiting member (220) and the movable seat (230) are connected through the reset structure (210). The movable seat (230) is used to drive the limiting member (220) to switch between the first position and the third position. When the limiting member (220) is in the third position, the limiting member (220) disengages from the opening (111) so that the hopper (20) can be moved out of the receiving cavity (110) through the opening (111).

3. The self-locking limiting type pick-and-place device according to claim 2, characterized in that, The base (100) includes two fork structures (120) arranged opposite each other along a first direction. The receiving cavity (110) is formed between the two fork structures (120). Two limiting components are provided, and the two limiting components are correspondingly provided at the ends of the two fork structures (120) near the opening (111). The two limiting components (220) can move away from each other along the first direction under the squeezing action of the hopper (20), and can also move towards each other along the first direction under the driving action of the reset structure (210).

4. The self-locking limiting type pick-and-place device according to claim 3, characterized in that, The movable seat (230) is provided with a guide hole (231) extending along the first direction. The reset structure (210) includes an elastic member passing through the guide hole (231). One end of the elastic member abuts against the bottom wall of the guide hole (231), and the other end is connected to the limiting member (220).

5. The self-locking limiting type pick-and-place device according to claim 4, characterized in that, The limiting member (220) has a guide surface (221) on the side facing away from the receiving cavity (110). The guide surface (221) is offset towards the receiving cavity (110) along the direction of the limiting member (220) toward the other limiting member (220). The limiting member (220) has an abutment surface (222) extending along the first direction on the side facing the receiving cavity (110). The abutment surface (222) is used to abut against the material box (20) located in the receiving cavity (110).

6. The self-locking limiting type pick-and-place device according to claim 3, characterized in that, The base (100) further includes a first drive assembly. Each fork structure (120) includes a clamp (121). The first drive assembly is used to drive the clamp (121) to move along a second direction, which is perpendicular to the first direction. The clamp (121) is connected to a second drive assembly, which is used to drive the moving seat (230) to rotate the limiting member (220) around the second direction.

7. The self-locking limiting type pick-and-place device according to claim 6, characterized in that, The base (100) further includes a limiting rod (130) extending along a first direction. The two ends of the limiting rod (130) are respectively connected to the two clamps (121). The limiting rod (130) and the limiting assembly are arranged at intervals along the second direction to form the receiving cavity (110). The limiting rod (130) is used to abut against the material box (20) located in the receiving cavity (110) to push the material box (20) out of the receiving cavity (110).

8. The self-locking limiting type pick-and-place device according to claim 6, characterized in that, The base (100) also includes a base plate (140) disposed between the two fork structures (120) and the base plate (140) is used to support the hopper (20) located in the receiving cavity (110).

9. The self-locking limiting type pick-and-place device according to claim 8, characterized in that, The base plate (140) is provided with guide plates (150) on both sides along the first direction. The two guide plates (150) are arranged opposite to each other. The guide plates (150) extend along the second direction and are used to guide the material box (20) into the receiving cavity (110).

10. A robot, characterized in that, Includes the self-locking limiting pick-and-place device as described in any one of claims 1 to 9.

11. The robot according to claim 10, characterized in that, The robot also includes a storage rack (2000) and a lifting device (3000). The storage rack (2000) includes a plurality of placement platforms (2100) spaced apart along its height direction. The lifting device (3000) is connected to the self-locking limiting pick-and-place device and is configured to drive the self-locking limiting pick-and-place device to lift and lower along the height direction of the storage rack (2000). The self-locking limiting pick-and-place device can place the material box (20) on the placement platform (2100).

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