A magazine taking and placing device and magazine taking and placing robot

Abstract

The embodiment of the application provides a material box taking and placing device and a material box taking and placing robot. The material box taking and placing device is applied to the material box taking and placing robot. The material box taking and placing device comprises a taking and placing base, a lifting mechanism and a push plate mechanism. The lifting mechanism is installed on the taking and placing base and comprises a telescopic fork. The telescopic fork has a fixed fork and a movable fork connected with the fixed fork. The fixed fork is fixedly connected with the taking and placing base. One end of the movable fork capable of extending has a lifting platform. The lifting platform is used to extend or retract under the driving of the movable fork, so as to take or place the material box on the goods shelf. The push plate mechanism is arranged on the lifting platform. The push plate mechanism comprises a material box push plate and a push plate driving assembly. The material box push plate protrudes from the lifting platform in the height direction. The push plate driving assembly is connected with the material box push plate and is used to drive the material box push plate to move on the lifting platform along the telescopic direction of the movable fork, so as to push the material box on the lifting platform.

Description

Technical Field

[0001] This application relates to the field of automated warehouse bin handling technology, and in particular to a bin picking and placing device and a bin picking and placing robot. Background Technology

[0002] With the development of the logistics industry, bin handling robots are increasingly being used in cargo handling, improving efficiency. Therefore, bin handling robots have become a research hotspot in the logistics industry. Related bin handling robots include clamping robots and lifting robots.

[0003] The working principle of the lifting robot is to lift the bottom of the material box by the lifting component on the lifting robot, and then lift the material box from the shelf position and pull it back to the robot, or lift the material box on the robot and place it on the shelf position.

[0004] In related technologies, when a lifting robot places a bin on a shelf, there is a problem that there is a large gap between the bin and the rear edge of the shelf, resulting in low loading accuracy. Utility Model Content

[0005] The purpose of this application is to provide a bin loading / unloading device and a bin loading / unloading robot to improve loading accuracy. The specific technical solution is as follows:

[0006] An embodiment of the first aspect of this application provides a bin picking and placing device for use in a bin picking and placing robot. The bin picking and placing device includes: a picking and placing base, a lifting mechanism, and a pusher mechanism. The lifting mechanism, mounted on the picking and placing base, includes a telescopic fork. The telescopic fork has a fixed fork and a movable fork connected thereto. The fixed fork is fixedly connected to the picking and placing base, and the movable fork has a lifting platform at one of its extendable ends. The lifting platform is used to extend or retract under the drive of the movable fork to pick up and place bins on a shelf. The pusher mechanism, disposed on the lifting platform, includes: a bin pusher plate and a pusher drive assembly. The bin pusher plate protrudes from the lifting platform in the height direction. The pusher drive assembly is connected to the bin pusher plate and is used to drive the bin pusher plate to move along the telescopic direction of the movable fork on the lifting platform to push the bins located on the lifting platform.

[0007] In some embodiments, the pusher mechanism further includes: a pusher mounting plate; the hopper pusher and the pusher drive assembly are sequentially mounted on the pusher mounting plate along the retraction direction of the moving fork; the pusher mounting plate is mounted on one side of the lifting platform along the retraction direction of the moving fork and is arranged parallel to the lifting platform; the pusher mounting plate is slidably connected to the lifting platform through a sliding connection structure, so that the pusher mounting plate can slide relative to the lifting platform along the extension and retraction direction of the moving fork; the pusher drive assembly is used to drive the hopper pusher mounted on the pusher mounting plate and the pusher drive assembly to move relative to the lifting platform along the extension and retraction direction of the moving fork.

[0008] In some embodiments, the lifting platform is provided with a gear clearance groove on one side along the retraction direction of the moving fork;

[0009] The push plate drive assembly includes: a push plate drive motor, a drive gear, and a drive rack arranged along the extension and retraction direction of the moving fork;

[0010] The push plate drive motor is fixedly installed on the upper part of the push plate mounting plate, located at one end of the push plate mounting plate along the retraction direction of the moving fork;

[0011] The drive rack is fixedly connected to the bottom of the lifting platform at a position corresponding to the gear clearance groove;

[0012] The output shaft of the push plate drive motor passes through the push plate mounting plate and is fixedly connected to the drive gear.

[0013] The drive gear passes through the gear clearance groove and meshes with the drive rack;

[0014] The output shaft of the push plate drive motor drives the drive gear to rotate along the drive rack, so that the push plate mounting plate drives the material box push plate to move along the telescopic direction.

[0015] In some embodiments, the push plate mounting plate includes a mounting portion, two first connecting portions located at one end of the mounting portion along the retraction direction of the moving fork, and a second connecting portion located between the two first connecting portions;

[0016] The two first connecting parts are located on the two outer sides of the mounting part in the horizontal direction and are connected to the sliding connection structure;

[0017] The output shaft of the push plate drive motor passes through the second connecting part and is fixedly connected to the drive gear.

[0018] In some embodiments, the bin loading and unloading device further includes: a control circuit;

[0019] The control circuit is mounted on the pusher plate mounting plate and is located between the hopper pusher plate and the pusher plate drive assembly.

[0020] A drag chain is provided on the moving fork along the extending direction; one end of the drag chain is fixedly connected to the moving fork.

[0021] The lifting platform has a drag chain clearance groove on one side along the retraction direction of the moving fork, at a position corresponding to the drag chain.

[0022] On the push plate mounting plate, at the position corresponding to the drag chain, a drag chain fixing component is provided;

[0023] One end of the cable chain is fixedly connected to the moving fork, and the other end is fixedly connected to the push plate mounting plate through the cable chain fixing component.

[0024] In some embodiments, the pusher mechanism further includes a sensor assembly mounted on the bottom of the hopper pusher plate. The sensor assembly's probe is located on the side of the hopper pusher plate closer to the hopper. The sensor assembly is used to detect whether the hopper is in contact with the rear limit plate of the shelf compartment.

[0025] In some embodiments, the sensor assembly includes: a sensor push plate, a sensor body, and a sensor base;

[0026] The material box push plate is vertically mounted on the push plate mounting plate by two reinforcing ribs.

[0027] The sensor push plate is fixed to one side of the material box push plate along the direction of the extension of the moving fork, and is used to abut against the material box on the lifting platform;

[0028] The sensor base is fixed to the other side of the material box push plate and is located between the two reinforcing ribs;

[0029] The sensor body is mounted on the sensor base, and the probe is connected to the sensor body;

[0030] Both the hopper push plate and the sensor push plate have sensing through holes at positions corresponding to the sensor body, allowing the probe to extend and detect the hopper on the lifting platform.

[0031] In some embodiments, the moving fork includes a primary moving fork and a secondary moving fork, the primary moving fork being slidably connected to the fixed fork, and the secondary moving fork being slidably connected to the primary moving fork; the lifting platform is mounted on the top surface of the secondary moving fork so that the secondary moving fork drives the lifting platform to extend or retract; the end of the push plate mounting plate of the push plate mechanism is provided with a positioning detection photoelectric sensor; the end of the secondary moving fork is provided with a T-shaped photoelectric baffle, which is used to trigger the positioning detection photoelectric sensor when the push plate mechanism is in the retracted state.

[0032] In some embodiments, the outermost end of the lifting platform is provided with a hook that can engage with the rear limiting edge groove of the shelf compartment. The hook and the push plate mechanism work together to clamp the material box of the shelf compartment.

[0033] An embodiment of the second aspect of this application provides a bin-handling robot, including: the bin-handling device described above.

[0034] The bin picking and placing device provided in this application embodiment has a lifting mechanism with a movable fork that extends to deliver goods from the bin picking and placing robot lifting platform to the shelf position. The push plate drive assembly drives the bin push plate to move in the direction close to the shelf so that the bin can accurately fall into the shelf position, thereby improving the placement accuracy.

[0035] Of course, any product implementing this application does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0037] Figure 1a This is an axonometric view (not showing the bin stop) taken up or placed by the bin-taking and placing device provided in this application embodiment at one angle.

[0038] Figure 1b for Figure 1a Axonometric view of the material bin loading and unloading device shown (showing the material bin stop);

[0039] Figure 1c for Figure 1b Enlarged view of the material bin loading and unloading device at point A (showing the material bin stop);

[0040] Figure 2a for Figure 1aAxonometric view of the hopper loading and unloading device from another angle (hopper stop not shown);

[0041] Figure 2b for Figure 2a Axonometric view of the material bin loading and unloading device shown (showing the material bin stop);

[0042] Figure 3 for Figure 1a The isometric view of one angle between the lifting mechanism and the push plate mechanism in the material box picking and placing device shown (moving fork not shown);

[0043] Figure 4a for Figure 1a Exploded view of the material bin loading and unloading device shown;

[0044] Figure 4b for Figure 4a Exploded view of the push plate mechanism and the lifting mechanism in the material box picking and placing device shown;

[0045] Figure 4c for Figure 4b A partial enlarged view of the secondary moving fork in the material bin loading and unloading device shown;

[0046] Figure 4d for Figure 4b A bottom view of the material box handling device after the push plate mechanism and the lifting mechanism are connected.

[0047] Figure 4e for Figure 4a An enlarged view of point B in the material bin loading and unloading device shown;

[0048] Figure 5a for Figure 3 Exploded view of the lifting mechanism and the pusher mechanism shown;

[0049] Figure 5b for Figure 5a Exploded view of the pusher mechanism shown (lifting platform not shown);

[0050] Figure 6a for Figure 1a Side sectional view of the material bin loading and unloading device shown (material bin stop not shown);

[0051] Figure 6b for Figure 1b The diagram shows a side sectional view of the material bin loading and unloading device.

[0052] Figure 7a for Figure 3 The isometric view of the lifting mechanism and the push plate mechanism from another angle;

[0053] Figure 7b for Figure 3 The isometric view of the lifting mechanism and the push plate mechanism shown (the lifting platform is not shown);

[0054] Figure 8 This is an axonometric view of the bin-handling robot provided in an embodiment of this application;

[0055] Figure 9 This is an isometric view of the shelf and bin in the embodiments of this application;

[0056] Figure 10 This is an axonometric view of the shelf in an embodiment of this application.

[0057] Figure label:

[0058] Pick-up and drop-off base 100; material bin 101; material bin stop 102;

[0059] Lifting mechanism 200; telescopic fork 210; fixed fork 211; moving fork 212; primary moving fork 212a; secondary moving fork 212b; connecting plate 21201; slide rail connecting part 21201a; rack receiving hole 21201b; lifting platform 2120; gear clearance groove 2121; cable chain clearance groove 2122; hook 2123; telescopic drive device 213;

[0060] Push plate mechanism 300; hopper push plate 310; sensing through hole 311; position detection photoelectric sensor 312; detector wiring harness 3121; photoelectric baffle 313; push plate drive assembly 320; push plate drive motor 321; drive gear 322; drive rack 323; push plate mounting plate 330; mounting part 331; first connecting part 332; second connecting part 333; drag chain fixing part 334; sliding connection structure 340; guide rail 341; rail limit block 3411; guide slider 342; rail connector 343; sensor assembly 350; sensor push plate 351; sensor body 352; sensor base 353; reinforcing rib plate 360;

[0061] Control circuit 400; cable chain 410;

[0062] Clamping mechanism 500; clamping plate 510; bellows cover 520;

[0063] Shelf 600; Storage space 601; Rear limit plate 610;

[0064] 700 gantry connecting seat; 720 mobile chassis; 730 gantry; 740 lifting mechanism. Detailed Implementation

[0065] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0066] An embodiment of the first aspect of this application provides a bin loading and unloading device, applied to a bin loading and unloading robot, such as... Figure 1a , Figure 1b and Figure 2a , Figure 2b , Figure 3 As shown, Figure 1a This is an axonometric view (not showing the bin stop) taken up or placed by the bin-taking and placing device provided in this application embodiment at one angle. Figure 1b for Figure 1a Axonometric view of the material bin loading and unloading device shown (showing the material bin stop); Figure 1c for Figure 1b Enlarged view of the material bin loading and unloading device at point A (showing the material bin stop); Figure 2a for Figure 1a The axial view of the hopper loading and unloading device from another angle (hopper stop not shown); Figure 2b for Figure 2a Axonometric view of the material bin loading and unloading device shown (showing the material bin stop); Figure 3 for Figure 1a The diagram shows an isometric view of the lifting mechanism and the pusher mechanism at one angle in the bin handling device (the moving fork is not shown). The bin handling device includes: a handling base 100, a lifting mechanism 200, and a pusher mechanism 300. The lifting mechanism 200 is mounted on the handling base 100 and includes a telescopic fork 210. The telescopic fork 210 has a fixed fork 211 and a moving fork 212 connected thereto. The fixed fork 211 is fixedly connected to the handling base 100, and the end of the moving fork 212 that can extend has a lifting platform 2120. The lifting platform 2120... The push plate mechanism 300, which is used to extend or retract under the drive of the moving fork 212 to pick up and put down the material box 101 on the shelf 600; the push plate mechanism 300 is disposed on the lifting platform 2120 and includes: a material box push plate 310 and a push plate drive assembly 320; the material box push plate 310 protrudes from the lifting platform 2120 in the height direction; the push plate drive assembly 320 is connected to the material box push plate 310 and is used to drive the material box push plate 310 to move along the extension and retraction direction of the moving fork 212 on the lifting platform 2120 to push the material box located on the lifting platform 2120.

[0067] The bin picking and placing device provided in this application embodiment has a movable fork of the lifting mechanism 200 that extends to deliver goods on the bin picking and placing robot lifting platform 2120 to the storage position of the shelf 600. The push plate drive assembly 320 drives the bin push plate 310 to move in a direction close to the shelf 600 so that the bin 101 can accurately fall into the storage position of the shelf 600, thereby improving the placement accuracy.

[0068] In this embodiment, as Figure 1a , Figure 1b and Figure 2a , Figure 2b , Figure 3 As shown, the push plate mechanism 300 further includes: a push plate mounting plate 330; a hopper push plate 310 and a push plate drive assembly 320, which are sequentially mounted on the push plate mounting plate 330 along the retraction direction of the moving fork 212; the push plate mounting plate 330 is mounted on one side of the lifting platform 2120 along the retraction direction of the moving fork 212 and is arranged parallel to the lifting platform 2120; the push plate mounting plate 330 is slidably connected to the lifting platform 2120 through a sliding connection structure 340, so that the push plate mounting plate 330 can slide relative to the lifting platform 2120 along the extension and retraction direction of the moving fork 212; the push plate drive assembly 320 is used to drive the hopper push plate 310 mounted on the push plate to move relative to the lifting platform 2120 along the extension and retraction direction of the moving fork 212.

[0069] In this embodiment, the hopper push plate 310 and the push plate drive assembly 320 are integrated on the push plate mounting plate 330, resulting in a compact structure. Since the push plate mounting plate 330 is mounted on one side of the lifting platform 2120 along the retraction direction of the moving fork 212, sufficient space is provided for the hopper on the side of the lifting platform 2120 along the extension direction of the moving fork 212. The push plate drive assembly 320 drives the hopper push plate 310 mounted on the push plate to move relative to the lifting platform 2120 along the extension direction of the moving fork 212, thereby causing the hopper push plate 310 to push the hopper, allowing the hopper to fit snugly against the rear limit of the rack 600 bay, thus improving the hopper's dispensing accuracy.

[0070] In this embodiment, as Figure 4a , Figure 4b , Figure 4c , Figure 4d and Figure 5a , Figure 5b As shown, Figure 4a for Figure 1a Exploded view of the material bin loading and unloading device shown; Figure 4b for Figure 4a Exploded view of the push plate mechanism and the lifting mechanism in the material box picking and placing device shown; Figure 4c for Figure 4b A partial enlarged view of the secondary moving fork in the material bin loading and unloading device shown; Figure 4d for Figure 4bA bottom view of the material box handling device after the push plate mechanism and the lifting mechanism are connected. Figure 4e for Figure 4a An enlarged view of point B in the material bin loading and unloading device shown; Figure 5a for Figure 3 Exploded view of the lifting mechanism and the pusher mechanism shown; Figure 5b for Figure 5a An exploded view of the pusher mechanism shown (lifting platform not shown); the lifting platform 2120 has a gear clearance groove 2121 on one side along the retraction direction of the moving fork 212; the pusher drive assembly 320 includes: a pusher drive motor 321, a drive gear 322, and a drive rack 323 arranged along the extension direction of the moving fork; the pusher drive motor 321 is fixedly installed on the upper part of the pusher mounting plate 330, located at one end of the pusher mounting plate 330 along the retraction direction of the moving fork 212; the drive... The rack 323 is fixedly connected to the bottom of the lifting platform 2120 at a position corresponding to the gear clearance groove 2121; the output shaft of the push plate drive motor 321 passes through the push plate mounting plate 330 and is fixedly connected to the drive gear 322; the drive gear 322 passes through the gear clearance groove 2121 and meshes with the drive rack 323; the output shaft of the push plate drive motor 321 drives the drive gear 322 to rotate along the drive rack 323, so that the push plate mounting plate 330 drives the material box push plate 310 to move in the telescopic direction.

[0071] In this embodiment, the gear clearance groove 2121 provided on the lifting platform 2120 provides clearance space for the drive gear 322 when the push plate drive motor 321 drives the drive gear 322 to rotate, preventing interference between the drive gear 322 and the lifting platform 2120, thus optimizing the structure. The outer shell of the push plate drive motor 321 and the drive gear 322 are located on the upper and lower sides of the push plate mounting plate 330, respectively, making full use of the space on both sides of the push plate mounting plate 330, resulting in a reasonable layout. The advantages of the gear and rack meshing transmission method include: high transmission efficiency, high transmission accuracy, simple maintenance, large load-bearing capacity, accurate transmission ratio, long service life, and high reliability. Through the meshing transmission of the drive gear 322 and the drive rack 323, the push plate mounting plate 330 moves more smoothly and accurately in the telescopic direction.

[0072] In this embodiment, as Figure 4a , Figure 4b and Figure 5a , Figure 5b As shown, the sliding connection structure 340 includes two guide rails 341 and two guide sliders 342; the two guide rails 341 are fixedly installed on both sides of the lifting platform 2120 along the telescopic direction and are located below the lifting platform 2120; the two guide sliders 342 are slidably connected to the two guide rails 341 respectively and fixedly connected to the push plate mounting plate 330.

[0073] In this embodiment, by setting the guide rail 341 and guide slider 342 structure, the push plate mounting plate 330 moves more smoothly and accurately, which plays a good guiding role in the movement of the push plate mounting plate 330, preventing the push plate mounting plate 330 from deviating during the movement, thereby improving the accuracy and stability of the material box push plate 310 pushing the material box.

[0074] In this embodiment, as Figure 4a and Figure 5a As shown, the push plate mounting plate 330 includes a mounting part 331, two first connecting parts 332 located at one end of the mounting part 331 along the retraction direction of the moving fork 212, and a second connecting part 333 located between the two first connecting parts 332; the two first connecting parts 332 are located on the two outer sides of the mounting part 331 in the horizontal direction and are connected to the sliding connection structure 340; specifically, the tops of the two guide sliders 342 are fixedly connected to the bottoms of the two first connecting parts 332 respectively, and the bottoms of the two guide sliders 342 are slidably engaged with the two guide rails 341 respectively; the output shaft of the push plate drive motor 321 passes through the second connecting part 333 and is fixedly connected to the drive gear 322.

[0075] In this embodiment, as Figure 4a and Figure 5a As shown, the material box push plate 310 is mounted on the mounting part 331, and two first connecting parts 332 protrude from the two sides of the mounting part 331 respectively. This arrangement allows the mounting part 331 to be narrower, reducing the space occupied in the width direction, resulting in a reasonable structure and reducing the weight of the push plate mounting plate 330. Specifically, a weight-reducing groove is provided between the first connecting part 332 and the second connecting part 333. This groove further reduces the weight of the push plate mounting plate 330, making it more compact and lightweight, thus making the material box loading and unloading device more convenient.

[0076] In this embodiment, as Figure 1a , Figure 1c and Figure 4b , Figure 4e The moving fork 212 includes a primary moving fork 212a and a secondary moving fork 212b. The primary moving fork 212a is slidably connected to the fixed fork 211, and the secondary moving fork 212b is slidably connected to the primary moving fork 212a. The lifting platform 2120 is installed on the top surface of the secondary moving fork 212b so that the secondary moving fork 212b drives the lifting platform to extend or retract. The end of the push plate mounting plate 330 of the push plate mechanism is provided with a positioning detection photoelectric sensor 312. The end of the secondary moving fork 212b is provided with a Z-shaped photoelectric baffle 313, which is used to trigger the positioning detection photoelectric sensor 312 when the push plate mechanism is in the retracted state.

[0077] In this embodiment, the Z-shaped photoelectric baffle 313 is located at the end of the secondary moving fork 212b, and the position detection photoelectric sensor 312 is a slotted photoelectric sensor. When the push plate mounting plate 330 of the push plate mechanism moves along the extension and retraction direction of the moving fork 212 and approaches the end of the secondary moving fork 212b, that is, when the push plate mechanism retracts, the Z-shaped photoelectric baffle 313 can trigger the position detection photoelectric sensor 312 to detect the position of the push plate mounting plate 330, and then detect whether the push plate mechanism is in the extended state or the retracted state, thereby further improving the intelligence of the hopper loading and unloading device.

[0078] It should be noted that the "end" of the push plate mounting plate 330 refers to the end of the push plate mounting plate 330 near the fixed fork 211. Specifically, the positioning detection photoelectric sensor 312 is located on the first connecting part 332 of the push plate mounting plate 330.

[0079] More specifically, the position detection photoelectric sensor 312 is equipped with a detector harness 3121, which can be connected to an external power supply.

[0080] The telescopic fork 210 also has a telescopic drive device 213, which is used to drive the primary moving fork 212a and the secondary moving fork 212b to extend outward; when the moving fork 212 extends outward, the secondary moving fork 212b is located at the end of the primary moving fork 212a away from the fixed fork 211.

[0081] Specifically, such as Figure 4a and Figure 4b As shown, the top of the secondary moving fork 212b is provided with a connecting plate 21201, and the top of the connecting plate 21201 is fixedly connected to the lifting platform 2120; on both sides of the connecting plate 21201 along the extension and retraction direction of the moving fork 212, two slide rail connecting parts 21201a extend out respectively, and two guide slide rails 341 are fixedly connected to the top of the two slide rail connecting parts 21201a respectively.

[0082] Specifically, such as Figure 4a and Figure 4b , Figure 5a and Figure 5b As shown, a slide rail connector 343 is also provided between the slide rail connecting part 21201a and the guide slide rail 341, and the guide slide rail 341 is fixedly connected to the slide rail connecting part 21201a through the slide rail connector 343.

[0083] More specifically, such as Figure 4a and Figure 4b , Figure 4e , Figure 5a and Figure 5bAs shown, a slide rail limiting block 3411 is provided at the end of the slide rail connector 343. The slide rail limiting block 3411 is used to prevent the guide slider 342 from falling off the end of the guide slide rail 341. It should be noted that the slide rail limiting block 3411 can be provided on only one side of the slide rail connector 343. Since the guide sliders 342 on the two guide slide rails 341 are in corresponding positions, when the slide rail limiting block 3411 limits the guide slider 342 on one side of the guide slide rail 341, it can also limit the guide slider 342 on the other side of the guide slide rail 341.

[0084] More specifically, such as Figure 4a , Figure 4b , Figure 4c and Figure 4d As shown, the connecting plate 21201 is provided with a rack receiving hole 21201b, and the driving rack 323 is located in the rack receiving hole 21201b and is fixedly connected to the connecting plate 21201.

[0085] In this embodiment, as Figure 2a , Figure 4a , Figure 6a and Figure 7a , Figure 7b As shown, Figure 6a for Figure 1a Side sectional view of the material bin loading and unloading device shown (material bin stop not shown); Figure 6b for Figure 1b The diagram shows a side sectional view of the material bin loading and unloading device. Figure 7a for Figure 3 Another angle of the lifting mechanism and the push plate mechanism shown; Figure 7b for Figure 3 The diagram shows the isometric view of the lifting mechanism and the pusher mechanism (lifting platform not shown); the hopper loading and unloading device also includes: a control circuit 400; the control circuit 400 is mounted on the pusher mounting plate 330 and located between the hopper pusher plate 310 and the pusher drive assembly 320; a drag chain 410 is provided on the moving fork 212 along the extending direction; one end of the drag chain 410 is fixedly connected to the moving fork 212; a drag chain clearance groove 2122 is provided on the side of the lifting platform 212 along the retraction direction of the moving fork 212, corresponding to the position of the drag chain 410; a drag chain fixing member 334 is provided on the pusher mounting plate 330, corresponding to the position of the drag chain 410; one end of the drag chain 410 is fixedly connected to the moving fork 212, and the other end is fixedly connected to the pusher mounting plate 330 through the drag chain fixing member 334.

[0086] In this embodiment, the control circuit 400 is mounted on the pusher plate mounting plate 330, specifically on the mounting portion 331 of the pusher plate mounting plate 330, located between the hopper pusher plate 310 and the pusher drive assembly 320. This fully utilizes the space between the hopper pusher plate 310 and the pusher drive assembly 320. The control circuit 400 and the hopper pusher plate 310 are integrated on the mounting portion 331 of the pusher plate mounting plate 330, resulting in a compact structure. The cable chain 410 provides physical protection for the cables of the control circuit 400, preventing them from being affected by external environment, mechanical damage, or chemical corrosion, thereby extending the service life of the cables or pipelines and reducing maintenance and replacement costs. The cable chain 410 also reduces cable friction and wear, prevents interference, improves the aesthetics of the equipment, and reduces the failure rate. One end of the cable chain 410 is fixedly connected to the moving fork 212, and the other end is fixedly connected to the pusher plate mounting plate 330. When the pusher plate mounting plate 330 moves along the extension and retraction direction of the moving fork 212, the cable chain 410 can follow the movement of the equipment, providing better flexibility.

[0087] In this embodiment, as Figure 3 and Figure 5a As shown, the push plate mechanism 300 also includes a sensor assembly 350. The sensor assembly 350 is installed at the bottom of the material box push plate 310. The probe of the sensor assembly 350 is located on the side of the material box push plate 310 near the material box. The sensor assembly 350 is used to detect whether the material box is in contact with the rear limit plate 610 of the shelf 600.

[0088] In this embodiment, the sensor assembly 350 can detect whether the material box is in contact with the rear limit plate 610 of the shelf 600. Specifically, the probe of the sensor assembly 350 can sense the pressure from the material box, and the sensor assembly 350 stores a preset pressure value. When the material box is not in contact with the rear limit plate 610 of the shelf 600, the pressure sensed by the probe is less than the preset pressure value. When the material box pusher 310 starts to push the material box, the probe of the sensor assembly 350 starts to detect the pressure from the material box. During the process of the material box pusher 310 pushing the material box, the sensor probe continues to detect until the material box is in contact with the rear limit plate 610 of the shelf 600, and the pressure sensed by the probe is equal to or greater than the preset pressure value. When the pressure sensed by the probe is equal to or greater than the preset pressure value, the pusher drive assembly 320 stops driving the material box to prevent the material box from being squeezed and damaged. In addition, the sensor assembly 350 is installed at the bottom of the hopper push plate 310, which is suitable for hoppers of different heights. Even if the hopper is smaller in the height direction, it can still be detected by the sensor probe.

[0089] In this embodiment, as Figure 3 and Figure 5aAs shown, the sensor assembly 350 includes: a sensor push plate 351, a sensor body 352, and a sensor base 353; a hopper push plate 310 is vertically mounted on a push plate mounting plate 330 via two reinforcing ribs 360; the sensor push plate 351 is fixed to one side of the hopper push plate 310 along the direction of the extending fork 212, for contacting and connecting with the hopper on the lifting platform 2120; the sensor base 353 is fixed to the other side of the hopper push plate 310, located between the two reinforcing ribs 360; the sensor body 352 is mounted on the sensor base 353, and the probe is connected to the sensor body 352; both the hopper push plate 310 and the sensor push plate 351 have sensing through holes 311 at positions corresponding to the sensor body 352, for extending the probe to detect the hopper on the lifting platform 2120.

[0090] In this embodiment, the material box push plate 310 is vertically installed on the push plate mounting plate 330 by two reinforcing ribs 360, and the two reinforcing ribs are respectively close to the two vertical sides of the material box push plate 310. The setting of the reinforcing ribs 360 can increase the connection strength and rigidity between the material box push plate 310 and the push plate mounting plate 330 and disperse stress. The reinforcing ribs 360 are triangular, with the longer right-angled side connected to the material box push plate 310, and can also provide support for the material box push plate 310.

[0091] In this embodiment, as Figure 4a As shown, the outermost end of the lifting platform 2120 is provided with a hook 2123, which can cooperate with the rear limit edge groove of the shelf 600. The hook 2123 cooperates with the push plate mechanism 300 to clamp the material box of the shelf 600.

[0092] In some embodiments, such as Figure 1a and Figure 2a , Figure 2b As shown, the bin picking and placing device also includes a clamping mechanism 500 and a lifting mechanism 200, which is installed at the top center of the picking and placing base 100. The clamping mechanism 500 includes two clamping plates 510 and a clamping plate driving mechanism (not shown in the figure). The two clamping plates 510 are spaced apart on both sides of the lifting mechanism 200 along the direction perpendicular to the telescopic direction. The two clamping plates 510 are connected to the fixed fork 211 of the telescopic fork 210 of the lifting mechanism 200 through the bellows cover 520 on both sides of the lifting mechanism 200. The clamping plate driving mechanism is used to drive the two clamping plates 510 to move closer to each other or further away from each other. The bin is located between the two clamping plates 510.

[0093] In this embodiment, the two clamping plates 510 of the clamping mechanism 500 are used to clamp the material box, preventing it from falling off and also centering it to adjust its alignment. The clamping plate driving mechanism can drive the two clamping plates 510 to move closer to or further away from each other, making it suitable for material boxes of different sizes and improving the versatility of the clamping mechanism 500. The bellows cover 520 provides dust and water protection for the clamping plate driving mechanism, extending its service life.

[0094] Specifically, such as Figure 1b and Figure 2b On one side of the pick-up and drop-off base 100, there is also a material box stop 102, which is used to prevent the material box from falling off the pick-up and drop-off base 100.

[0095] An embodiment of the second aspect of this application provides a bin-handling robot, such as... Figure 1a , Figure 8 , Figure 9 and Figure 10 As shown, Figure 8 This is an axonometric view of the bin-handling robot provided in an embodiment of this application; Figure 9 This is an isometric view of the shelf and bin in the embodiments of this application; Figure 10 This is an axonometric view of the shelf in an embodiment of this application; the bin picking and placing robot includes the bin picking and placing device in the above embodiments.

[0096] The bin picking and placing robot provided in this application embodiment has a movable fork of the lifting mechanism 200 in the bin picking and placing device that can deliver the goods on the lifting platform 2120 of the bin picking and placing robot to the storage position of the shelf 600. The push plate drive assembly 320 drives the bin push plate 310 to move in the direction close to the shelf 600 so that the bin can fall accurately into the storage position 601 of the shelf 600, thereby improving the placement accuracy.

[0097] Specifically, such as Figure 8 As shown, the bin picking and placing robot also has a gantry connecting seat 700, a mobile chassis 720, a gantry 730, and a lifting mechanism 740. The gantry is fixedly installed on the mobile chassis, and the lifting mechanism can reciprocate along the height direction of the gantry. The gantry connecting seat is located at the bottom of the picking and placing base 100 and is fixedly connected to the picking and placing base 100. The gantry connecting seat is also fixedly connected to the lifting mechanism. The lifting mechanism drives the gantry connecting seat and the picking and placing base 100 to move up and down so that the lifting mechanism 200 can be aligned with the bins 601 at different heights on the shelf 600.

[0098] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A material bin loading and unloading device, characterized in that, The bin picking and placing device is applied to a bin picking and placing robot and includes: a picking and placing base (100), a lifting mechanism (200), and a pushing plate mechanism (300). The lifting mechanism (200) is mounted on the pick-up and drop-off base (100) and includes a telescopic fork (210). The telescopic fork (210) has a fixed fork (211) and a movable fork (212) connected thereto. The fixed fork (211) is fixedly connected to the pick-and-place base (100). The movable fork (212) has a lifting platform (2120) at one end that can extend outward. The lifting platform (2120) is used to extend or retract under the drive of the movable fork (212) to pick up and place the material box on the shelf (600). The push plate mechanism (300), disposed on the lifting platform (2120), includes: a material box push plate (310) and a push plate drive assembly (320); the material box push plate (310) protrudes from the lifting platform (2120) in the height direction; the push plate drive assembly (320) is connected to the material box push plate (310) and is used to drive the material box push plate (310) to move along the extension and retraction direction of the moving fork (2120) on the lifting platform (2120) to push the material box located on the lifting platform (2120).

2. The material bin loading and unloading device according to claim 1, characterized in that, The push plate mechanism (300) further includes: a push plate mounting plate (330); the hopper push plate (310) and the push plate drive assembly (320) are sequentially mounted on the push plate mounting plate (330) along the direction of retraction of the moving fork (212); The push plate mounting plate (330) is installed on one side of the lifting platform (2120) along the direction of retraction of the moving fork (212), and is arranged parallel to the lifting platform (2120); The push plate mounting plate (330) is slidably connected to the lifting platform (2120) through a sliding connection structure (340), so that the push plate mounting plate (330) can slide relative to the lifting platform (2120) along the extension and retraction direction of the moving fork (212); The push plate drive assembly (320) is used to drive the push plate mounting plate and the hopper push plate (310) on it to move relative to the lifting platform (2120) along the extension and retraction direction of the moving fork (212).

3. The material bin loading and unloading device according to claim 2, characterized in that, The lifting platform (2120) is provided with a gear clearance groove (2121) on one side along the retraction direction of the moving fork (212). The push plate drive assembly (320) includes: a push plate drive motor (321), a drive gear (322), and a drive rack (323) arranged along the extension and retraction direction of the moving fork. The push plate drive motor (321) is fixedly installed on the upper part of the push plate mounting plate (330) and located at one end of the push plate mounting plate (330) along the retraction direction of the moving fork (212); The drive rack (323) is fixedly connected to the bottom of the lifting platform (2120) at the position corresponding to the gear clearance groove (2121); The output shaft of the push plate drive motor (321) passes through the push plate mounting plate (330) and is fixedly connected to the drive gear (322); The drive gear (322) passes through the gear clearance groove (2121) and meshes with the drive rack (323); The output shaft of the push plate drive motor (321) drives the drive gear (322) to rotate along the drive rack (323), so that the push plate mounting plate (330) drives the material box push plate (310) to move along the telescopic direction.

4. The material bin loading and unloading device according to claim 3, characterized in that, The push plate mounting plate (330) includes a mounting part (331), two first connecting parts (332) located at one end of the mounting part (331) along the retraction direction of the moving fork (212), and a second connecting part (333) located between the two first connecting parts (332). The two first connecting parts (332) are located on the two outer sides of the mounting part (331) in the horizontal direction and are connected to the sliding connection structure (340); The output shaft of the push plate drive motor (321) passes through the second connecting part (333) and is fixedly connected to the drive gear (322).

5. The material bin loading and unloading device according to claim 2, characterized in that, The material bin loading and unloading device further includes: a control circuit (400). The control circuit (400) is mounted on the push plate mounting plate (330) and is located between the hopper push plate (310) and the push plate drive assembly (320); A drag chain (410) is provided on the moving fork (212) along the extending direction; one end of the drag chain (410) is fixedly connected to the moving fork (212); The lifting platform (2120) is provided with a drag chain clearance groove (2122) on one side along the retraction direction of the moving fork (212) and at the position corresponding to the drag chain (410). On the push plate mounting plate (330), at the position corresponding to the drag chain (410), a drag chain fixing member (334) is provided. One end of the cable chain (410) is fixedly connected to the moving fork (212), and the other end is fixedly connected to the push plate mounting plate (330) through the cable chain fastener (334).

6. The material bin loading and unloading device according to claim 2, characterized in that, The push plate mechanism (300) also includes a sensor assembly (350), which is installed at the bottom of the hopper push plate (310). The probe of the sensor assembly (350) is located on the side of the hopper push plate (310) near the hopper. The sensor assembly (350) is used to detect whether the hopper is in contact with the rear limit plate (610) of the shelf (600) position.

7. The material bin loading and unloading device according to claim 6, characterized in that, The sensor assembly (350) includes: a sensor push plate (351), a sensor body (352), and a sensor base (353). The material box push plate (310) is vertically installed on the push plate mounting plate (330) by two reinforcing ribs (360); The sensor push plate (351) is fixed to one side of the material box push plate (310) in the direction of the extension of the moving fork (212) and is used to abut against the material box on the lifting platform (2120); The sensor base (353) is fixed to the other side of the material box push plate (310) and is located between the two reinforcing ribs (360); The sensor body (352) is mounted on the sensor base (353), and the probe is connected to the sensor body (352); Both the hopper push plate (310) and the sensor push plate (351) are provided with sensing through holes (311) at positions corresponding to the sensor body (352), which are used to extend the probe to detect the hopper on the lifting platform (2120).

8. The material bin loading and unloading device according to claim 2, characterized in that, The movable fork (212) includes a primary movable fork (212a) and a secondary movable fork (212b). The primary movable fork (212a) is slidably connected to the fixed fork (211), and the secondary movable fork (212b) is slidably connected to the primary movable fork (212a). The lifting platform (2120) is installed on the top surface of the secondary movable fork (212b) so that the secondary movable fork (212b) drives the lifting platform (2120) to extend or retract. The end of the push plate mounting plate (330) of the push plate mechanism (300) is provided with a position detection photoelectric sensor (312). The end of the secondary moving fork (212b) is provided with a Z-shaped photoelectric baffle (313), which is used to trigger the position detection photoelectric sensor (312) when the push plate mechanism is in the retracted state.

9. The material bin loading and unloading device according to claim 1, characterized in that, The outermost end of the lifting platform (2120) is provided with a hook, which can cooperate with the rear limit edge groove of the shelf (600) compartment. The hook and the push plate mechanism (300) cooperate to clamp the material box of the shelf (600) compartment.

10. A bin-handling robot, characterized in that, include: The bin loading and unloading device according to any one of claims 1-9.

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