A magazine taking and placing device, a supporting rod mechanism and a magazine taking and placing robot

Abstract

The embodiment of the application provides a material box taking and placing device, a supporting rod mechanism and a material box taking and placing robot. The material box taking and placing device comprises a taking and placing mechanism and a supporting rod mechanism. The taking and placing mechanism comprises a taking and placing base, a telescopic taking and placing assembly and a material box bearing platform. The telescopic taking and placing assembly is arranged on the taking and placing base and can be telescopically extended relative to the taking and placing base to take a material box on a goods shelf to the material box bearing platform or move the material box on the material box bearing platform to the goods shelf. The supporting rod mechanism comprises a supporting rod mounting seat, a supporting rod driving assembly and at least two telescopic supporting rods. The supporting rod mounting seat is arranged below the taking and placing base. The supporting rod driving assembly is arranged on the supporting rod mounting seat and drives the at least two telescopic supporting rods to extend or retract, so that the at least two telescopic supporting rods support the material box taking and placing device between two adjacent goods shelves in the extended state.

Description

Technical Field

[0001] This application relates to the field of warehousing and logistics technology, and in particular to a bin picking and placing device, a support mechanism, and a bin picking and placing robot. Background Technology

[0002] In warehousing systems, handling robots are the main equipment that enables automated handling operations, thereby reducing the burden of heavy manual labor on humans.

[0003] In related technologies, material handling robots typically include a gantry and a bin-picking / placing device. The bin-picking / placing device can move vertically along the gantry to pick up and place bins at different heights. During the picking and placing process, the device needs to drag the bins, which in turn experiences friction from the rack. This friction is further transmitted to the bin-picking / placing device on the gantry. This causes significant swaying of the gantry, affecting normal picking and placing operations and thus impacting efficiency. Utility Model Content

[0004] The purpose of this application is to provide a bin loading / unloading device, a strut mechanism, and a bin loading / unloading robot to solve the problem in the prior art where the gantry shakes significantly during the loading / unloading process, leading to reduced efficiency. The specific technical solution is as follows:

[0005] 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 comprising: a picking and placing mechanism and a support rod mechanism;

[0006] The picking and placing mechanism includes: a picking and placing base, a telescopic picking and placing component, and a bin carrying platform; wherein, the bin carrying platform is disposed on the picking and placing base; the telescopic picking and placing component is disposed on the picking and placing base and can extend and retract relative to the picking and placing base to pick up the bins on the shelf and return them to the bin carrying platform, or to move the bins on the bin carrying platform to the shelf;

[0007] The strut mechanism includes: a strut mounting base, a strut drive assembly, and at least two telescopic support rods; the strut mounting base is disposed below the pick-and-place base, and the strut drive assembly is disposed on the strut mounting base. The strut drive assembly is used to drive at least two of the telescopic support rods to extend or retract in opposite directions from the strut mounting base toward two adjacent shelves, so that when the at least two telescopic support rods are extended, they support the bin pick-and-place device between two adjacent shelves.

[0008] An embodiment of the second aspect of this application provides a strut mechanism applied to a bin-handling robot; the bin-handling robot has a bin-handling device; the strut mechanism includes: a strut mounting base, a strut drive assembly, and at least two telescopic support rods; the strut mounting base is fixedly connected to the bottom of the bin-handling device; the strut drive assembly is disposed on the strut mounting base, and the strut drive assembly is used to drive at least two of the telescopic support rods to extend or retract in opposite directions from the strut mounting base toward two adjacent shelves, so that when the at least two telescopic support rods are extended, they support the bin-handling device between two adjacent shelves.

[0009] An embodiment of the third aspect of this application provides a bin-handling robot, including: the bin-handling device described above.

[0010] In this embodiment, when the picking and placing mechanism picks up or places goods on the shelf, friction occurs between the goods and the shelf as they move. By setting up a strut mechanism to support at least two telescopic support rods on two adjacent shelves, the support rods can provide auxiliary support for the bin picking and placing device, preventing the mast of the bin picking and placing device from shaking significantly, thus ensuring a smooth picking and placing process and improving the efficiency of picking and placing goods.

[0011] 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

[0012] 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.

[0013] Figure 1a This is a schematic diagram of the material bin loading and unloading device provided in the embodiments of this application;

[0014] Figure 1b for Figure 1a A schematic diagram of the material bin loading and unloading device from another angle;

[0015] Figure 2 for Figure 1a The first exploded view of the material bin loading and unloading device shown;

[0016] Figure 3 This is a schematic diagram illustrating the interaction between the bin loading / unloading device and the shelf in an embodiment of this application.

[0017] Figure 4 for Figure 1aAxonometric view of the strut mechanism in the material bin loading and unloading device shown;

[0018] Figure 5 for Figure 4 A partial structural exploded view of the strut mechanism shown.

[0019] Figure 6 for Figure 4 A schematic diagram of the unilateral telescopic support rod in the strut mechanism shown;

[0020] Figure 7 for Figure 6 An exploded view of a single-sided telescopic support rod is shown.

[0021] Figure 8 This is a partial cross-sectional view of the strut mechanism in an embodiment of this application;

[0022] Figure 9a This is an axonometric view of the passive end base of the strut mechanism in the embodiments of this application;

[0023] Figure 9b This is a partial enlarged view of the base component in the strut mechanism of this application embodiment;

[0024] Figure 10 This is a partial enlarged view of the transmission component of the strut mechanism in the embodiments of this application;

[0025] Figure 11 for Figure 1a The second exploded view of the material bin loading and unloading device shown;

[0026] Figure 12 for Figure 11 Enlarged view of part of the structure of the material bin loading and unloading device;

[0027] Figure 13 for Figure 11 A schematic diagram of the right telescopic fork loading and unloading component in the material bin loading and unloading device shown;

[0028] Figure 14 for Figure 11 Axonometric view of the left telescopic fork picking and placing component in the material bin picking and placing device shown;

[0029] Figure 15 for Figure 13 The axonometric view of the right telescopic fork pick-and-place component shown from another perspective;

[0030] Figure 16 for Figure 14 The left telescopic fork pick-and-place component is shown from another perspective of the axonometric view.

[0031] Figure 17 This is a simplified schematic diagram of the bin-picking and placing robot in the embodiments of this application.

[0032] Figure label:

[0033] 100 hopper loading / unloading device; 200 rack; 300 hopper; 400 lifting gantry; 500 mobile chassis; 600 lifting mechanism;

[0034] Picking and placing mechanism 1; picking and placing base 11; bin baffle 1101; picking and placing base plate 111; picking and placing crossbeam 112; left telescopic fork picking and placing assembly 12; telescopic picking and placing assembly 120; fixed fork 121; telescopic fork 122; left telescopic fork housing 1201; primary fork plate 1221; secondary fork plate 1222; right telescopic fork picking and placing assembly 13; right telescopic fork housing 1301; bin carrying platform 14; transmission guide rail 151; rear push plate 152; shift fork assembly 153; first camera device 161; second camera device 162; fork plate drive motor 171; right fork plate drive wheel 172; right fork plate driven wheel 173; transmission shaft 174; left fork plate drive wheel 175; left fork plate driven wheel 176; left fork plate synchronous belt 177; right fork plate synchronous belt 178.

[0035] Strut mechanism 2;

[0036] 21; 211; 2110; 2111; 2111; 2111;

[0037] Strut drive assembly 22; Strut drive motor 221; First strut synchronous pulley 222; Second strut synchronous pulley 223; Strut synchronous belt 224;

[0038] Telescopic support rod 23; first telescopic support rod 231; second telescopic support rod 232; strut guide mechanism 24; telescopic slide rail 241; first telescopic slider assembly 242; second telescopic slider assembly 243; first pressure plate 251; second pressure plate 252;

[0039] Active end slider 261; active end base 2611; active end slider 2612; transmission assembly 262; transmission plate 2621; elastic transmission component 2622; fixing hook 26221; receiving through hole 2623; passive end slider 263; passive end base 2631; head 26311; transition part 26312; tail part 26313; receiving groove 26314; first passive end slider 2632; second passive end slider 2633; unlocking screw 264; transmission screw 265; guide bar 266; limit baffle 2661;

[0040] Self-locking device 27; base part 271, wedge-shaped groove 2711; locking part 272; self-locking spring 2721; unlocking part 273; unlocking protrusion 2731; friction cavity 274; wide end 2741; narrow end 2742;

[0041] 28. Support rod flap; 280. Buffer pad; 281. Flip plate body; 282. Flip plate guide wheel; 29. ​​Support rod pressure plate; 291. Pressure plate body; 292. Pressure plate guide part;

[0042] 3. Gantry connecting base; 31. Rotating mechanism; 32. Bottom support base;

[0043] Lateral shift mechanism 4; lateral shift base plate 41; lateral shift drive assembly 42; lateral shift motor 421; lateral shift synchronous belt 422; lateral shift drive wheel 423; lateral shift driven wheel 424; sliding connection structure 43; lateral shift guide rail 431; lateral shift slider 432; drag chain 44; first connecting plate 451; second connecting plate 452; limit bracket 46. Detailed Implementation

[0044] 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.

[0045] To address the problem of reduced efficiency in existing bin-handling robots due to significant gantry swaying during the picking and placing process, an embodiment of the first aspect of this application provides a bin-handling device 100, which is applied to a bin-handling robot. See also... Figures 1a-3 , Figure 1a This is a schematic diagram of the material bin loading and unloading device provided in the embodiments of this application; Figure 1b for Figure 1a A schematic diagram of the material bin loading and unloading device from another angle; Figure 2 for Figure 1a The first exploded view of the material bin loading and unloading device shown; Figure 3 This is a schematic diagram illustrating the interaction between the bin picking / placing device and the shelf in an embodiment of this application. The bin picking / placing device 100 includes: a picking / placing mechanism 1 and a support mechanism 2; the picking / placing mechanism 1 includes: a picking / placing base 11, a telescopic picking / placing assembly 120, and a bin carrying platform 14; wherein, the bin carrying platform 14 is disposed on the picking / placing base 11; the telescopic picking / placing assembly 120 is disposed on the picking / placing base 11 and can extend and retract relative to the picking / placing base 11 to retrieve bins from the shelf 200 onto the bin carrying platform 14, or to move bins from the bin carrying platform 14 onto the shelf 200; it should be noted that the front-to-back direction of the picking / placing base 11 is the direction for picking and placing goods. Figure 1a , Figure 1b , Figure 4 and Figure 5 As shown, Figure 4 for Figure 1aAxonometric view of the strut mechanism in the material bin loading and unloading device shown; Figure 5 for Figure 4 The diagram shows a partial exploded view of the strut mechanism; the strut mechanism 2 includes: a strut mounting base 21, a strut drive assembly 22, and at least two telescopic support rods 23; the strut mounting base 21 is located below the pick-and-place base 11; the strut drive assembly 22 is located on the strut mounting base 21, and the strut drive assembly 22 is used to drive at least two of the telescopic support rods 23 to extend or retract in opposite directions from the strut mounting base 21 toward two adjacent shelves 200, so that when the at least two telescopic support rods are extended, they support the bin pick-and-place device 100 between two adjacent shelves 200.

[0046] In this embodiment, when the picking and placing mechanism 1 picks up or places goods on the shelf 200, friction occurs between the goods and the shelf 200 as the goods move on the shelf 200. By setting a strut mechanism 2 to support at least two telescopic support rods on two adjacent shelves 200, the support rods can provide auxiliary support for the bin picking and placing device 100, preventing the mast of the bin picking and placing device 100 from shaking significantly, thus ensuring a smooth picking and placing process and improving the efficiency of picking and placing goods.

[0047] It should be noted that the picking and placing mechanism 1 can be a clamp-type picking and placing mechanism, that is, picking and placing goods by extending and retracting two telescopic forks; the picking and placing mechanism can also be a suction cup-type picking and placing mechanism, that is, picking up or releasing goods by extending and retracting suction cups. This application does not limit the type of picking and placing mechanism.

[0048] In some embodiments of this application, the first end of the two telescopic support rods 23 is used to extend out of the support rod mounting base 21, and the second end is slidably connected to the support rod mounting base 21; specifically, as shown in... Figure 3 , Figure 4 and Figure 5 As shown, the support rod mounting base 21 has a support rod mounting frame 211; the support rod mounting frame 211 is installed below the pick-and-place base 11; the support rod mounting frame 211 has telescopic openings at both ends along the telescopic support rod telescopic direction; the first ends of the two telescopic support rods can extend out of the support rod mounting frame 211 through the telescopic openings, and the second ends of the two telescopic support rods are both located inside the support rod mounting frame 211; the support rod drive assembly 22 is installed on the support rod mounting frame 211 and fixedly connected to the two telescopic support rods, and is used to drive the two telescopic support rods to slide out or retract towards two adjacent shelves in opposite directions through the telescopic openings.

[0049] In this embodiment, the strut mounting frame 211 provides mounting support for the telescopic support rods 23, the strut mounting base 21, and the strut drive assembly 22. The first ends of the two telescopic support rods 23 extend through the telescopic openings and contact the side wall of the shelf 200, thereby supporting the bin picking and placing device 100 between two adjacent shelves 200 to avoid collisions caused by shaking during the picking and placing process and to improve the accuracy of picking and placing.

[0050] Further, see Figure 6 and Figure 7 ,in Figure 6 for Figure 4 A schematic diagram of the unilateral telescopic support rod in the strut mechanism shown; Figure 7 for Figure 6 The exploded view of the single-sided telescopic support rod is shown below; Figure 6 and Figure 7 As shown, the end of the telescopic support rod 23 is provided with a self-locking device 27, which includes a base member 271, a locking member 272, and an unlocking member 273. The base member 271 is fixedly connected to the telescopic support rod 23, and the base member 271 is provided with a progressively narrowing wedge-shaped guide structure. The locking member 272 is movably disposed within the guide structure. The base member 271 can generate a relative displacement with the locking member in response to an external first driving force, so that the locking member 272 moves to the wedge-shaped guide structure. The narrow end region of the structure is narrowed, and the locking member 272 is locked to the base member 271, so that the telescopic support rod 23 is in a self-locking state; the unlocking member is slidably connected to the telescopic support rod 23, and the unlocking member is set at the position corresponding to the base member 271. It can respond to the second driving force to drive the locking member 272 to move to the wide end region of the wedge-shaped guide structure, so that the locking member 272 can move freely, release the locking state with the base member, and so that the telescopic support rod 23 is in an unlocked state.

[0051] In this embodiment, the self-locking device 27 is used to lock or unlock the telescopic support rod 23. Specifically, when the telescopic support rod 23 extends and supports the shelf, the self-locking device 27 locks the telescopic support rod 23; when the telescopic support rod 23 retracts, the self-locking device 27 unlocks the telescopic support rod 23. This configuration improves the connection stability between the support rod mechanism 2 and the shelf. Specifically, during the extension of the telescopic support rod 23, the base member 271 moves with the telescopic support rod 23, generating a first driving force (i.e., the reaction force of the shelf on the telescopic support rod) after the telescopic support rod 23 extends to the target length. This causes the locking member 272 and the base member 271 to move relative to each other, locking the locking member 272 and the base member 271 together, thus placing the telescopic support rod 23 in a self-locking state. The unlocking member is slidably connected to the telescopic support rod 23. During the retraction of the telescopic support rod 23, a second driving force generated by the strut drive assembly 22 drives the unlocking member 273 to move, allowing it to abut against the locking member, thereby causing the locking member 272 to move relative to the base member 271. Under the action of the unlocking member 273, the locking member 272 releases its clamping state with the base member, placing the telescopic support rod 23 in an unlocked state. The self-locking device 27 enables the telescopic support rod 23 to self-lock when it abuts against the shelf, thereby improving the stability of the telescopic support rod in supporting the shelf.

[0052] In this embodiment, the locking element of the self-locking device 27 is a self-locking roller; the wedge-shaped guide structure is a wedge-shaped groove 2711; the main body of the self-locking roller is movably disposed within the wedge-shaped groove 2711, and the extension extends out of the base member; the wedge-shaped groove 2711 has a narrow end 2742 facing the first end of the telescopic support rod 23, and a wide end 2741; the self-locking roller can roll freely at the wide end 2741, so that the telescopic support rod 23 is in an unlocked state, and is locked at the narrow end 2742, so that the telescopic support rod 23 is in a self-locking state; the base member 271 of the self-locking device is fixed to the telescopic support rod 23. The second end of the support rod 23 is capable of moving with the telescopic support rod 23 as it extends and retracts; the base member 271 is capable of responding to the first driving force generated by the telescopic support rod 23 after it extends to the target length, and generating relative displacement between itself and the self-locking roller, causing the self-locking roller to move to the narrow end 2742; the unlocking member 273 is engaged with the second end of the telescopic support rod 23 at a position corresponding to the base member; the unlocking member 273 is capable of responding to the second driving force generated during the retraction of the telescopic support rod 23, abutting against the extension of the self-locking roller, and driving the self-locking roller to move to the wide end 2741 of the wedge-shaped groove 2711.

[0053] In this embodiment, the locking member 272 is a cylindrical self-locking roller. Compared with locking members of other shapes, the self-locking roller has less friction during movement and moves more smoothly, making the self-locking process and the structural process smoother. The wedge-shaped groove 2711 can make full use of the space of the base member 271 itself, making the structure of the self-locking device more compact.

[0054] The first driving force refers to the reaction force exerted by the shelf 200 on the strut mechanism 2 when it comes into contact with the shelf 200. Under the reaction force of the shelf 200, the telescopic support rod will cause the base component to move slightly in the opposite direction (that is, move away from the shelf). The self-locking roller in the wedge-shaped groove will move relative to the wedge-shaped groove to the narrow end 2742 under the action of inertia, so that the self-locking roller is locked with the base component, thus achieving self-locking.

[0055] The second driving force refers to the force that drives the telescopic support rod 23 to move the unlocking member 273 under the action of the support rod drive assembly 22.

[0056] Furthermore, the self-locking device 27 further includes an elastic reset member 2721; the elastic reset member 2721 is disposed between the base member 271 and the locking member 272. In this embodiment, one end of the elastic reset member 2721 abuts against the side wall of the wedge-shaped groove 2711 of the base member 271, and the other end abuts against the self-locking roller. When reset, it is in a pop-out state, pushing the self-locking roller towards the narrow end; when it is necessary to unlock the telescopic support rod 23, the unlocking member 273 acts on the locking member 272, causing the locking member 272 to overcome the elastic force of the elastic reset member and move towards the wide end 2741 of the wedge-shaped groove 2711. The elastic reset member 2721 plays an auxiliary self-locking role.

[0057] In this embodiment, as Figure 4 and Figure 5 As shown, the second ends of the two telescopic support rods 23 are slidably connected to the support rod mounting base 21 via a support rod guide mechanism 24; wherein, each support rod guide mechanism 24 includes: a telescopic slide rail 241 mounted on the support rod mounting base 21, and a telescopic slider assembly connected to the second end of the telescopic support rod 23, as shown. Figure 4 As shown, a first telescopic slider assembly 242 is connected to the second end of the first telescopic support rod 231, and a second telescopic slider assembly 243 is connected to the second end of the second telescopic support rod 232; the two telescopic support rods 23 are slidably connected to the support rod mounting base 21 through the telescopic slider assembly and the telescopic slide rail 241.

[0058] Among them, such as Figure 4 As shown, the definition Figure 4 The telescopic slider assembly corresponding to the telescopic support rod 23 located on the left side is the first telescopic slider assembly 242. Figure 4The telescopic slider assembly corresponding to the telescopic support rod 23 located on the right is the second telescopic slider assembly 243.

[0059] In this embodiment, the telescopic slide rail 241 can guide the movement of the two telescopic support rods, preventing the movement direction of the telescopic support rods from deviating when the strut synchronous belt 224 drives the telescopic support rods to move, thereby further improving the accuracy of the movement of the telescopic support rods.

[0060] Specifically, the second ends of the telescopic support rods 23 are respectively installed in the support rod mounting frame 211 through a support rod guide mechanism 24; the telescopic slide rail 241 is installed inside the support rod mounting frame 211; the two telescopic support rods 23 are slidably connected to the support rod mounting frame 211.

[0061] Furthermore, such as Figure 4 and Figure 5 , Figure 6 and Figure 7 As shown, each telescopic slider assembly of the strut guide mechanism 24 includes: an active end slider 261, a transmission assembly 262, and a passive end slider 263; the active end slider 261 is connected to the strut drive assembly 22; the passive end slider 263 and the active end slider 261 are connected by transmission assembly 262; the second end of the telescopic support rod 23 is fixedly connected to the passive end slider 263; so that the telescopic support rod 23 slides and extends along the telescopic rail under the drive of the strut drive assembly 22.

[0062] Further, the active end slider 261 includes: an active end base 2611 and an active end slider 2612; wherein, the active end slider 2612 is disposed on the active end base 2611 and is used to cooperate with the telescopic slide rail 241; the passive end slider 263 includes: a passive end base 2631, a first passive end slider 2632 and a second passive end slider 2633; the first passive end slider 2632 and the second passive end slider 2633 are disposed at intervals on the passive end base 2631 and are both used to cooperate with the telescopic slide rail 241; the transmission assembly 262 includes: a transmission plate 2621 and an elastic transmission member 2622; the first end of the transmission plate 2621 is fixedly connected to the active end base 2611, and the second end is transmittedly connected to the passive end base 2631 through the elastic transmission member 2622.

[0063] In this embodiment, the active end slider 261 and the passive end slider 263 in the first telescopic slider assembly 242 and the second telescopic slider assembly 243 are connected by a transmission assembly 262. When the support rod synchronous belt drives the active end slider 261 to slide, the active end slider 261 can drive the passive end slider 263 to slide through the transmission assembly 262.

[0064] In some embodiments of this application, such as Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, the elastic transmission component 2622 is a transmission spring; a receiving through hole 2623 is provided at the middle position of the transmission plate 2621; the transmission spring is installed in the receiving through hole 2623; one end of the transmission spring is connected to the second end of the transmission plate 2621, and the other end is connected to the passive end base 2631 near the active end base 2611.

[0065] In this embodiment, the elastic transmission member 2622 can be a transmission spring, and the active end sliding member 261 and the passive end sliding member 263 can be movably connected. In this case, a receiving through hole 2623 can be provided at the middle position of the transmission plate 2621.

[0066] See Figure 7 Taking the leftward movement of the active end slider 261 as an example, during the transmission process, the active end slider 261 drives the transmission assembly 262 to move to the left. At this time, the transmission spring is stretched. When the elastic force of the transmission spring is sufficient to pull the passive end slider 263, the transmission spring drives the passive end slider 263 to move to the left.

[0067] like Figure 1a , Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, when the strut mechanism 2 comes into contact with the shelf 200, the passive end sliding member 263 will move away from the shelf 200 due to the reaction force. At this time, the transmission spring is stretched, forming a buffer, so that the active end sliding member 261 will not move away from the shelf 200 under the action of the reaction force, thereby improving the stability of the strut mechanism.

[0068] Furthermore, such as Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, the passive end base 2631, on the side opposite to the first passive end slider 2632 and the second passive end slider 2633, is also provided with two guide bars 266;

[0069] The guide strips 266 are fixedly and parallelly spaced on the passive end base 2631;

[0070] The second end of the transmission plate 2621 is located between the two guide bars 266 and is slidably connected to the two guide bars 266.

[0071] like Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, the guide bar 266 guides the movement of the transmission plate 2621, preventing it from deviating. Furthermore, the guide bar 266 also restricts the vertical movement of the unlocking member 273 in the self-locking device 27. Specifically, a limiting baffle 2661 is provided at the top of the guide bar 266, which limits the height of the transmission plate 2621.

[0072] Furthermore, such as Figure 4 , Figure 5 , Figure 6 and Figure 7 , Figure 8 As shown, Figure 8 This is a partial cross-sectional view of the strut mechanism in an embodiment of this application; the transmission plate 2621 and the elastic transmission member 2622 are fixedly connected by an unlocking screw 264; the elastic transmission member 2622 and the passive end base 2631 are fixedly connected by a transmission screw 265.

[0073] Specifically, the self-locking device 27 is installed on the passive end base 2631, facing the telescopic slide rail 241, and located between the first passive end slider 2632 and the second passive end slider 2633; the self-locking device 27 is disposed between the first passive end slider 2632 and the second passive end slider 2633.

[0074] A friction cavity 274 is formed between the wedge-shaped groove 2711 and the telescopic slide rail 241; the end of the friction cavity 274 near the active end slider 261 is the wide end 2741; the end of the friction cavity 274 away from the active end slider 261 is the narrow end 2742; the volume of the friction cavity 274 gradually decreases from the wide end 2741 towards the narrow end 2742; the self-locking roller is disposed within the friction cavity 274; the self-locking roller can generate relative movement with the friction cavity 274; the self-locking roller can roll freely at the wide end 2741, so that the telescopic support rod 23 is in the unlocked state; it is locked at the narrow end 2742, so that the telescopic support rod 23 is in a self-locking state; the unlocking member 273 is attached to the passive end base at the position corresponding to the base member; the unlocking member 273 is disposed on the side of the base member away from the telescopic slide rail 241, and the two sides of the unlocking member 273 extend to the two sides of the base member 271, the bottom of the unlocking member 273 facing the passive end sliding member 263 is used to abut against the unlocking screw 264 to unlock the telescopic support rod 23; the two sides of the unlocking member 273 are provided with unlocking protrusions 2731 for pushing the self-locking roller out of the narrow end 2742; the guide strip 266 is fixedly disposed on the passive end base 2631 by screws to limit the vertical displacement of the unlocking member 273.

[0075] In this embodiment, the self-locking device 27 effectively improves the situation where the passive end slider 263 moves in the opposite direction when subjected to a reaction force. The base 271 in the self-locking device 27 is fixedly connected to the passive end slider 263 by a self-locking screw. The base 271 is located below the telescopic slide rail 241, that is, on the side of the telescopic slide rail 241 near the passive end base 2631, so that the wedge-shaped groove 2711 on the base 271 and the lower surface of the telescopic slide rail (that is, the surface of the telescopic slide rail 241 near the passive end base 2631) form a friction cavity 274. The volume of the friction cavity 274 gradually decreases from the wide end 2741 towards the narrow end 2742. This ensures that the self-locking roller disposed within the friction cavity 274 can only roll freely at the wide end 2741 position. When the self-locking roller rolls to the narrow end 2742, it will lock the passive end slider 263 to the telescopic slide rail.

[0076] As mentioned earlier, when the support mechanism contacts the shelf 200, the passive end sliding member 263 will move in the opposite direction due to the reaction force. At this time, the transmission spring is stretched, forming a buffer. Due to the reverse movement of the passive end sliding member 263, the self-locking roller inside the passive end sliding member 263 will move relative to the passive end sliding member 263 to the narrow end 2742 under the action of inertia, so that the passive end sliding member 263 is locked with the telescopic slide rail. This improves the problem of large shaking during the loading and unloading of the bin, and further improves the stability of the bin loading and unloading device 100.

[0077] After the necessary pick-up and drop-off action is completed, the active end slider 261 drives the passive end slider 263 to retract into the support rod mounting frame. At this time, the unlocking screw 264 on the transmission plate 2621 drives the unlocking member 273 to move towards the active end slider 261. The unlocking protrusion 2731 on the unlocking member 273 pushes the self-locking roller out of the narrow end 2742, thereby releasing the self-locking state and allowing the first telescopic support rod or the second telescopic support rod to retract into the support rod mounting frame.

[0078] See Figure 9a and Figure 9b , Figure 9a This is an axonometric view of the passive end base of the strut mechanism in the embodiments of this application; Figure 9b This is a partial enlarged view of the base component in the strut mechanism of this application embodiment; as shown... Figure 8 , Figure 9a and Figure 9b As shown, the self-locking spring 2721 is located in the side wall of the base 271 near the active end slider 261. One end of the self-locking spring 2721 abuts against the side wall of the wedge-shaped groove in the base 271 near the active end slider 261, and the other end abuts against the self-locking roller. During reset, it is in the pop-out state, pushing the self-locking roller towards the narrow end 2742. When the telescopic support rod is subjected to a retraction force, the passive end slider moves in the retraction direction, and the self-locking roller moves further relative to the base 271 towards the narrow end 2742 of the friction cavity 274. The self-locking roller is locked at the narrow end 2742, and the telescopic support rod achieves self-locking. When the telescopic support rod actively extends, the passive end slider... Driven by the active end slider 261, 263 moves in the extension direction. Under inertia, the self-locking roller moves relative to the base 271 towards the wide end 2741 of the friction cavity 274, without obstructing the extension action. When the telescopic support rod retracts actively, the active end slider 261 moves towards the active end slider 261 through the unlocking screw 264 against the unlocking member 273. The unlocking protrusions on both sides of the unlocking member 273 push the self-locking roller towards the wide end of the friction cavity. At the same time, the self-locking spring 2721 is compressed, the telescopic support rod is unlocked, and it can be smoothly retracted to the zero position.

[0079] In some embodiments of this application, such as Figure 7 , Figure 9a and Figure 9b As shown, the passive end base includes a head 26311, a transition portion 26312, and a tail portion 26313 arranged sequentially along the telescopic support rod extension direction; the first passive end slider and the second passive end slider are respectively disposed on the head 26311 and the tail 26313.

[0080] Specifically, a receiving groove 26314 is provided in the transition part 26312, and a part of the unlocking member 273 overlaps in the receiving groove 26314.

[0081] like Figure 7 and Figure 10 As shown, Figure 10 This is a partial enlarged view of the transmission component of the strut mechanism in the embodiment of this application; the elastic transmission member 2622 is provided with fixing hooks 26221 on both sides, and the unlocking screw 264 and the transmission screw 265 are respectively inserted into the fixing hooks 26221 on both sides of the elastic transmission member 2622.

[0082] In this embodiment, as Figure 4 and Figure 5 As shown, the strut drive assembly 22 includes: a strut drive motor 221, a first strut synchronous pulley 222, a second strut synchronous pulley 223, and a strut synchronous belt 224; the strut drive motor 221 is disposed outside the telescopic opening at the first end of the strut mounting frame 211; the first strut synchronous pulley 222 is disposed at the telescopic opening at the first end of the strut mounting frame 211; it is connected to the output shaft of the strut drive motor 221, and the output shaft of the strut drive motor 221 can drive the first strut synchronous pulley 222 to rotate; the second strut synchronous pulley 223 is disposed at the telescopic opening at the second end of the strut mounting frame 211; the strut synchronous belt 224 is sleeved on the first strut synchronous pulley 222 and the second strut synchronous pulley 223; at least two telescopic support rods are respectively fixedly connected to opposite sides of the strut synchronous belt 224, so as to extend or retract in opposite directions under the drive of the strut synchronous belt 224.

[0083] In this embodiment, as Figure 4 and Figure 5 As shown, at least two telescopic support rods are fixedly connected to opposite sides of the strut timing belt 224. When the strut drive motor 221 drives the first strut timing wheel 222 to rotate, thereby driving the strut timing belt 224 to rotate, the two telescopic support rods extend or retract in opposite directions under the drive of the strut timing belt 224. With the above configuration, only one strut drive motor 221 and one strut timing belt 224 are needed to drive two telescopic support rods, which not only ensures the motion accuracy of the telescopic support rods but also saves space occupied by the strut drive assembly 22.

[0084] In this embodiment, as Figure 4 and Figure 5 , Figure 6 and Figure 7 As shown, the strut mounting frame 211 has a mounting base plate 2111; the telescopic slide rails of the two strut guide mechanisms 24 are parallel and spaced apart on the mounting base plate 2111 along the telescopic support rod extension direction; the strut timing belt 224 is located between the two telescopic slide rails 241 and is parallel to the two telescopic slide rails 241; the first telescopic slider assembly 242 and the second telescopic slider assembly 243 of the two strut guide mechanisms 24 cooperate with the two telescopic slide rails 241 respectively to realize the sliding connection between the two telescopic support rods and the mounting base plate 2111.

[0085] In this embodiment, as Figure 4 and Figure 5 , Figure 6 and Figure 7 As shown, the first telescopic slider assembly 242 of the first telescopic support rod 231 of the two telescopic support rods is fixedly connected to one side of the support rod synchronous belt 224 through the first pressure plate 251; the second telescopic slider assembly 243 of the second telescopic support rod 232 of the two telescopic support rods is fixedly connected to the other side of the support rod synchronous belt 224 through the second pressure plate 252.

[0086] In this embodiment, as Figure 4 and Figure 5 , Figure 6 and Figure 7 As shown, the first pressure plate 251 connects the strut timing belt 224 and the first telescopic slider assembly 242, while the second pressure plate 252 connects the strut timing belt 224 and the second telescopic slider assembly 243. Specifically, the first pressure plate 251 and the second pressure plate 252 have grooves that mate with the rack on the strut timing belt 224, which improves the stability of the connection between the first pressure plate 251 and the second pressure plate 252 and the strut timing belt 224, thereby improving the stability of the connection between the first telescopic slider assembly 242 and the second telescopic slider assembly 243 and the strut timing belt 224.

[0087] In some embodiments of this application, such as Figure 1a , Figures 4 to 7As shown, the first ends of at least two telescopic support rods, the first telescopic support rod 231 and the second telescopic support rod 232, extend out of the support rod mounting frame 211, and the second ends of the first telescopic support rod 231 and the second telescopic support rod 232 are located inside the support rod mounting frame 211; the first ends of the first telescopic support rod 231 and the second telescopic support rod 232 are each hinged with a support rod flap 28; the support rod flap 28 is used to make the plate surface parallel to the side wall of the shelf 200 and abut against the shelf 200 when the first telescopic support rod 231 and the second telescopic support rod 232 are extended.

[0088] In this embodiment, a strut flap 28 is hinged to the first end of both the first telescopic support rod 231 and the second telescopic support rod 232. The strut flap 28 abuts against the shelf 200, effectively increasing the contact area between the strut mechanism and the shelf 200, thereby improving support stability. Furthermore, a buffer pad 280 can be provided on the strut flap 28 to further enhance the support effect.

[0089] In some embodiments of this application, such as Figure 4 and Figure 5 As shown, the first and second ends of the support rod mounting frame 211, perpendicular to the pick-up and put-down direction, are also provided with support rod pressure plates 29. The support rod pressure plate 29 includes: a pressure plate body 291 fixedly connected to the support rod mounting frame 211, and a pressure plate guide portion 292 extending outward from the pressure plate body 291. Each support rod flap 28 includes: a flap body 281 for hinged to the first telescopic support rod 231 or the second telescopic support rod 232, a flap guide wheel 282 fixedly installed on the flap body 281, and a return spring (not shown in the figure). Each support rod flap 28 retracts to the support rod pressure plate 29 under the action of the first telescopic support rod 231 or the second telescopic support rod 232. When the flip plate is in the correct position, the pressure plate guide 292 presses the flip plate guide wheel 282 to make the flip plate body 281 parallel to the pressure plate body 291; one end of the return spring is connected to the first telescopic support rod 231 or the second telescopic support rod 232, and the other end is connected to the flip plate body 281; when the first telescopic support rod 231 and the second telescopic support rod 232 retract into the support rod mounting frame 211, the return spring is in a stretched state; when the first telescopic support rod 231 and the second telescopic support rod 232 extend out of the support rod mounting frame 211, the return spring is in a reset state, stretching the flip plate body 281 to a position where the plate surface is parallel to the side wall of the shelf 200.

[0090] In this embodiment, the posture of the support flap 28 is adjusted using a fixedly installed support frame 211 and a return spring. When the first telescopic support rod 231 and the second telescopic support rod 232 extend out of the support frame, one end of the return spring is fixedly connected to the first telescopic support rod 231 or the second telescopic support rod 232, and the other end is fixedly connected to the support flap 28. Under the tension of the return spring, the end of the support flap 28 away from its hinge point with the first telescopic support rod 231 or the second telescopic support rod 232 rotates around the hinge point, making the support flap 28 perpendicular to the first telescopic support rod or the second telescopic support rod. At this time, the side of the support flap 28 with the larger area can contact and fix with the shelf 200.

[0091] When the first telescopic support rod 231 and the second telescopic support rod 232 retract into the support rod mounting frame, the pressure plate guide portion 292 of the support rod pressure plate 29 presses against the flap guide wheel 282 of the support rod flap 28. The end of the support rod flap 28 away from its hinge point with the first or second telescopic support rod rotates around that hinge point, making the support rod flap 28 parallel to the first or second telescopic support rod. At this time, the return spring is stretched, accumulating potential energy for the next extension action.

[0092] In some embodiments of this application, such as Figure 11 , Figure 12 As shown, Figure 11 for Figure 1a The second exploded view of the material bin loading and unloading device shown; Figure 12 for Figure 11 Enlarged view of part of the structure of the material bin picking and placing device; the material bin picking and placing device 100 further includes: a gantry connecting base 3 and a lateral shifting mechanism 4 disposed below the picking and placing mechanism 1; the gantry connecting base 3 is disposed below the picking and placing base 11, and the gantry connecting base 3 is used to support the picking and placing mechanism 1 to connect the entire material bin picking and placing device to the gantry of the picking and placing robot; the lateral shifting mechanism 4 is disposed between the picking and placing base 11 of the picking and placing mechanism 1 and the gantry connecting base 3, and is used to drive the picking and placing base 11 to move laterally relative to the gantry connecting base 3 in a direction perpendicular to the picking and placing direction; the gantry connecting base 3 is used to support the lateral shifting mechanism 4 and the picking and placing mechanism 1 above it to connect the entire material bin picking and placing device 100 to the gantry; the support rod mounting frame 211 of the support rod mounting seat 21 is fixedly connected to the gantry connecting base 3 through a frame connecting block 2110 installed on its side, and is installed side by side with the gantry connecting base 3 below the picking and placing base 11.

[0093] In this embodiment, the lateral shifting mechanism 4 can drive the pick-and-place base 11 to move laterally along the direction perpendicular to the pick-and-place direction, thereby driving the left telescopic fork pick-and-place assembly 12 and the right telescopic fork pick-and-place assembly 13 to move along the direction perpendicular to the pick-and-place direction. Adjusting the position of the pick-and-place base 11 and the left telescopic fork pick-and-place assembly 12 and the right telescopic fork pick-and-place assembly 13 along the direction perpendicular to the pick-and-place direction makes the bin pick-and-place device 100 more flexible in the process of picking up and placing the bin.

[0094] Specifically, the front end of the pick-and-place base 11 is provided with a first camera device 161, and the rear end of the pick-and-place base 11 is provided with a material box baffle 1101. The material box baffle 1101 is provided with a second camera device 162. The first camera device 161 can collect material box information on the shelf, and the second camera device 162 can acquire material box information on the material box pick-and-place device 100, so that the material box pick-and-place device 100 can adjust the pick-and-place mechanism 1 through the side-shifting mechanism 4 according to the material box position information on the shelf or on the material box pick-and-place device.

[0095] In some embodiments of this application, such as Figure 11 and Figure 12 , Figure 13 , Figure 14 As shown, Figure 13 for Figure 11 A schematic diagram of the right telescopic fork loading and unloading component in the material bin loading and unloading device shown; Figure 14 for Figure 11 The image shows an axonometric view of the left telescopic fork picking and placing assembly in the material bin picking and placing device. The side-shifting mechanism 4 includes a side-shifting base plate 41, a side-shifting drive assembly 42, and a sliding connection structure 43. The sliding connection structure 43 is disposed between the side-shifting base plate 41 and the picking and placing base 11, so that the picking and placing base 11 can slide relative to the side-shifting base plate 41 in a direction perpendicular to the picking and placing direction. The side-shifting drive assembly 42 is connected to the side-shifting base plate 41 and transmits driving force to the sliding connection structure 43 through the side-shifting base plate 41 to drive the picking and placing base 11 to slide relative to the side-shifting base plate 41 in a direction perpendicular to the picking and placing direction. The top of the gantry connecting base 3 is fixedly connected to the bottom of the side-shifting base plate 41.

[0096] In this embodiment, the lateral shifting base plate 41 of the lateral shifting mechanism 4 is slidably connected to the pick-and-place base 11 via a sliding connection structure 43. When the lateral shifting drive assembly 42 outputs power to drive it, the lateral shifting base plate 41 cannot move because it is fixedly connected to the gantry connecting base 3. At this time, under the action of the driving force, the pick-and-place base 11 slides relative to the lateral shifting base plate 41 in a direction perpendicular to the pick-and-place direction, thus realizing the lateral shifting movement of the pick-and-place mechanism 1 relative to the lateral shifting mechanism 4.

[0097] In some embodiments of this application, such as Figure 11 , Figure 12 and Figure 13, Figure 14 As shown, the pick-and-place base 11 includes: a pick-and-place base plate 111 arranged along the pick-and-place direction and at least two pick-and-place crossbeams 112 perpendicular to the length direction of the pick-and-place base plate; the telescopic pick-and-place assembly 120 includes a left telescopic fork pick-and-place assembly 12 and a right telescopic fork pick-and-place assembly 13, which are respectively arranged on the pick-and-place base 11 along the two sides perpendicular to the pick-and-place direction, for simultaneously telescopically extending and retracting along the front-back direction of the pick-and-place base 11 to place the material box 30 on the shelf 200. 0 is retrieved back to the material box carrying platform 14, or the material box 300 on the material box carrying platform 14 is moved to the shelf 200; the left telescopic fork picking and placing assembly 12 and the right telescopic fork picking and placing assembly 13 are respectively connected to the two ends of the picking and placing beam 112 along the perpendicular to the picking and placing direction; the left telescopic fork picking and placing assembly 12 includes: a fixed fork 121 and at least one level telescopic fork 122, the at least one level telescopic fork 122 being pulsatorically connected to the fixed fork 121 ... It can extend or retract along the pick-up and place direction; the lateral shift drive assembly 42 includes: a lateral shift motor 421, a lateral shift synchronous belt 422, a lateral shift drive wheel 423, and a lateral shift driven wheel 424; the lateral shift synchronous belt 422 is sleeved on the outside of the lateral shift drive wheel 423 and the lateral shift driven wheel 424; the lateral shift drive wheel 423 and the lateral shift driven wheel 424 are respectively disposed on the outside of the fixed fork 121 of the left telescopic fork pick-up and place assembly 12 and the right telescopic fork pick-up and place assembly 13; the lateral shift motor 421... The output shaft is coaxially connected to the lateral drive wheel 423 to drive the lateral drive wheel 423 to rotate; one side of the lateral base plate 41 is fixedly installed on the outside of the lateral timing belt 422 at a preset position; so that when the lateral drive wheel 423 rotates, the lateral base plate 41 remains stationary, and the driving force is transmitted to the sliding connection structure 43 through the lateral base plate 41 to drive the pick-up and put-down base 11 to slide relative to the lateral base plate 41 in a direction perpendicular to the pick-up and put-down direction.

[0098] In this embodiment, at least one telescopic fork 122 can reciprocate along the pick-up and place-down direction. When the telescopic fork 122 is fully extended, the outermost end of the outermost fork plate is provided with a shift fork assembly 153. When the material box is on the shelf 200, the telescopic fork 122 extends toward the material box, so that the shift fork assembly 153 can be located outside the material box, thereby placing the material box in the space enclosed by the shift fork assembly 153 and the telescopic fork 122. When the telescopic fork 122 is retracted, the shift fork assembly 153 shifts the material box, causing the material box to be transferred from the shelf 200 to the material box carrying platform 14 on the pick-up and place-down base 11.

[0099] The lateral drive wheel 423 and the lateral driven wheel 424 are respectively disposed on the outer side of the fixed fork 121 of the left telescopic fork pick-and-place assembly 12 and the right telescopic fork pick-and-place assembly 13. This arrangement fully utilizes the structure of the left telescopic fork pick-and-place assembly 12 and the right telescopic fork pick-and-place assembly 13, saving space that would otherwise be required for other connecting structures on the hopper pick-and-place device 100. The lateral motor 421 drives the lateral drive wheel 423 to rotate, thereby rotating the lateral timing belt 422. Since the lateral base plate 41 is fixedly connected to a section of the lateral timing belt 422, the movement of the lateral timing belt 422 is restricted. Under the reaction force of the driving force, the lateral motor 421, the lateral drive wheel 423, and the lateral driven wheel 424 drive the pick-and-place mechanism 1 connected to them to move along the pick-and-place base 11 perpendicular to the pick-and-place direction.

[0100] Specifically, such as Figure 2 , Figure 13 , Figure 15 , Figure 16 As shown, Figure 15 for Figure 13 The axonometric view of the right telescopic fork pick-and-place component shown from another perspective; Figure 16 for Figure 14The image shows an axonometric view of the left telescopic fork pick-and-place assembly from another perspective. The telescopic fork 122 includes a primary fork plate 1221 and a secondary fork plate 1222, which are connected to the fixed fork via a transmission guide rail 151. The rear end of the secondary fork plate 1222 is provided with a push plate 152, which is used to push the goods on the hopper carrying platform 14. The pick-and-place mechanism 1 has a fork plate drive mechanism, which includes a fork plate drive motor 171, a right fork plate drive wheel 172, a right fork plate driven wheel 173, a transmission shaft 174, a left fork plate drive wheel 175, a left fork plate driven wheel 176, a left fork plate timing belt 177, and a right fork plate timing belt 178. The left fork plate drive wheel 175 and the left fork plate driven wheel 176 are mounted on the fixed fork 121 of the left telescopic fork pick-and-place assembly 12. The right fork drive wheel 172 and the right fork driven wheel 173 are mounted on the fixed fork 121 of the right telescopic fork pick-and-place assembly 13. The fork drive motor 171 is mounted on the fixed fork 121 of the right telescopic fork pick-and-place assembly 13. The right fork drive wheel 172 is fixedly connected to the output shaft of the fork drive motor 171. The right fork drive wheel 172 and the left fork drive wheel 175 are fixedly connected through a transmission shaft 174. The left fork synchronous belt 177 is sleeved on the left fork drive wheel 175 and the left fork driven wheel 176. The right fork synchronous belt 178 is sleeved on the right fork drive wheel 172 and the right fork driven wheel 173. The telescopic fork of the left telescopic fork pick-and-place assembly 12 is connected to the left fork synchronous belt 177, and the telescopic fork of the right telescopic fork pick-and-place assembly 13 is connected to the right fork synchronous belt 178. The fork drive motor 171 drives the right fork drive wheel 172 to rotate, which in turn drives the right fork driven wheel 173, the left fork drive wheel 175 and the left fork driven wheel 176 to rotate, which in turn drives the left fork synchronous belt 177 and the right fork synchronous belt 178 to rotate, thus realizing the telescopic movement of the telescopic fork.

[0101] In some embodiments of this application, such as Figure 11 and Figure 12 As shown, the top of the side-shifting base plate 41 is also provided with a horizontally installed drag chain 44. One end of the drag chain 44 is fixedly connected to the side-shifting base plate 41, and the other end is fixedly connected to the pick-up and place base 11. When there is a relative lateral shift between the pick-up and place base 11 and the side-shifting base plate 41, both ends of the drag chain 44 can move with the pick-up and place base 11 and the side-shifting base plate 41 respectively.

[0102] In this embodiment, a cable chain 44 is used to protect the connecting wires of the main body of the pick-and-place device. Furthermore, one end of the cable chain 44 is fixedly connected to the pick-and-place base 11, and the other end is fixedly connected to the side-shifting base plate 41, so that both ends of the cable chain 44 can move with the pick-and-place base 11 and the side-shifting base plate 41 respectively, thereby avoiding damage to the connecting wires caused by the side-shifting operation.

[0103] In some embodiments of this application, such as Figure 11 , Figure 12 , Figure 13 and Figure 14 As shown, the lateral movement motor 421 and the lateral movement drive wheel 423 are fixedly connected to the outside of the fixed fork 121 of the left telescopic fork pick-up and place assembly 12 via the first connecting plate 451; the lateral movement driven wheel 424 is fixedly connected to the outside of the fixed fork 121 of the right telescopic fork pick-up and place assembly 13 via the second connecting plate 452.

[0104] In this embodiment, one end of the first connecting plate 451 extends toward the side away from the fixed fork 121, forming a motor mounting plate; the motor shaft of the lateral moving motor 421 passes through the motor mounting plate and is fixedly mounted on the first connecting plate 451; the second connecting plate 452 has a driven wheel mounting part and a connecting part, the driven wheel mounting part being perpendicular to the connecting part; the rotation shaft of the lateral moving driven wheel 424 is fixedly mounted on the driven wheel mounting part, and the connecting part is connected to the fixed fork 121.

[0105] In this embodiment, as Figure 11 As shown, the pick-and-place mechanism 1 further includes: a left telescopic fork housing 1201 and a right telescopic fork housing 1301; the left telescopic fork housing 122 is fastened to the outside of the fixed fork 121 located in the left telescopic fork pick-and-place assembly 12, forming a left receiving cavity; the lateral movement motor 421 and the lateral movement drive wheel 423 are located in the left receiving cavity; the right telescopic fork housing 122 is fastened to the outside of the fixed fork 121 located in the right telescopic fork pick-and-place assembly 13, forming a right receiving cavity; the lateral movement driven wheel 424 is located in the right receiving cavity.

[0106] In this embodiment, the outer shells of the left and right telescopic forks 122 cooperate with the material box baffles located on the left and right sides of the pick-and-place base, respectively, to form a left and right receiving cavity. During use, the side-shifting motor 421, the side-shifting synchronous belt 422, the side-shifting drive wheel 423, and the side-shifting driven wheel 424 are located in either the left or right receiving cavity, with the side-shifting synchronous belt 422 passing through both the left and right receiving cavities. This provides protection for the side-shifting synchronous belt 422, the side-shifting drive wheel 423, and the side-shifting driven wheel 424.

[0107] In this embodiment, the sliding connection structure 43 includes: two side-moving guide rails 431 respectively fixedly installed below the pick-up and place beam and the pick-up and place base plate, and a side-moving slider 432 fixedly installed on the top of the side-moving base plate 41; the side-moving slider 432 is used to cooperate with the side-moving guide rails 431 to realize relative sliding between the bottom of the pick-up and place base 11 and the top of the side-moving base plate 41.

[0108] In this embodiment, the pick-up and place base 11 and the side-shifting base plate 41 are slidably engaged by the side-shifting guide rail 431 and the side-shifting slider 432, which can effectively limit the side-shifting direction between the pick-up and place mechanism 1 and the side-shifting mechanism 4.

[0109] In actual use, when the side-shifting guide rail is fixedly installed at the bottom of the pick-up and place base 11, the side-shifting slider is fixedly installed at the top of the side-shifting base plate 41; when the side-shifting guide rail is fixedly installed at the top of the side-shifting base plate 41, the side-shifting slider is fixedly installed at the bottom of the pick-up and place base 11.

[0110] In some embodiments of this application, such as Figure 12 As shown, the lateral shifting mechanism further includes: limiting brackets 46, disposed on both sides of the top of the lateral shifting base plate 41 along the pick-up / placement direction; used for installing and positioning the pick-up / placement base plate. In this embodiment, the limiting brackets facilitate the installation and positioning of the pick-up / placement base plate, improving installation efficiency and accuracy.

[0111] In some embodiments of this application, such as Figure 11 and Figure 12 As shown, the gantry connecting base 3 includes: a rotating mechanism 31 and a bottom support 32; the rotating mechanism 31 is fixedly connected to the side-shifting base plate 41 and rotatably connected to the bottom support 32; it is used to drive the side-shifting mechanism 4 and its on-board pick-and-place mechanism 1 to rotate relative to the bottom support 32; the bottom support 32 is used to connect to the lifting gantry.

[0112] In this embodiment, when it is necessary to adjust the angles of the pick-and-place mechanism 1 and the lateral shift mechanism 4, the lateral shift mechanism 4 and the pick-and-place mechanism 1 thereon are driven to rotate relative to the bottom support seat by a rotating mechanism, so that the pick-and-place mechanism 1 is aligned with the warehouse. The bottom support seat is used to connect with the gantry of the pick-and-place robot, driving the bin pick-and-place device 100 to move up and down in the vertical direction.

[0113] An embodiment of the second aspect of this application provides a strut mechanism applied to a bin-handling robot; the bin-handling robot has a bin-handling device; the strut mechanism includes: a strut mounting base 21, a strut drive assembly 22, and at least two telescopic support rods 23; the strut mounting base 21 is used for a fixed connection to the bottom of the bin-handling device; the strut drive assembly 22 is disposed on the strut mounting base 21, and the strut drive assembly 22 is used to drive at least two of the telescopic support rods 23 to extend or retract in opposite directions from the strut mounting base 21 toward two adjacent shelves 200, so that when the at least two telescopic support rods are extended, they support the bin-handling device between the two adjacent shelves 200.

[0114] In this embodiment, when the bin-picking robot picks up or places goods on the shelf 200, friction occurs between the goods and the shelf 200 as the goods move on the shelf 200. By setting up a strut mechanism 2 to support at least two telescopic support rods on two adjacent shelves 200, the support rods can provide auxiliary support for the bin-picking device 100, preventing the mast of the bin-picking device 100 from shaking significantly, thus ensuring a smooth picking and placing process and improving the efficiency of picking and placing goods.

[0115] An embodiment of the third aspect of this application provides a bin-handling robot, such as... Figure 1a , Figure 17 As shown, Figure 17 This is a simplified schematic diagram of the bin-picking and placing robot in the embodiments of this application; the bin-picking and placing robot includes: the bin-picking and placing device 100 described in the above embodiments.

[0116] In this embodiment, when the bin-picking robot picks up or places goods on the shelf 200, friction occurs between the goods and the shelf 200 as the goods move on the shelf 200. By setting a strut mechanism 2 to support at least two telescopic support rods on two adjacent shelves 200, the support rods can provide auxiliary support for the bin-picking device 100, preventing the mast of the bin-picking device 100 from shaking significantly, thus ensuring a smooth picking and placing process and improving the efficiency of picking and placing goods.

[0117] Further, in one optional embodiment, the bin-handling robot has a lifting gantry 400, a mobile chassis 500, and a lifting mechanism 600; the lifting gantry 400 is disposed above the mobile chassis 500 and fixedly connected to the mobile chassis 500; the lifting mechanism is disposed on the lifting gantry and fixedly connected to the bin-handling device 100, for driving the bin-handling device 100 to rise and fall along the vertical direction of the lifting gantry; in another optional embodiment, the bin-handling robot has a lifting gantry, a mounting rail, and a lifting mechanism; the mounting rail is mounted on a shelf, and the lifting gantry can move horizontally based on the mounting rail; the lifting mechanism is disposed on the lifting gantry and fixedly connected to the bin-handling device, for driving the bin-handling device to rise and fall along the vertical direction of the lifting gantry.

[0118] 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 mechanism (1) and a support rod mechanism (2). The picking and placing mechanism (1) includes: a picking and placing base (11), a telescopic picking and placing component (120), and a bin carrying platform (14); wherein, the bin carrying platform (14) is disposed on the picking and placing base (11); the telescopic picking and placing component (120) is disposed on the picking and placing base (11) and can extend and retract relative to the picking and placing base (11) to pick up the bins on the shelf (200) and return them to the bin carrying platform (14), or to move the bins on the bin carrying platform (14) to the shelf (200); The strut mechanism (2) includes: a strut mounting base (21), a strut drive assembly (22), and at least two telescopic support rods (23); the strut mounting base (21) is located below the pick-and-place base (11), and the strut drive assembly (22) is located on the strut mounting base (21). The strut drive assembly (22) is used to drive at least two of the telescopic support rods (23) to extend or retract in opposite directions from the strut mounting base (21) toward two adjacent shelves (200), so that when the at least two telescopic support rods (23) are extended, they support the bin pick-and-place device between two adjacent shelves (200).

2. The material bin loading and unloading device according to claim 1, characterized in that, The end of the telescopic support rod (23) is provided with a self-locking device (27), which includes: a base (271), a locking member (272), and an unlocking member (273); The base component (271) is fixedly connected to the telescopic support rod (23). The base component (271) is provided with a gradually narrowing wedge-shaped guide structure. The locking component (272) is movably disposed within the guide structure. The base member (271) is able to generate a relative displacement between itself and the locking member in response to an external first driving force, so that the locking member (272) moves to the narrow end region of the wedge-shaped guide structure and locks the locking member (272) with the base member (271), so that the telescopic support rod (23) is in a self-locking state. The unlocking member is slidably connected to the telescopic support rod (23). The unlocking member is located at the position corresponding to the base member (271). It can respond to the second driving force to drive the locking member (272) to move to the wide end area of ​​the wedge-shaped guide structure so that the locking member (272) can move freely, release the jamming state with the base member, and make the telescopic support rod (23) in the unlocked state.

3. The material bin loading and unloading device according to claim 2, characterized in that, The first end of the two telescopic support rods (23) is used to extend out of the support rod mounting seat (21), and the second end is slidably connected to the support rod mounting seat (21); The locking element of the self-locking device (27) is a self-locking roller; the wedge-shaped guide structure is a wedge-shaped groove (2711); the main body of the self-locking roller is movably disposed in the wedge-shaped groove (2711), and the extension extends out of the base member; the wedge-shaped groove (2711) has a narrow end (2742) facing the first end of the telescopic support rod (23), and a wide end (2741); the self-locking roller can roll freely at the wide end (2741), so that the telescopic support rod (23) is in the unlocked state, and is locked at the narrow end (2742), so that the telescopic support rod (23) is in the self-locking state; The base member (271) of the self-locking device (27) is fixed to the second end of the telescopic support rod (23) and can move with the telescopic support rod (23) as it extends and retracts; the base member (271) can respond to the first driving force generated by the telescopic support rod (23) after it extends to the target length and generate a relative displacement with the self-locking roller, so that the self-locking roller moves to the narrow end (2742); The unlocking member (273) is attached to the second end of the telescopic support rod (23) at a position corresponding to the base member; the unlocking member (273) is able to respond to the second driving force generated during the retraction of the telescopic support rod (23), abut against the extension of the self-locking roller, and drive the self-locking roller to move to the wide end (2741) of the wedge-shaped groove (2711).

4. The material bin loading and unloading device according to claim 2, characterized in that, The self-locking device (27) further includes: an elastic reset member (2721); The elastic reset member (2721) is disposed between the base member and the locking member.

5. The material bin loading and unloading device according to claim 1, characterized in that, The first end of the two telescopic support rods (23) is used to extend out of the support rod mounting seat (21), and the second end is slidably connected to the support rod mounting seat (21) through a support rod guide mechanism (24); Each strut guide mechanism (24) includes: a telescopic slide rail (241) mounted on the strut mounting base (21), and a telescopic slider assembly connected to the second end of the telescopic support rod (23); The two telescopic support rods (23) are slidably connected to the support rod mounting base (21) through the telescopic slider assembly and the telescopic slide rail (241).

6. The material bin loading and unloading device according to claim 5, characterized in that, Each telescopic slider assembly of the strut guide mechanism (24) includes: an active end slider (261), a transmission assembly (262), and a passive end slider (263); The active end slider (261) is connected to the strut drive assembly (22); The passive end slider (263) and the active end slider (261) are connected by the transmission assembly (262); The second end of the telescopic support rod (23) is fixedly connected to the passive end sliding member (263), so that the telescopic support rod (23) slides and extends along the telescopic slide rail under the drive of the support rod drive assembly (22).

7. The material bin loading and unloading device according to claim 6, characterized in that, The active end slider (261) includes: an active end base (2611) and an active end slider (2612); wherein, the active end slider (2612) is disposed on the active end base (2611) and is used to cooperate with the telescopic slide rail (241); The passive end slider (263) includes: a passive end base (2631), a first passive end slider (2632), and a second passive end slider (2633); the first passive end slider (2632) and the second passive end slider (2633) are spaced apart on the passive end base (2631) and are both used to cooperate with the telescopic slide rail (241); The transmission assembly (262) includes: a transmission plate (2621) and an elastic transmission member (2622); The first end of the transmission plate (2621) is fixedly connected to the active end base (2611), and the second end is connected to the passive end base (2631) through an elastic transmission member (2622).

8. The material bin loading and unloading device according to claim 7, characterized in that, The passive end base (2631) is provided with two guide bars (266) on the side opposite to the first passive end slider (2632) and the second passive end slider (2633); The guide strip (266) is fixedly and parallelly spaced on the passive end base (2631); The second end of the transmission plate (2621) is located between the two guide bars (266) and is slidably connected to the two guide bars (266).

9. The material bin loading and unloading device according to claim 8, characterized in that, The transmission plate (2621) and the elastic transmission component (2622) are fixedly connected by an unlocking screw (264); The elastic transmission component (2622) and the passive end base (2631) are fixedly connected by a transmission screw (265).

10. The material bin loading and unloading device according to claim 1, characterized in that, The strut mounting base (21) has a strut mounting frame (211); the strut mounting frame (211) is installed below the pick-and-place base (11); The strut mounting frame (211) has telescopic openings at both ends along the telescopic support rod (23) telescopic direction; The first ends of the two telescopic support rods (23) can extend out of the support rod mounting frame (211) through the telescopic opening; the second ends of the two telescopic support rods (23) are both located inside the support rod mounting frame (211); The strut drive assembly (22) is installed on the strut mounting frame (211) and fixedly connected to the two telescopic support rods (23). It is used to drive the two telescopic support rods (23) to extend or retract toward the two adjacent shelves in opposite directions through the telescopic opening.

11. The material bin loading and unloading device according to claim 10, characterized in that, The strut drive assembly (22) includes: a strut drive motor (221), a first strut synchronous pulley (222), a second strut synchronous pulley (223), and a strut synchronous belt (224); The strut drive motor (221) is located outside the telescopic opening at the first end of the strut mounting frame (211); The first strut synchronous wheel (222) is located at the telescopic opening at the first end of the strut mounting frame (211); it is connected to the output shaft of the strut drive motor (221), and the output shaft of the strut drive motor (221) can drive the first strut synchronous wheel (222) to rotate; the second strut synchronous wheel (223) is located at the telescopic opening at the second end of the strut mounting frame (211); The strut timing belt (224) is sleeved on the first strut timing pulley (222) and the second strut timing pulley (223); At least two of the telescopic support rods (23) are fixedly connected to opposite sides of the strut timing belt (224) to extend or retract in opposite directions under the drive of the strut timing belt (224).

12. The material bin loading and unloading device according to claim 10, characterized in that, The first ends of the first telescopic support rod (231) and the second telescopic support rod (232) of at least two telescopic support rods (23) extend out of the support rod mounting frame (211), and the second ends of the first telescopic support rod (231) and the second telescopic support rod (232) are located inside the support rod mounting frame (211); The first end of both the first telescopic support rod (231) and the second telescopic support rod (232) is hinged with a support flap (28); The support flap (28) is used to make the plate surface parallel to the side wall of the shelf (200) and abut against the shelf (200) when the first telescopic support rod (231) and the second telescopic support rod (232) are extended.

13. The material bin loading and unloading device according to claim 12, characterized in that, The first and second ends of the support rod mounting frame (211) perpendicular to the pick-up and put-down direction are also provided with support rod pressure plates (29); the support rod pressure plate (29) includes: a pressure plate body (291) fixedly connected to the support rod mounting frame (211), and a pressure plate guide part (292) extending outward from the pressure plate body (291); Each of the support rod flaps (28) includes: a flap body (281) for hinged to the first telescopic support rod (231) or the second telescopic support rod (232), a flap guide wheel (282) fixedly installed on the flap body (281), and a return spring; When each of the support flaps (28) retracts to the position of the support plate (29) under the drive of the first telescopic support rod (231) or the second telescopic support rod (232), the plate guide part (292) squeezes the flap guide wheel (282) so that the flap body (281) is parallel to the plate body (291); One end of the reset spring is connected to the first telescopic support rod (231) or the second telescopic support rod (232), and the other end is connected to the flap body (281); when the first telescopic support rod (231) and the second telescopic support rod (232) retract into the support rod mounting frame (211), the reset spring is in a stretched state; When the first telescopic support rod (231) and the second telescopic support rod (232) extend out of the support rod mounting frame (211), the reset spring is in the reset state, stretching the flip plate body (281) to a position where the plate surface is parallel to the side wall of the shelf (200).

14. The bin loading and unloading device according to any one of claims 1-13, characterized in that, The bin picking and placing device further includes: a gantry connecting base (3) and a side shifting mechanism (4) disposed below the picking and placing mechanism (1); The gantry connecting base (3) is located below the pick-up and place base (11) and is used to support the pick-up and place mechanism (1) so as to connect the entire material box pick-up and place device to the gantry of the pick-up and place robot. The lateral shifting mechanism (4) is disposed between the pick-up and place base (11) of the pick-up and place mechanism (1) and the gantry connecting base (3), and is used to drive the pick-up and place base (11) to shift laterally relative to the gantry connecting base (3) in a direction perpendicular to the pick-up and place direction; The strut mounting base (21) is fixedly connected to the gantry connecting base (3) via a frame connecting block (2110) installed on its side, and is installed side by side with the gantry connecting base (3) below the pick-up and drop-off base (11).

15. The material bin loading and unloading device according to claim 14, characterized in that, The lateral shifting mechanism (4) includes: a lateral shifting base plate (41), a lateral shifting drive assembly (42), and a sliding connection structure (43); The sliding connection structure (43) is disposed between the side-moving base plate (41) and the pick-up and place base (11) so that the pick-up and place base (11) can slide relative to the side-moving base plate (41) in a direction perpendicular to the pick-up and place direction; The side-shifting drive assembly (42) is connected to the side-shifting base plate (41) and transmits the driving force to the sliding connection structure (43) through the side-shifting base plate (41) to drive the pick-up and put-down base (11) to slide relative to the side-shifting base plate (41) in a direction perpendicular to the pick-up and put-down direction; The top of the gantry connecting base (3) is fixedly connected to the bottom of the side-shifting base plate (41).

16. A strut mechanism, characterized in that, This invention is applied to a bin-picking robot; the bin-picking robot has a bin-picking device; the strut mechanism includes: a strut mounting base (21), a strut drive assembly (22), and at least two telescopic support rods (23); the strut mounting base (21) is fixedly connected to the bottom of the bin-picking device; the strut drive assembly (22) is disposed on the strut mounting base (21), and the strut drive assembly (22) is used to drive at least two of the telescopic support rods (23) to extend or retract in opposite directions from the strut mounting base (21) toward two adjacent shelves (200), so that when the at least two telescopic support rods are extended, they support the bin-picking device between two adjacent shelves (200).

17. A bin-handling robot, characterized in that, include: The bin loading and unloading device according to any one of claims 1-15.

18. The bin-handling robot according to claim 17, characterized in that, The bin loading and unloading robot has a lifting gantry (400), a mobile chassis (500), and a lifting mechanism (600); The lifting gantry (400) is disposed above the mobile chassis (500) and is fixedly connected to the mobile chassis (500); The lifting mechanism (600) is mounted on the lifting gantry (400) and fixedly connected to the hopper loading / unloading device, used to drive the hopper loading / unloading device to move up and down along the vertical direction of the lifting gantry (400); or, The bin loading and unloading robot has a lifting gantry, mounting rails, and a lifting mechanism; The mounting rails are installed on the rack, and the lifting gantry can move horizontally based on the mounting rails; The lifting mechanism is mounted on the lifting gantry and is fixedly connected to the material box picking and placing device, and is used to drive the material box picking and placing device to move up and down along the vertical direction of the lifting gantry.

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