Goods picking and placing device, robot and goods picking and placing method

Abstract

A goods picking and placing device (10), a robot, and a goods picking and placing method. The goods picking and placing device (10) is configured to pick and place a material box (20), the goods picking and placing device (10) comprising a support assembly (100), a driving assembly (200) and a push-pull assembly (300), wherein the driving assembly (200) comprises a driving unit (210) and two flexible transmission members (220), the driving unit (210) being arranged on the support assembly (100) and configured to drive the transmission of the two flexible transmission members (220); and the push-pull assembly (300) is located between the two flexible transmission members (220), and two sides of the push-pull assembly (300) are respectively connected to the two flexible transmission members (220), allowing the flexible transmission members (220) to drive the push-pull assembly (300) to move in the direction of transmission of the flexible transmission members. The joints of the two sides of the push-pull assembly (300) and the two flexible transmission members (220) are staggered in the direction of goods picking and placing of the goods picking and placing device (10), and the two flexible transmission members (220) are correspondingly staggered in the direction of goods picking and placing of the goods picking and placing device (10), such that during the whole transmission stroke of the flexible transmission members (220), the push-pull assembly (300) can maintain a translational motion, thereby simplifying the overall structure of the goods picking and placing device (10), and reducing the weight and cost thereof.

Description

Cargo picking and placing device, robot, and cargo picking and placing method

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on February 5, 2024, with application number 202410173445.3 and application name “Cargo Picking and Placing Device, Robot and Cargo Picking and Placing Method”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of warehousing and logistics technology, and in particular to a cargo picking and placing device, a robot, and a cargo picking and placing method. Background Art

[0003] With the development of artificial intelligence and automation technologies, robots are widely used in warehousing and logistics, for picking, placing, transporting, and sorting goods. In logistics systems, goods are often stored on shelves. Robots with corresponding functions connect to shelves or conveyor lines to pick and place goods, or complete cargo delivery tasks.

[0004] In related technologies, robots used to pick up and place goods can move in the aisles between shelves. The robots are usually equipped with forks for picking up and placing goods. The forks are usually equipped with a manipulator that can be extended and retracted to a fixed position relative to the robot body. The manipulator usually has multiple joints, multiple sets of transmission mechanisms and multiple drive units, so that the manipulator can complete the operation of picking up and placing material boxes.

[0005] However, the forks on current robots have a complex structure, are heavy and costly. Summary of the Invention

[0006] The present application provides a cargo picking and placing device, a robot, and a cargo picking and placing method to at least partially solve at least one of the technical problems of the current cargo forks on robots being complex in structure, heavy in weight, and high in cost.

[0007] In the first aspect, the present application provides a cargo picking and placing device, which is used to pick up and place material boxes. The cargo picking and placing device includes a support assembly, a drive assembly and a push-pull assembly. The drive assembly includes a drive unit and two flexible transmission members. The drive unit is arranged on the support assembly, and the drive unit is configured to drive the two flexible transmission members to transmit; the push-pull assembly is located between the two flexible transmission members, and the two sides of the push-pull assembly are respectively connected to the two flexible transmission members, so that the flexible transmission member drives the push-pull assembly to move along its transmission direction.

[0008] Among them, the connection positions of the two sides of the push-pull component and the two flexible transmission members are staggered along the picking and placing direction of the picking and placing device; the two flexible transmission members are correspondingly staggered along the picking and placing direction of the picking and placing device.

[0009] The cargo picking and placing device provided in the present application drives the material box to move through a push-pull assembly to pick up and place the material box. The connection positions of the push-pull assembly and the two flexible transmission members are staggered so that the push-pull assembly will not sag. In order to enable the push-pull assembly to move smoothly at the turning position of the flexible transmission member, the two flexible transmission members are also staggered. In this way, the push-pull assembly can maintain translational motion during the entire transmission stroke of the flexible transmission member, thereby simplifying the overall structure of the cargo picking and placing device and reducing weight and cost.

[0010] On the second aspect, the present application also provides a cargo picking and placing device, including a push-pull component and a flexible transmission member that drives the push-pull component to move, the push-pull component including a first push-pull component and a second push-pull component, the first push-pull component and the second push-pull component are respectively connected to different positions in the extension direction of the flexible transmission member, and the first push-pull component and the second push-pull component are configured to dock with different docking parts of the material box during a single picking or placing process.

[0011] On the third aspect, the present application provides a robot, which includes a robot body and a cargo picking and placing device as in any of the above technical solutions, the cargo picking and placing device is arranged on the robot body, and the cargo picking and placing device can be raised and lowered along the height direction of the robot body.

[0012] In a fourth aspect, the present application provides a cargo picking method for a robot, the robot comprising a cargo picking and placing device and a flexible transmission member for driving the push-pull assembly to move, the cargo picking and placing device comprising a push-pull assembly, the push-pull assembly comprising a first push-pull member and a second push-pull member, the first push-pull member and the second push-pull member being respectively connected to different positions in an extension direction of the flexible transmission member; the method comprising:

[0013] When the robot drives to the target pickup position, it extends the first push-pull member to the bottom of the first docking portion of the target material box, and lifts the first push-pull member to dock with the first docking portion;

[0014] Determining that the first push-pull member is docked with the first docking portion, driving the first push-pull member in the reverse direction to move the target material box portion to the pick-and-place device, so that the second push-pull member docks with the second docking portion of the target material box, and the first push-pull member disengages from the first docking portion;

[0015] The second push-pull member is driven to move all target material boxes to the picking and placing device.

[0016] In a fifth aspect, the present application provides a cargo placing method for a robot, wherein the robot includes a cargo placing device, the cargo placing device includes a push-pull assembly and a flexible transmission member for driving the push-pull assembly to move, the push-pull assembly includes a first push-pull member and a second push-pull member, the first push-pull member and the second push-pull member are respectively connected to different positions in the extension direction of the flexible transmission member, the method comprising:

[0017] When the robot carries the target material box to the target delivery position, the robot drives the second push-pull member toward the target delivery position to partially drive the target material box to the target delivery position, so that the first push-pull member docks with the first docking portion of the target material box, and the second push-pull member detaches from the target material box.

[0018] Determining that the first push-pull member is docked with the first docking portion, driving the first push-pull member toward the target cargo placement position to place the target material box at the target cargo placement position;

[0019] The first push-pull member is lowered to disengage from the first docking portion, and the first push-pull member is driven in the reverse direction so as to retract the first push-pull member into the cargo picking and placing device.

[0020] In addition to the technical problems solved by the embodiments of the present application described above, the technical features that constitute the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions, other technical problems that can be solved by the cargo picking and placing device, robot, and cargo picking and placing method provided by the present application, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail in the specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0022] FIG1 is a structural schematic diagram of a cargo picking and placing device according to an embodiment of the present application;

[0023] FIG2 is a second structural diagram of the cargo picking and placing device provided in an embodiment of the present application;

[0024] FIG3 is a schematic structural diagram of a push-pull assembly in an initial position in a cargo pickup and placement device provided by an embodiment of the present application;

[0025] FIG4 is a side view of the push-pull assembly in the cargo pickup and placement device provided by an embodiment of the present application in an initial position;

[0026] FIG5 is a top view of the push-pull assembly in the cargo pickup and placement device provided by an embodiment of the present application in an initial position;

[0027] FIG6 is a schematic diagram of the structure of the pick-up and place device provided in an embodiment of the present application when the push-pull assembly is extended;

[0028] FIG7 is a side view of the push-pull assembly of the cargo pickup and placement device provided by an embodiment of the present application when extended;

[0029] FIG8 is a top view of the push-pull assembly of the cargo pickup and placement device provided by an embodiment of the present application when extended;

[0030] FIG9 is a schematic diagram of the cooperation between the push-pull assembly and the support assembly in the cargo picking and placing device provided in an embodiment of the present application;

[0031] FIG10 is a side view of the cooperation between the push-pull assembly and the support assembly in the cargo picking and placing device provided in an embodiment of the present application;

[0032] FIG11 is a cross-sectional view of the cooperation between the push-pull assembly and the support assembly in the cargo picking and placing device provided in an embodiment of the present application;

[0033] FIG12 is a schematic structural diagram of a material box picked up and placed by a picking and placing device provided in an embodiment of the present application;

[0034] FIG13 is a bottom schematic diagram of a material box being picked up and placed by the picking and placing device provided in an embodiment of the present application;

[0035] FIG14 is a schematic diagram of a detection mechanism in a cargo pickup and delivery device according to an embodiment of the present application;

[0036] FIG15 is a schematic diagram of a detection mechanism in a first position in a cargo picking and placing device provided by an embodiment of the present application;

[0037] FIG16 is a schematic diagram of a detection mechanism in a cargo picking and placing device provided in an embodiment of the present application in a second position;

[0038] FIG17 is a schematic structural diagram of a support assembly in a cargo pickup and delivery device according to an embodiment of the present application;

[0039] FIG18 is an inner side view of a support assembly in a cargo pickup and placement device according to an embodiment of the present application;

[0040] FIG19 is a cross-sectional view taken along the AA direction in FIG18 ;

[0041] FIG20 is a schematic diagram of a cargo picking process of a cargo picking and placing device provided in an embodiment of the present application;

[0042] FIG21 is a schematic structural diagram of a robot provided in an embodiment of the present application;

[0043] FIG22 is a flow chart of a method for picking up goods applied to a robot according to an embodiment of the present application;

[0044] Figure 23 is a flowchart of the cargo placing method applied to a robot provided in an embodiment of the present application.

[0045] Explanation of Reference Numerals: 10 - Pick-up and Placement Device; 100 - Support Assembly; 101 - Sliding Groove; 101a - First Sliding Groove; 101b - Second Sliding Groove; 110 - Outer Guide; 111 - First Arc-Shaped Guide Surface; 120 - Inner Guide; 121 - Second Arc-Shaped Guide Surface; 130 - Support Plate; 200 - Driving Assembly; 210 - Driving Unit; 220 - Flexible Transmission Member; 230 - First Transmission Wheel; 240 - Second Transmission Wheel; 250 - Third Transmission Wheel; 300 - Push-Pull Assembly; 301 - Connecting Portion; 302 - Sliding Portion; 310 - First Push-Pull Member; 311 - First Push-Pull Portion; 320 - Second Push-Pull Member; 321 - Second Push-Pull Portion; 400 - Detection Mechanism; 410 - Elastic Member; 411 - Roller; 420 - Reflective Plate; 421 - Rolling Groove; 500 - Photoelectric Detection Device; 20-Material box; 21-First docking portion; 22-Second docking portion. DETAILED DESCRIPTION

[0046] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0047] First, those skilled in the art should understand that these embodiments are merely used to explain the technical principles of this application and are not intended to limit the scope of protection of this application. Those skilled in the art may adjust them as needed to suit specific applications.

[0048] Secondly, it should be noted that in the description of this application, terms such as "up", "down", "left", "right", "front", "back", "inside", and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and does not indicate or imply that the device or component must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on this application.

[0049] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0050] Various types of robots are widely used in various fields, including industry and daily life. They play a vital role in industries such as transportation and logistics. In warehousing and logistics systems, goods are often stored on shelves. Robots connect to shelves or conveyor lines to pick up and place goods, and can also transport goods. The robots are typically equipped with forks for picking up and placing goods. The forks are typically equipped with a manipulator that can be extended and retracted relative to the robot's body to a fixed position. The manipulator typically has multiple joints, multiple transmission mechanisms, and multiple drive units, allowing the manipulator to complete the operation of picking up and placing material boxes.

[0051] However, the multi-jointed manipulators currently used for the forks on robots have complex drive and transmission structures, resulting in a heavy fork overall weight, a heavy load on the robot itself, and high production costs. Furthermore, because the robot's end joints often need to reach deep into the shelf to pull the material box, completely moving it from the shelf to the forks, the manipulators occupy too much space between shelves when picking and placing goods, leading to higher shelf heights and reduced storage density.

[0052] In response to the above problems, the embodiments of the present application provide a cargo picking and placing device, a robot, and a cargo picking and placing method. Through the structural design of the cargo picking and placing device on the transport robot, the cargo picking and placing device can drive the push-pull component to move through the dislocated flexible transmission member. The push-pull component can maintain translation along the transmission path of the flexible transmission member during the transmission stroke of the flexible transmission member to realize the cargo picking and placing function of the material box, thereby simplifying the structure of the cargo picking and placing device, reducing the overall weight of the cargo picking and placing device, and reducing product costs.

[0053] To facilitate understanding, the application scenarios of the cargo picking and placing device and the robot provided in the embodiments of the present application are first described.

[0054] The cargo picking and placing device provided in this embodiment is applied to a robot, and the robot is applied to a warehousing and logistics system for picking and placing cargo. The robot can be applied to the logistics distribution of industrial production lines, the warehousing and unloading of inventory products in the manufacturing industry, the warehousing and unloading of products in the retail industry, and can also be applied to different fields such as express delivery and unloading and sorting in e-commerce logistics. The products or cargo involved in the transportation can be industrial parts, electronic accessories or products, medicines, clothing accessories, food, books, etc., and it can directly transfer cargo or transfer material boxes containing cargo. The embodiment of the present application does not make specific restrictions on this. The "material box" will be used below to refer to the transportation object of the cargo picking and placing device, and no specific examples will be given.

[0055] FIG1 is a first structural diagram of a cargo pickup and placement device according to an embodiment of the present application, and FIG2 is a second structural diagram of a cargo pickup and placement device according to an embodiment of the present application.

[0056] As shown in Figures 1 and 2, an embodiment of the present application provides a cargo pickup and placement device 10 for picking up and placing material boxes. The cargo pickup and placement device 10 includes a support assembly 100, a drive assembly 200, and a push-pull assembly 300. The support assembly 100 is used to support and assemble the drive assembly 200 and the push-pull assembly 300. The drive assembly 200 is used to drive the push-pull assembly 300 to move. Driven by the drive assembly 200, the push-pull assembly 300 can pull the material box onto the cargo pickup and placement device 10 or push the material box off the cargo pickup and placement device 10.

[0057] The drive assembly 200 includes a drive unit 210 and two flexible transmission members 220. The drive unit 210 is disposed on the support assembly 100 and is configured to drive the two flexible transmission members 220. The push-pull assembly 300 is located between the two flexible transmission members 220, and both sides of the push-pull assembly 300 are connected to the two flexible transmission members 220, so that the flexible transmission members 220 drive the push-pull assembly 300 to move along its transmission direction.

[0058] It is understandable that during a single picking-up or placing-down process of the push-pull assembly 300 , the transmission direction of the flexible transmission member 220 may remain unchanged or may change.

[0059] For example, during the picking process, the flexible transmission member 220 transmits clockwise, and the push-pull assembly 300 translates clockwise along the transmission path of the flexible transmission member 220 until the push-pull assembly 300 docks with the material box, after which the flexible transmission member 220 continues to transmit clockwise, and the push-pull assembly 300 can pull the material box from the outside to the support assembly 100; during the placing process, the flexible transmission member 220 transmits counterclockwise, and the push-pull assembly 300 translates counterclockwise along the transmission path of the flexible transmission member 220, and the push-pull assembly 300 can push the material box from the support assembly 100.

[0060] For example, during the picking process, the flexible transmission member 220 first transmits counterclockwise, and the push-pull assembly 300 translates counterclockwise along the transmission path of the flexible transmission member 220 until the push-pull assembly 300 docks with the material box. Thereafter, the flexible transmission member 220 changes direction and transmits clockwise, and the push-pull assembly 300 can pull the material box from the outside to the support assembly 100; the placing process is the reverse process of the above-mentioned picking process, which will not be repeated here.

[0061] In some embodiments, the two flexible transmission members 220 are staggered along the picking and placing direction of the cargo picking and placing device 10, and the connection positions of the two sides of the push-pull component 300 and the two flexible transmission members 220 are staggered along the picking and placing direction of the cargo picking and placing device 10, so that the push-pull component 300 can always maintain translation during the transmission stroke of the flexible transmission member 220, whether in the linear transmission part of the flexible transmission member 220 or in the arc-shaped turning part of the flexible transmission member 220.

[0062] The length direction of the picking and placing device 10 is defined as the X direction, and the width direction of the picking and placing device 10 is defined as the Y direction. The two flexible transmission members 220 can be distributed on both sides of the picking and placing device 10 along the Y direction. The picking and placing direction of the picking and placing device 10 is the X direction. The two flexible transmission members 220 are staggered along the X direction, that is, the two flexible transmission members 220 are arranged one after the other along the X direction.

[0063] It is understood that maintaining translation of the push-pull assembly 300 means that, with the support assembly 100 as a reference, the movement path of the push-pull assembly 300 is consistent with the transmission path of the flexible transmission member 220. That is, the movement path of the push-pull assembly 300 may include movement along a straight line or along an arc, but the push-pull assembly 300 as a whole will not flip relative to the support assembly 100. For example, if the surface of the push-pull assembly 300 is parallel to the horizontal direction, then during the translation process of the push-pull assembly 300, its surface always remains parallel to the horizontal direction.

[0064] It should be noted that in the cargo pick-up and placement device 10 provided in the embodiment of the present application, the push-pull assembly 300 is used to drive the material box to move for pick-up and placement. The push-pull assembly 300 is driven by two staggered flexible transmission members 220, and the connection positions of the push-pull assembly 300 and the two flexible transmission members 220 are also staggered. In this way, the connection positions of the push-pull assembly 300 and the two flexible transmission members 220 are staggered, so that the push-pull assembly 300 will not sag. In order to allow the push-pull assembly 300 to move smoothly at the position where the flexible transmission members 220 turn, the two flexible transmission members are also staggered to maintain the translational motion of the push-pull assembly 300. The line connecting the connection positions of the push-pull assembly 300 and the two flexible transmission members 220 can have a certain angle with respect to the Y direction, so that the push-pull assembly 300 can maintain translational motion without the need for other telescopic joints and power units, thereby simplifying the overall structure of the cargo pick-up and placement device 10 and reducing weight and cost.

[0065] In addition, when the driving unit 210 drives the two flexible transmission members 220 to transmit, the transmission directions and transmission speeds of the two flexible transmission members 220 remain consistent, so as to ensure the stability of the push-pull assembly 300 during the translation process.

[0066] Figure 3 is a structural schematic diagram of the push-pull assembly in the initial position of the cargo picking and placing device provided in an embodiment of the present application, Figure 4 is a side view of the push-pull assembly in the initial position of the cargo picking and placing device provided in an embodiment of the present application, Figure 5 is a top view of the push-pull assembly in the initial position of the cargo picking and placing device provided in an embodiment of the present application, Figure 6 is a structural schematic diagram of the push-pull assembly in the cargo picking and placing device provided in an embodiment of the present application when extended, Figure 7 is a side view of the push-pull assembly in the cargo picking and placing device provided in an embodiment of the present application when extended, and Figure 8 is a top view of the push-pull assembly in the cargo picking and placing device provided in an embodiment of the present application when extended.

[0067] First, the specific connection structure between the push-pull assembly 300 and the flexible transmission member 220 will be described in detail below.

[0068] Referring to Figures 1 to 8 , in some embodiments, a connection portion 301 is provided on both sides of the push-pull assembly 300, through which the push-pull assembly 300 is rotatably connected to the flexible transmission member 220. The connection portions 301 on both sides of the push-pull assembly 300 are staggered along the pickup and placement direction of the pickup and placement device 10. Thus, when the push-pull assembly 300 passes through the arc-shaped transmission position of the flexible transmission member 220, i.e., the point where the flexible transmission member 220 turns, the connection portions 301 on the push-pull assembly 300 can rotate relative to the flexible transmission member 220, thereby maintaining the overall posture of the push-pull assembly 300 relative to the support assembly 100, i.e., maintaining translation of the push-pull assembly 300.

[0069] The staggered directions of the two flexible transmission members 220 are the same as the staggered directions of the connecting portions 301 on both sides of the push-pull assembly 300. The staggered distances of the two flexible transmission members 220 are the same as the staggered distances of the connecting portions 301 on both sides of the push-pull assembly 300.

[0070] It can be understood that the two flexible transmission members 220 have the same structural shape, transmission path and speed. Therefore, when the two flexible transmission members 220 are staggered, the connection parts 301 on both sides of the push-pull component 300 maintain the same staggered direction and staggered distance, which can ensure that the positions of the two connection parts 301 on the moving path of the two flexible transmission members 220 remain consistent, thereby keeping the push-pull component 300 in a translation state during the entire movement process.

[0071] Exemplarily, the flexible transmission member 220 can be a chain, and the connecting part 301 is hinged to the chain, so that the chain can drive the push-pull assembly 300 to move during transmission, and when passing the turning position of the chain, the connecting part 301 can rotate relative to the chain, and then the push-pull assembly 300 translates at the turning position of the chain.

[0072] In the embodiment of the present application, the support assembly 100 can guide the movement of the push-pull assembly 300. The cooperation mechanism between the support assembly 100 and the push-pull assembly 300 is described in detail below.

[0073] In some embodiments, the support assembly 100 has two sliding grooves 101, which are located on both sides of the push-pull assembly 300. Both sides of the push-pull assembly 300 are provided with sliding portions 302, which are located in the sliding grooves 101. When the flexible transmission member 220 is driven, the sliding portions 302 move along the sliding grooves 101.

[0074] The sliding portions 302 on both sides of the push-pull assembly 300 are staggered, and the staggered direction of the sliding portions 302 on both sides of the push-pull assembly 300 is opposite to the staggered direction of the two flexible transmission members 220. For example, when the sliding portion 302 on one side is located in front of the connecting portion 301 on the same side in the extension direction of the push-pull assembly 300, the sliding portion 302 on the other side is located in the rear of the connecting portion 301 on the same side in the extension direction of the push-pull assembly 300.

[0075] It can be understood that the extension paths of the two sliding grooves 101 match the extension paths of the corresponding flexible transmission members 220, and furthermore, the relative positions of the two sliding grooves 101 are also staggered along the X direction, and the staggered directions of the two sliding grooves 101 are the same as the staggered directions of the two sliding parts 302. In this way, when the push-pull assembly 300 moves to the turning position of the flexible transmission member 220, the push-pull parts on both sides of the push-pull assembly 300 can pass through the turning positions of the two sliding grooves 101 respectively.

[0076] Figure 17 is a structural schematic diagram of the support assembly in the cargo picking and placing device provided in an embodiment of the present application, Figure 18 is an inner side view of the support assembly in the cargo picking and placing device provided in an embodiment of the present application, and Figure 19 is a cross-sectional view along the AA direction in Figure 18.

[0077] Please refer to Figures 17 to 19, and in combination with Figures 1 to 11, in some embodiments, the support assembly 100 may include an outer guide member 110 and an inner guide member 120, the outer guide member 110 is located on the circumferential outside of the inner guide member 120, and the inner wall of the outer guide member 110 and the outer wall of the inner guide member 120 can be surrounded to form a sliding groove 101.

[0078] There can be two outer guide members 110 and two inner guide members 120, and the outer guide members 110 and the inner guide members 120 are arranged one by one, and one outer guide member 110 and one inner guide member 120 are arranged to form a sliding groove 101. The two sliding grooves 101 can be respectively arranged on both sides of the picking and placing device.

[0079] The support assembly 100 may further include a support plate 130, and the outer guide members 110 on both sides may be connected via the support plate 130. For example, the outer guide members 110 on both sides of the pick-up and place device are connected to both sides of the support plate 130 via fasteners such as bolts, and the inner guide members 120 on both sides of the pick-up and place device are connected to both sides of the support plate 130 via fasteners such as bolts.

[0080] It can be understood that in order to improve the compactness of the spatial layout, the push-pull component 300 is located between the two sliding grooves 101, and the two sides of the sliding groove 101 can be connected. The flexible transmission member 220 on each side of the support component 100 can be arranged on the side of the sliding groove 101 away from the push-pull component 300, that is, the connecting part 301 on the push-pull component 300 can pass through the sliding groove 101 and be connected to the flexible transmission member 220.

[0081] Exemplarily, the outer guide member 110 has a first curved guide surface 111, and the inner guide member 120 has a second curved guide surface 121. The first curved guide surface 111 and the second curved guide surface 121 are respectively located at both ends of the support assembly 100; when the push-pull assembly 300 passes the turning position of the flexible transmission member 220, the sliding part 302 slides along the first curved guide surface 111 or the second curved guide surface 121.

[0082] It should be noted that the flexible transmission member 220 drives the push-pull assembly 300 to rotate clockwise or counterclockwise. At both ends of the support assembly 100, the flexible transmission member 220 turns, and the push-pull assembly 300 changes the translation direction along the sliding groove 101. During this process, the sliding part 302 moves along the first arc-shaped guide surface 111 at one end of the sliding groove 101 and changes the translation direction, and the sliding part 302 moves along the second arc-shaped guide at the other end of the sliding groove 101 and changes the translation direction.

[0083] Furthermore, the first curved guide surface 111 of one of the two sliding slots 101 and the second curved guide surface 121 of the other are located at the same end of the support assembly 100. For example, referring to FIG. 19 , the two sliding slots 101 are respectively a first sliding slot 101a and a second sliding slot 101b. The first curved guide surface 111 of the first sliding slot 101a and the second curved guide surface 121 of the second sliding slot 101b are located at the same end of the pick-up and place device 10, while the second curved guide surface 121 of the first sliding slot 101a and the first curved guide surface 111 of the second sliding slot 101b are located at the same end of the pick-up and place device 10.

[0084] Figure 9 is a schematic diagram of the cooperation between the push-pull assembly and the support assembly in the cargo picking and placing device provided in an embodiment of the present application, Figure 10 is a side view of the cooperation between the push-pull assembly and the support assembly in the cargo picking and placing device provided in an embodiment of the present application, Figure 11 is a cross-sectional view of the cooperation between the push-pull assembly and the support assembly in the cargo picking and placing device provided in an embodiment of the present application, Figure 12 is a structural schematic diagram of the material box picked up and placed by the cargo picking and placing device provided in an embodiment of the present application, and Figure 13 is a bottom schematic diagram of the material box picked up and placed by the cargo picking and placing device provided in an embodiment of the present application.

[0085] The specific structure of the push-pull assembly 300 and the specific method of pushing and pulling the material box 20 are described in detail below.

[0086] Referring to Figures 1 to 3 , in some embodiments, the push-pull assembly 300 may include a first push-pull member 310 and a second push-pull member 320 , each connected to different positions along the extension direction of the flexible transmission member 220 . When the pick-and-place device 10 picks up or places a material box 20 , at least one of the first push-pull member 310 and the second push-pull member 320 drives the material box 20 to move.

[0087] During the process of moving the material box 20 into and out of the loading and unloading device 10, the first push-pull member 310 may drive the material box 20 to move, or the second push-pull member 320 may drive the material box 20 to move, or both the first push-pull member 310 and the second push-pull member 320 may drive the material box 20 to move. For example, during the movement of the material box 20, different movement strokes may be achieved by the above-mentioned multiple methods.

[0088] It can be understood that the push-pull assembly 300 has an initial position. When the push-pull assembly 300 is in the initial position, the first push-pull member 310 is located at the rear end of the support assembly 100 along the direction of picking up and placing goods, and the second push-pull member 320 is located in the middle of the support assembly 100 along the direction of picking up and placing goods.

[0089] For example, during the picking process, the first push-pull member 310 extends under the drive of the flexible transmission member 220 and cooperates with the material box 20. As the flexible transmission member 220 drives, the first push-pull member 310 changes its translation direction after passing the turning position of the flexible transmission member 220, so that the first push-pull member 310 drives the material box 20 to move toward the support assembly 100. During the movement, the second push-pull member 320 moves along with the flexible transmission member 220 and begins to cooperate with the material box 20 until the second push-pull member 320 completely pulls the material box 20 onto the support assembly 100. During this process, the first push-pull member 310 and the second push-pull member 320 both translate one circle along the transmission direction of the flexible transmission member 220. That is, after the material box 20 is picked up and placed on the support assembly 100, the push-pull assembly 300 returns to its initial position.

[0090] In the embodiment of the present application, the placing process of the push-pull assembly 300 is opposite to the picking process described above, that is, the flexible transmission member 220 can be transmitted in the opposite direction, which will not be described in detail here.

[0091] In some embodiments, the bottom of the material box 20 has a first docking portion 21 and a second docking portion 22, which are spaced apart along the loading and unloading direction of the material box 20. The first push-pull member 310 is configured to dock with the first docking portion 21 under the drive of the flexible transmission member 220, thereby driving the material box 20 to move in or out of the loading and unloading device 10. The second push-pull member 320 is configured to dock with the second docking portion 22 under the drive of the flexible transmission member 220, thereby driving the material box 20 from the edge of the loading and unloading device 10 to the center of the loading and unloading device 10.

[0092] It can be understood that the first docking portion 21 can be located at the bottom edge of the material box 20, and the second docking portion 22 can be located at the middle position of the bottom of the material box 20. During the picking process of the push-pull assembly 300, the first push-pull member 310 first docks with the first docking portion 21 and drives the material box 20 to move toward the support assembly 100. When the material box 20 is partially moved onto the support assembly 100, the second docking portion 22 at the bottom of the material box 20 moves to the edge close to the picking and placing assembly. At this time, the second push-pull member 320 docks with the second docking portion 22, driving the material box 20 to continue to move toward the support assembly 100, and with the transmission of the flexible transmission member 220, the first push-pull member 310 withdraws from the first docking portion 21, and the second push-pull member 320 completely moves the material box 20 to the support assembly 100.

[0093] For example, the first docking portion 21 and the second docking portion 22 may be slots, or the first docking portion 21 and the second docking portion 22 may be other docking structures such as buckles, clamping protrusions, etc.

[0094] In some embodiments, the first push-pull member 310 may be provided with a first push-pull portion 311, and the second push-pull member may be provided with a second push-pull portion 321. When the first push-pull member 310 is docked with the material box 20, the first push-pull portion 311 may be plugged into the first docking portion 21. When the second push-pull member 320 is docked with the material box 20, the second push-pull portion 321 may be plugged into the second docking portion 22.

[0095] For example, the first push-pull portion 311 may be a raised structure on the surface of the first push-pull member 310. The first push-pull portion 311 may be integrally formed with the first push-pull member 310, welded to the first push-pull member 310, or connected via fasteners such as bolts. The second push-pull portion 321 may be a raised structure on the surface of the second push-pull member 320. The second push-pull portion 321 may be integrally formed with the second push-pull member 320, welded to the second push-pull member 320, or connected via fasteners such as bolts. This embodiment of the present application does not specifically limit this.

[0096] In the embodiment of the present application, the cargo picking and placing device 10 can realize bidirectional picking and placing of the material box 20, that is, when the cargo picking and placing device 10 does not rotate as a whole to change the direction, the push-pull assembly 300 can pick and place the material box 20 at both ends of the cargo picking and placing device 10.

[0097] In some embodiments, there may be two first push-pull members 310. When the push-pull assembly 300 is in the initial position, the two first push-pull members 310 are located at both ends of the support assembly 100. The two first push-pull members 310 are respectively used to pick up and place the material boxes 20 at both ends of the picking and placing device 10.

[0098] It is understood that the two first push-pull members 310 are synchronously driven by the flexible transmission member 220. When the first first push-pull member 310 is picking up and placing a material box 20 at one end of the pick-and-place device 10, the first push-pull member 310 cooperates with the second push-pull member 320, while the second first push-pull member 310 merely moves translationally with the flexible transmission member 220 and does not push or pull the material box 20. Accordingly, when the second first push-pull member 310 is picking up and placing a material box 20 at the other end of the pick-and-place device 10, the first push-pull member 310 cooperates with the second push-pull member 320, while the first first push-pull member 310 merely moves translationally with the flexible transmission member 220 and does not push or pull the material box 20. In other words, the two first push-pull members 310 cooperate with the same second push-pull member 320 to pick up and place a material box 20.

[0099] The second push-pull member 320 and the two first push-pull members 310 can be respectively provided with a connecting part 301 and a sliding part 302 on both sides. The staggered setting direction of the connecting part 301 on the second push-pull member 320 and the two first push-pull members 310 is the same, and the staggered setting direction of the sliding part 302 on the second push-pull member 320 and the two first push-pull members 310 is the same, which will not be repeated here.

[0100] In some embodiments, the second push-pull member 320 can be one, two or three, and the specific number is not limited and is set according to actual conditions. At this time, the bottom of the material box 20 is provided with a docking portion corresponding to the second push-pull member 320 one by one.

[0101] It should be noted that since the two first push-pull members 310 and the second push-pull members 320 cooperate to realize two-way picking and placing of the material box 20, the picking and placing device 10 can also complete the picking operations in the front and back directions without rotating. When the picking and placing device 10 is used to pick and place the material box 20 in the aisle between two shelves, the space occupied by the picking and placing device 10 can be reduced, thereby reducing the distance between the shelves in the storage system and improving the storage density.

[0102] In the embodiment of the present application, the cargo picking and placing device 10 may further include a detection mechanism 400 . The detection mechanism 400 is disposed on the push-pull assembly 300 . The detection mechanism 400 is configured to detect the docking state between the push-pull assembly 300 and the material box 20 .

[0103] Among them, when the first push-pull member 310 of the push-pull assembly 300 extends to the front end of the cargo picking and placing device 10, the first push-pull member 310 can be lifted as a whole to abut against the bottom wall of the material box 20, and the detection mechanism 400 can detect the docking state of the first push-pull member 310 and the bottom wall of the material box 20, so that after the first push-pull member 310 abuts against the material box 20, a signal is fed back to the controller, so that the controller controls the driving unit 210 to continue to drive the flexible transmission member 220 to drive the first push-pull member 310 to move, and then drag the material box 20 to move.

[0104] Figure 14 is a schematic diagram of the detection mechanism in the cargo picking and placing device provided in an embodiment of the present application, Figure 15 is a schematic diagram of the detection mechanism in the first position in the cargo picking and placing device provided in an embodiment of the present application, and Figure 16 is a schematic diagram of the detection mechanism in the second position in the cargo picking and placing device provided in an embodiment of the present application.

[0105] The specific structure and working principle of the detection mechanism 400 are described in detail below.

[0106] Referring to Figures 14 to 16 , in conjunction with Figures 1 and 2 , in some embodiments, the detection mechanism 400 may include an elastic member 410 and a reflector 420 . The first end of the elastic member 410 is connected to the push-pull assembly 300 , and the second end of the elastic member 410 faces upward from the support assembly 100 . At this time, the second end of the elastic member 410 is not subject to external pressure and is in a natural state. The reflector 420 is rotatably connected to the push-pull assembly 300 and is disposed at the second end of the elastic member 410 . The cargo pick-up and placement device 10 may further include a photoelectric detection device 500 , which is disposed on the support assembly 100 . Exemplarily, the elastic member 410 is a leaf spring.

[0107] When the push-pull assembly 300 abuts the material box 20, the second end of the elastic member 410 abuts the material box 20 and pushes the reflector 420 to rotate to the first position, so that the reflector 420 is opposite the photoelectric detection device 500. When the push-pull assembly 300 separates from the material box 20, the second end of the elastic member 410 separates from the material box 20 and rebounds to its natural state, while pushing the reflector 420 to rotate to the second position, so that the reflector 420 is offset from the photoelectric detection device 500. The photoelectric detection device 500 can be a photoelectric switch or other non-contact photoelectric detection unit.

[0108] It is understood that when the reflector 420 is in the first position, the reflector 420 is vertically positioned and blocks the light emitted by the photoelectric detection device 500. The photoelectric detection device 500 can feedback a signal to the controller through the light reflected by the reflector 420, thereby determining that the first push-pull member 310 is inserted into the first docking portion 21. When the reflector 420 is in the second position, the reflector 420 is horizontally positioned. At this time, the reflector 420 avoids the light emitted by the photoelectric detection device 500, and thus the reflected light cannot be detected.

[0109] In some embodiments, the second end of the elastic member 410 is connected to a roller 411, and the reflective plate 420 has a rolling groove 421. The rolling groove 421 is eccentrically arranged relative to the rotation center of the reflective plate 420. The roller 411 is located in the rolling groove 421, thereby improving the smoothness of the elastic member 410 driving the reflective plate 420 to rotate.

[0110] Illustratively, the elastic member 410 may be a leaf spring, and the embodiment of the present application does not limit the specific length and damping coefficient of the elastic member 410 .

[0111] It should be noted that a detection mechanism 400 can be respectively provided on the two first push-pull members 310 used for bidirectional picking and placing of goods. Accordingly, two photoelectric detection devices 500 are respectively provided at both ends of the support assembly 100 for receiving the reflected light on the two first push-pull members 310.

[0112] The specific structure of the driving unit 210 driving the flexible transmission member 220 for transmission will be described in detail below.

[0113] Please continue to refer to Figures 1 to 10. In some embodiments, the drive assembly 200 may also include multiple first transmission wheels 230, and the multiple first transmission wheels 230 are respectively arranged at both ends of the support assembly 100. The flexible transmission member 220 is wrapped around the first transmission wheels 230 at both ends of the support assembly 100 and is surrounded to form a closed ring.

[0114] It can be understood that the shape and setting position of the flexible transmission member 220 can be formed by the first transmission wheel 230, and the first transmission wheel 230 around which the two flexible transmission members 220 are wound is staggered along the picking and placing direction of the picking and placing device 10, so as to realize that the two flexible transmission members 220 can be staggered in the picking and placing direction of the picking and placing device 10.

[0115] Among them, the driving assembly 200 can also include a second transmission wheel 240 and a third transmission wheel 250, and the second transmission wheel 240 and the third transmission wheel 250 are located between the first transmission wheel 230 at both ends of the support assembly 100; the second transmission wheel 240 can abut against the inner side of the flexible transmission member 220, and the third transmission wheel 250 can abut against the outer side of the flexible transmission member 220; the driving unit 210 is configured to drive either the second transmission wheel 240 or the third transmission wheel 250 to rotate, so as to drive the flexible transmission member 220 to transmit.

[0116] For example, two first transmission wheels 230 may be provided on both sides of the width direction of the support assembly 100, and the two first transmission wheels 230 on each side are distributed at both ends of the support assembly 100 along the X direction, and each flexible transmission member 220 may be provided with two second transmission wheels 240 and two third transmission wheels 250. After the inner side of the flexible transmission member 220 passes through the two first transmission wheels 230, its outer side passes through a third transmission wheel 250, and its inner side then passes through two second transmission wheels 240 in sequence. Finally, its outer side passes through another third transmission wheel 250 and returns to the initial first transmission wheel 230, thereby forming a closed loop.

[0117] It should be noted that the drive unit 210 can be a motor, the output end of which is connected to the second transmission wheel 240 or the third transmission wheel 250 via a chain after passing through a reducer. In addition, the corresponding second transmission wheels 240 or third transmission wheels 250 of the two flexible transmission members 220 can be connected via a transmission shaft to maintain synchronous transmission. The forward and reverse rotation of the motor can achieve clockwise or counterclockwise transmission of the two flexible transmission members 220.

[0118] Figure 21 is a schematic structural diagram of the robot provided in an embodiment of the present application.

[0119] Please refer to Figure 21. The present application also provides a robot, which includes a robot body and a cargo picking and placing device 10 in the above technical solution. The cargo picking and placing device 10 is arranged on the robot body, and the cargo picking and placing device 10 can be raised and lowered along the height direction of the robot body.

[0120] Among them, the robot is used in the storage system, and can move between the shelves of the storage system and / or climb and descend along the shelves, and obtain material boxes from the shelves or place material boxes on the shelves, playing the role of picking up, placing and transferring material boxes.

[0121] In some embodiments, the picking and placing device 10 can be raised and lowered relative to the robot body, and the robot body can move on the ground and / or climb and descend along the shelf, so that the picking and placing device 10 can be opposite to different storage locations of the shelf to obtain the target material box. After the picking and placing device 10 is docked with the corresponding storage location of the shelf, it can perform picking and placing operations on the material box.

[0122] It should be noted that the robot provided in the embodiment of the present application can include all the technical solutions and technical effects of the above-mentioned cargo picking and placing device 10, which will not be repeated here.

[0123] An embodiment of the present application also provides a warehousing system, which includes shelves and the robot in the above technical solution. There can be multiple shelves, and the multiple shelves are arranged at intervals. There are lanes between adjacent shelves. The robot moves in the lanes, and the robot's picking and placing device can be extended and retracted in both directions along the width direction of the lane to pick up and place material boxes on the shelves on both sides of the lane.

[0124] It is understandable that since the robot's picking and placing device can pick up goods on both sides of the aisle width, the fork device does not need to turn around, and the aisle does not need to reserve space for the picking and placing device to rotate, thereby improving the storage density of the storage system.

[0125] Figure 22 is a flowchart of the method for picking up goods applied to a robot provided in an embodiment of the present application.

[0126] Please refer to Figure 22. An embodiment of the present application provides a cargo picking method applied to a robot, wherein the robot includes a cargo picking and placing device, the cargo picking and placing device includes a push-pull component and a flexible transmission member that drives the push-pull component to move, the push-pull component includes a first push-pull member and a second push-pull member, and the first push-pull member and the second push-pull member are respectively connected to different positions in the extension direction of the flexible transmission member.

[0127] The method includes:

[0128] S101. When the robot drives to the target pickup position, it extends the first push-pull member to the bottom of the first docking portion of the target material box, and lifts the first push-pull member to dock with the first docking portion.

[0129] The first docking portion is the first docking portion at the bottom of the material box. When the push-pull assembly is translated to the bottom of the target material box, the first push-pull member of the push-pull assembly is opposite to the first docking portion at the bottom of the target material box.

[0130] S102: Determine that the first push-pull member is docked with the first docking portion, reversely drive the first push-pull member, and move the target material box portion to the pick-and-place device, so that the second push-pull member docks with the second docking portion of the target material box, and the first push-pull member is disengaged from the first docking portion.

[0131] The pickup and placement device further includes a detection mechanism and a photoelectric detection device. The detection mechanism includes a reflector rotatably connected to the push-pull assembly. When the push-pull assembly abuts the target material box, the reflector rotates to protrude from the push-pull assembly. Determining whether the first push-pull member and the first docking portion are docked is specifically determined by determining that the docking is complete when the photoelectric detection device receives a signal reflected by the reflector.

[0132] The cargo pickup and placement device further includes a support assembly, the push-pull assembly having an initial position. When the push-pull assembly is in the initial position, the second push-pull member is located in the middle of the support assembly along the cargo pickup and placement direction, and the second push-pull member is located above the flexible transmission member. The first push-pull member is located on opposite sides of the second push-pull member, and the first push-pull member is located below the second push-pull member.

[0133] It can be understood that as the cargo picking and placing device is lifted, the first push-pull member of the push-pull assembly is plugged into the first docking portion at the bottom of the target material box, and the material box will press the reflective plate to rotate so that the photoelectric detection device detects the reflected signal, thereby controlling the push-pull assembly to drag the target material box toward the support assembly.

[0134] S103: driving the second push-pull member to move all target material boxes to the picking and placing device.

[0135] After the second push-pull member is driven to bring all target material boxes to the picking and placing device, the first push-pull member and the second push-pull member are driven to return to their initial positions.

[0136] It should be noted that the second docking portion is the second docking portion at the bottom of the material box. This method is a robot picking method. During the process of the push-pull assembly driving the target material box to move, the first push-pull member will withdraw from the first docking portion, and the second push-pull member will plug into the second docking portion at the bottom of the target material box. For details, please refer to the specific structure of the above-mentioned picking and placing device, which will not be repeated here.

[0137] FIG23 is a flow chart of a method for placing goods on a robot according to an embodiment of the present application.

[0138] Please refer to Figure 23. An embodiment of the present application provides a cargo placing method applied to a robot, wherein the robot includes a cargo picking and placing device, the cargo picking and placing device includes a push-pull component and a flexible transmission member that drives the push-pull component to move, the push-pull component includes a first push-pull member and a second push-pull member, and the first push-pull member and the second push-pull member are respectively connected to different positions in the extension direction of the flexible transmission member.

[0139] The method includes:

[0140] S201. When the robot carries the target material box to the target delivery position, the robot drives the second push-pull member toward the target delivery position to partially drive the target material box to the target delivery position, so that the first push-pull member docks with the first docking portion of the target material box, and the second push-pull member detaches from the target material box.

[0141] The first docking portion is the first docking portion at the bottom of the material box, and the second docking portion is the second docking portion at the bottom of the material box. When the push-pull assembly drives the target material box to move into the target storage location, the second push-pull member first engages with the second docking portion at the bottom of the target material box to drive the target material box to move. Then, the second push-pull member withdraws from the second docking portion, and the first push-pull member engages with the first docking portion at the bottom of the target material box, thereby continuing to drive the target material box into the target storage location.

[0142] S202: Determine that the first push-pull member is docked with the first docking portion, drive the first push-pull member toward a target cargo placement position, and place the target material box at the target cargo placement position.

[0143] S203: lowering the first push-pull member to disengage from the first docking portion, and driving the first push-pull member in the reverse direction so that the first push-pull member retracts into the cargo picking and placing device.

[0144] Among them, when the picking and placing device descends, the first push-pull member withdraws from the first docking part at the bottom of the target material box. At this time, the reflector of the detection mechanism rotates under the drive of the elastic member, so that the photoelectric detection device cannot detect the reflected light of the reflector, and the push-pull assembly can be controlled to move to the initial position to complete the reset.

[0145] It should be noted that this method is a method for placing goods by a robot, which is the reverse process of the aforementioned method for picking up goods, and will not be described in detail here.

[0146] In addition, the above-mentioned placing method and picking method can be implemented one after the other. For example, the above-mentioned picking method can be used to first obtain a material box on the shelf, and then the above-mentioned placing method can be used to place the material box on the shelf. Alternatively, the above-mentioned placing method can be used to first place a material box on the shelf, and then the above-mentioned picking method can be used to obtain a material box on the shelf.

[0147] For example, a warehouse system includes two shelves positioned opposite each other, and a robot picks and places items in the aisle between the two shelves. The first and second storage locations are opposite each other on the two shelves. The robot uses the pick method to retrieve a material box from the first location, then uses the place method to place the same material box in the second location without rotating or lifting. This allows for easy adjustment of the material box's position, with simple movements and a fast process.

[0148] It should be noted that the picking and placing device mentioned in the above-mentioned picking and / or placing method can be any one or a combination of the picking and placing devices provided in the embodiments of the present application, as long as the picking and placing device includes the necessary structure to implement the above-mentioned picking and / or placing method.

[0149] The following describes the process of taking a material box from a shelf by the picking and placing device provided in an embodiment of the present application.

[0150] FIG20 is a schematic diagram of the cargo picking process of the cargo picking and placing device provided in an embodiment of the present application.

[0151] Please refer to FIG. 20 for the process of obtaining the material box 20:

[0152] ①. The pick-up / placement device 10 is positioned opposite the target material box 20, with the push-pull assembly 300 of the pick-up / placement device in its initial position. Specifically, referring to state ① in FIG. 20 , the push-pull assembly 300 includes two first push-pull members 310. The material box 20 is positioned on the first side of the pick-up / placement device. In the initial position, the second push-pull member 320 is positioned above the flexible transmission member 220 and in the middle of the pick-up / placement device 10. The two first push-pull members 310 are positioned on either side of the second push-pull member 320 and vertically centering the flexible transmission member 220. The first push-pull member 310 for acquiring the target material box is positioned on the second side of the pick-up / placement device 10, with its first push-pull portion 311 facing the first side of the pick-up / placement assembly 10. The other first push-pull member 310 is positioned on the first side of the pick-up / placement device 10, with its pickup portion facing the second side of the pick-up / placement assembly 10.

[0153] ②. The flexible transmission member 220 rotates counterclockwise or clockwise, and the first push-pull member 310 of the picking and placing device moves to face the first docking portion 21 at the bottom of the material box 20. Specifically, referring to state ② in FIG. 20 , the first push-pull member 310 and the second push-pull member 320 rotate counterclockwise following the flexible transmission member 220. The first push-pull member 310 located on the second side of the picking and placing device 10 translates past the bend on the second side of the flexible transmission member 220 and moves to the upper side of the flexible transmission member 220. The first push-pull member 310 continues to move counterclockwise on the first side of the picking and placing device 10 until the picking portion of the first push-pull member 310 is located below the first docking portion of the material box. At this point, the flexible transmission member 220 stops rotating, and the second push-pull member 320 is located below the flexible transmission member 220.

[0154] ③. The whole picking and placing device is lifted up, so that the picking portion of the first push-pull member 310 is inserted into the first docking portion 21. For details, refer to state ③ in FIG. 20 .

[0155] ④. The flexible transmission member 220 rotates clockwise, and the first push-pull member 310 drives the material box 20 to move toward the loading and unloading device 10 until the second push-pull member 320 faces the second docking portion 22 and is inserted into the second docking portion 22. See state ④ in FIG. 20 for details.

[0156] ⑤. The flexible transmission member 220 continues to rotate clockwise, and the first push-pull member 310 and the second push-pull member 320 drive the material box 20 to continue moving toward the loading and unloading device 10. The first push-pull member 310 moves to the bend of the flexible transmission member 220 and descends to the middle of the flexible transmission member 220, thereby disengaging from the material box 20. At this time, the second push-pull member 320 continues to drive the material box 20 until the push-pull assembly 300 returns to its initial position. See state ⑤ in Figure 20 for details.

[0157] The process of storing the material box 20 on the shelf is the reverse process of the above-mentioned process of obtaining the material box 20, and will not be described in detail here.

[0158] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A device for picking up and releasing goods, characterized in that: Used for picking up and placing material boxes, the picking up and placing device includes a support assembly, a drive assembly and a push-pull assembly, the drive assembly includes a drive unit and two flexible transmission members, the drive unit is arranged on the support assembly, and the drive unit is configured to drive the two flexible transmission members to transmit; the push-pull assembly is located between the two flexible transmission members, and the two sides of the push-pull assembly are respectively connected to the two flexible transmission members, so that the flexible transmission members drive the push-pull assembly to move along its transmission direction; The connection positions of the two sides of the push-pull assembly and the two flexible transmission members are staggered along the picking and placing direction of the picking and placing device; the two flexible transmission members are correspondingly staggered along the picking and placing direction of the picking and placing device.

2. The cargo picking and placing device according to claim 1, characterized in that: Both sides of the push-pull assembly are provided with connecting parts, and the push-pull assembly is rotatably connected to the flexible transmission member through the connecting parts; the connecting parts on both sides of the push-pull assembly are staggered along the picking and placing direction of the picking and placing device.

3. The cargo picking and placing device according to claim 2, characterized in that: The dislocation direction of the two flexible transmission members is the same as the dislocation direction of the connecting parts on both sides of the push-pull assembly; the dislocation distance of the two flexible transmission members is the same as the dislocation distance of the connecting parts on both sides of the push-pull assembly.

4. The cargo picking and placing device according to claim 2, characterized in that: The flexible transmission member is a chain, and the connecting portion is hinged to the chain.

5. The cargo picking and placing device according to any one of claims 1 to 4, characterized in that: The support assembly has two sliding grooves, which are located on both sides of the push-pull assembly. Both sides of the push-pull assembly are provided with sliding parts, which are located in the sliding grooves. When the flexible transmission member transmits power, the sliding parts move along the sliding grooves.

6. The device for picking up and releasing goods according to claim 5, characterized in that: The sliding parts on both sides of the push-pull assembly are staggered, and the staggering direction of the sliding parts on both sides of the push-pull assembly is opposite to the staggering direction of the two flexible transmission members.

7. The cargo picking and placing device according to claim 5, characterized in that: The support assembly includes an outer guide member and an inner guide member, wherein the outer guide member is located outside the inner guide member in the circumferential direction; the inner wall of the outer guide member and the outer wall of the inner guide member are arranged to form the sliding groove.

8. The cargo picking and placing device according to claim 7, characterized in that: The outer guide member has a first arcuate guide surface, and the inner guide member has a second arcuate guide surface. The first arcuate guide surface and the second arcuate guide surface are respectively located at two ends of the support component; when the push-pull component passes the turning position of the flexible transmission member, the sliding part slides along the first arcuate guide surface or the second arcuate guide surface.

9. The cargo picking and placing device according to claim 8, characterized in that: The first arc-shaped guide surface of one of the two sliding slots and the second arc-shaped guide surface of the other sliding slot are located at the same end of the supporting component.

10. The cargo picking and placing device according to any one of claims 1 to 4, characterized in that: The push-pull assembly includes a first push-pull member and a second push-pull member, and the first push-pull member and the second push-pull member are respectively connected to different positions in the extension direction of the flexible transmission member; when the picking and placing device picks and places the material box, at least one of the first push-pull member and the second push-pull member drives the material box to move.

11. The cargo picking and placing device according to claim 10, characterized in that: The push-pull assembly has an initial position. When the push-pull assembly is in the initial position, the first push-pull member is located at the end of the support assembly along the direction of picking up and placing goods, and the second push-pull member is located in the middle of the support assembly along the direction of picking up and placing goods.

12. The cargo picking and placing device according to claim 10, characterized in that: The bottom of the material box has a first docking portion and a second docking portion, and the first docking portion and the second docking portion are arranged at intervals along the picking and placing direction of the material box; the first push-pull member is configured to dock with the first docking portion under the drive of the flexible transmission member, and drive the material box to move in or out of the picking and placing device; the second push-pull member is configured to dock with the second docking portion under the drive of the flexible transmission member, and drive the material box to move from the edge of the picking and placing device to the middle of the picking and placing device.

13. The cargo picking and placing device according to claim 10, characterized in that: There are two first push-pull members. When the push-pull assembly is in the initial position, the two first push-pull members are located at both ends of the support assembly. The two first push-pull members are respectively used to pick up and place the material boxes at both ends of the picking and placing device.

14. The cargo picking and placing device according to any one of claims 1 to 4, characterized in that: It also includes a detection mechanism, which is provided on the push-pull assembly and is configured to detect the abutment state between the push-pull assembly and the material box.

15. The cargo picking and placing device according to claim 14, characterized in that: The detection mechanism includes an elastic member and a reflective plate, wherein a first end of the elastic member is connected to the push-pull assembly, and a second end of the elastic member faces upward from the support assembly; the reflective plate is rotatably connected to the push-pull assembly, and the reflective plate is opposite to the second end of the elastic member; the cargo picking and placing device further includes a photoelectric detection device, which is disposed on the support assembly; When the push-pull assembly abuts against the material box, the second end of the elastic member abuts against the material box and pushes the reflector to rotate to the first position so that the reflector is opposite to the photoelectric detection device; when the push-pull assembly is separated from the material box, the second end of the elastic member separates from the material box and rebounds, pushing the reflector to rotate to the second position so that the reflector is staggered with the photoelectric detection device.

16. The cargo picking and placing device according to claim 15, characterized in that: The second end of the elastic member is connected to a roller. The reflector has a rolling groove. The rolling groove is eccentrically arranged relative to the rotation center of the reflector. The roller is located in the rolling groove.

17. The cargo picking and placing device according to any one of claims 1 to 4, characterized in that: The driving assembly further includes a plurality of first transmission wheels, which are respectively arranged at both ends of the supporting assembly. The flexible transmission member is wound around the first transmission wheels at both ends of the supporting assembly to form a closed ring. The first transmission wheels around which the two flexible transmission members are wound are staggered along the picking and placing direction of the picking and placing device.

18. The cargo picking and placing device according to claim 17, characterized in that: The driving assembly also includes a second transmission wheel and a third transmission wheel, and the second transmission wheel and the third transmission wheel are located between the first transmission wheels at both ends of the supporting assembly; the second transmission wheel abuts against the inner side of the flexible transmission member, and the third transmission wheel abuts against the outer side of the flexible transmission member; the driving unit is configured to drive either the second transmission wheel or the third transmission wheel to rotate, so as to drive the flexible transmission member to transmit.

19. A device for picking up and releasing goods, characterized in that: Used for picking up and placing material boxes, the picking up and placing device includes a push-pull component and a flexible transmission member that drives the push-pull component to move, the push-pull component includes a first push-pull member and a second push-pull member, the first push-pull member and the second push-pull member are respectively connected to different positions in the extension direction of the flexible transmission member, and the first push-pull member and the second push-pull member are configured to dock with different docking parts of the material box during a single picking up or placing process.

20. The cargo picking and placing device according to claim 19, characterized in that: The cargo picking and placing device also includes a detection mechanism and a photoelectric detection device. The detection mechanism includes a reflector, which is rotatably connected to the push-pull assembly. When the push-pull assembly abuts against the target material box, the reflector rotates to protrude from the push-pull assembly.

21. The cargo picking and placing device according to claim 19, characterized in that: The cargo picking and placing device also includes a support assembly, and the push-pull assembly has an initial position. When the push-pull assembly is in the initial position, the first push-pull member is located at the end of the support assembly along the cargo picking and placing direction, and the second push-pull member is located in the middle of the support assembly along the cargo picking and placing direction.

22. A robot, characterized in that: It comprises a robot body and a cargo picking and placing device as described in any one of claims 1 to 18, wherein the cargo picking and placing device is arranged on the robot body, and the cargo picking and placing device can be raised and lowered along the height direction of the robot body.

23. A method for picking up goods by a robot, characterized in that: The robot includes a cargo picking and placing device, the cargo picking and placing device includes a push-pull component and a flexible transmission member driving the push-pull component to move, the push-pull component includes a first push-pull member and a second push-pull member, the first push-pull member and the second push-pull member are respectively connected to different positions in the extension direction of the flexible transmission member; The method comprises: When the robot travels to the target pickup position, the robot extends the first push-pull member to below the first docking portion of the target material box, and lifts the first push-pull member to dock with the first docking portion; Determining that the first push-pull member is docked with the first docking portion, driving the first push-pull member in the reverse direction to partially move the target material box toward the loading and unloading device, so that the second push-pull member docks with the second docking portion of the target material box, and the first push-pull member disengages from the first docking portion; The second push-pull member is driven to move all target material boxes to the picking and placing device.

24. The method for picking up goods according to claim 23, wherein: The cargo picking and placing device further includes a detection mechanism and a photoelectric detection device. The detection mechanism includes a reflector, which is rotatably connected to the push-pull assembly. When the push-pull assembly abuts against the target material box, the reflector rotates to protrude from the push-pull assembly. Determining that the first push-pull member and the first docking portion are docked includes: When the photoelectric detection device receives the signal reflected by the reflector, it is determined that the docking is completed.

25. The method for picking up goods according to claim 23, wherein: The cargo picking and placing device further includes a support assembly, the push-pull assembly has an initial position, when the push-pull assembly is in the initial position, the second push-pull member is located in the middle of the support assembly along the cargo picking and placing direction, and the second push-pull member is located on the upper side of the flexible transmission member; the first push-pull member is located on opposite sides of the second push-pull member, and the first push-pull member is located on the lower side of the second push-pull member, the method comprising: After the second push-pull member is driven to bring all target material boxes to the picking and placing device, the first push-pull member and the second push-pull member return to their initial positions.

26. A method for placing goods using a robot, characterized in that: The robot includes a cargo picking and placing device, the cargo picking and placing device includes a push-pull component and a flexible transmission member that drives the push-pull component to move, the push-pull component includes a first push-pull member and a second push-pull member, the first push-pull member and the second push-pull member are respectively connected to different positions in the extension direction of the flexible transmission member, and the method includes: When the robot carries the target material box to the target delivery position, the robot drives the second push-pull member toward the target delivery position to partially drive the target material box to the target delivery position, so that the first push-pull member docks with the first docking portion of the target material box, and the second push-pull member detaches from the target material box. Determining that the first push-pull member is docked with the first docking portion, driving the first push-pull member toward the target cargo placement position to place the target material box at the target cargo placement position; The first push-pull member is lowered to disengage from the first docking portion, and the first push-pull member is driven in reverse to retract into the picking and placing device.

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