Bin taking and placing apparatus and bin transport robot

Abstract

A bin taking and placing apparatus and a bin transport robot. The bin taking and placing apparatus comprises: a base plate (100), an extension / retraction driving mechanism (110), a collapsible mechanism (120), a suction cup mechanism (200), and a bin support platform (300), wherein the suction cup mechanism comprises at least one suction cup (211). When taking a bin located on a warehouse shelf, the extension / retraction driving mechanism drives the collapsible mechanism to drive the suction cup to extend towards the bin, so that the suction cup suctions the bin from the warehouse shelf and moves the bin onto the bin support platform, or pushes the bin on the bin support platform onto the warehouse shelf. By adopting the bin taking and placing apparatus for bin transportation, no operational clearance needs to be reserved between bins on the warehouse shelf for the robot, thereby increasing the storage density of bins on the warehouse shelf and improving the warehouse capacity utilization rate.

Description

Material box picking and placing device and material box handling robot

[0001] This application claims priority to the Chinese patent application filed with the Patent Office of China on March 21, 2024, with application number 202410330257.7 and invention name “A material box picking and placing device and material box handling robot”, and the Chinese patent application filed with the Patent Office of China on March 21, 2024, with application number 202420562836.X and invention name “A material box picking and placing device and material box handling robot”, 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 material box picking and placing device and a material box handling robot. Background Art

[0003] In the field of warehousing and logistics, it is necessary to transfer and transport boxes located on warehouse shelves. Related box handling robots include gripping robots and lifting robots.

[0004] Gripping robots operate by extending their telescopic fork arms into the gaps between bins and using gripping or forking techniques to pull the bins into the robot. Due to the thickness of the gripping fork arms, the gaps between bins on the shelves are relatively large, resulting in a low density of bins on the same shelf.

[0005] The operating principle of a lifting robot is to extend a telescopic fork arm from under the material box, lift the box from the shelf, and then pull it back into the robot. Due to the thickness of the telescopic fork arm of a lifting robot, a large lifting space is required, resulting in large operating gaps between shelf layers, and the number of shelves that can be accommodated on a shelf of the same height is limited.

[0006] It can be seen that when using the material box handling robot of related technology to carry out material box handling, the warehouse shelves need to reserve the operating gap between the material boxes or the inter-layer operating gap between the shelf layers for the robot's telescopic fork arm. As a result, the warehouse shelves can store fewer material boxes and the warehouse capacity rate is low. Summary of the Invention

[0007] The purpose of the embodiments of the present application is to provide a bin picking and placing device and a bin handling robot, so that warehouse shelves do not need to reserve operating clearance for the robot, thereby increasing the warehouse capacity. The specific technical solution is as follows:

[0008] The embodiment of the present application provides a material box picking and placing device, comprising:

[0009] Bottom plate, telescopic drive mechanism, telescopic mechanism, suction cup mechanism and material box support platform;

[0010] The telescopic drive mechanism is mounted on the base plate;

[0011] The telescopic mechanism is connected to the telescopic drive mechanism, and the telescopic mechanism has a front end and a rear end; wherein the front end is a telescopic end and the rear end is a fixed end; the rear end of the telescopic mechanism is arranged at the rear end of the bottom plate;

[0012] The suction cup mechanism includes: at least one suction cup; the suction cup is mounted on the front end of the telescopic mechanism; the telescopic mechanism is used to drive the suction cup to extend and retract in the front-back direction under the drive of the telescopic drive mechanism; the suction cup is used to suck the material box on the warehouse shelf and move it to the material box support platform, or push the material box on the material box support platform to move it to the warehouse shelf;

[0013] The material box supporting platform is arranged on the bottom plate and installed along the extension and contraction direction of the suction cup mechanism, and is used to support the material box during the process of taking and placing the material box.

[0014] In some embodiments, the suction cup mechanism further includes: a vacuum pump and a solenoid valve; the vacuum pump is connected to the suction cup, and the solenoid valve is arranged between the suction cup and the vacuum pump; the vacuum pump is used to absorb the gas in the suction cup so that the suction cup adsorbs the material box; the solenoid valve is used to connect the suction cup with the vacuum pump when adsorbing the material box, and connect with the outside when separating the material box, so as to allow external air to enter the interior of the suction cup; the vacuum pump is arranged on the bottom plate.

[0015] In some embodiments, the invention further includes:

[0016] A controller, arranged on the bottom plate;

[0017] The suction cup mechanism also includes a three-way pneumatic joint and a vacuum pressure switch; the three-way pneumatic joint has a first port, a second port and a third port; the first port is connected to the suction cup, the second port is connected to the connection port of the solenoid valve, the air outlet of the solenoid valve is connected to the vacuum pump, and the air inlet of the solenoid valve is connected to the outside; the third port is connected to the vacuum pressure switch, and the vacuum pressure switch is used to detect the internal pressure value of the suction cup; the vacuum pressure switch and the telescopic drive mechanism are both electrically connected to the controller.

[0018] In some embodiments, the suction cup mechanism further comprises:

[0019] A suction cup fixing plate, the suction cup fixing plate being connected to the telescopic mechanism; one side of the suction cup fixing plate being fixedly connected to the front end of the telescopic mechanism;

[0020] A pneumatic connecting block, through which the suction cup is fixed to the other side of the suction cup fixing plate, the pneumatic connecting block has an air flow channel, the air inlet of the air flow channel is connected to the suction cup, and the air outlet of the air flow channel is connected to the first port.

[0021] In some embodiments, a suction cup limiting frame is provided on the outer periphery of the suction cup, the suction cup limiting frame is connected to the suction cup fixing plate, and the suction cup limiting frame is used to abut against the material box when taking and placing the material box.

[0022] In some embodiments, the suction cup mechanism further comprises:

[0023] An air pipe and a drag chain, wherein the first end of the drag chain is connected to the suction cup fixing plate, and the second end of the drag chain is connected to the bottom plate; the air pipe is passed through the protective cavity of the drag chain; and the vacuum pump is connected to the suction cup through the air pipe.

[0024] In some embodiments, the telescopic drive mechanism includes:

[0025] a telescopic guide rail, arranged on the bottom plate along a telescopic direction;

[0026] a driving arm, the driving arm being movably connected to the telescopic guide rail;

[0027] A driving assembly is provided on the bottom plate, the driving assembly is connected to the driving arm, and is used to drive the driving arm to slide along the telescopic direction; the driving assembly is electrically connected to the controller;

[0028] A driving frame is connected to the driving arm, and the driving frame is also connected to the telescopic mechanism. The driving arm is used to drive the driving frame to move along the telescopic direction, so that the driving frame drives the telescopic mechanism to telescope.

[0029] In some embodiments, the drive assembly includes:

[0030] A drive motor is fixed to the rear end of the base plate through a motor fixing plate; the drive motor is electrically connected to the controller;

[0031] A driving wheel, the rotating shaft of which is provided on the bottom plate and is connected to the output shaft of the driving motor;

[0032] A passive wheel is provided at the front end of the base plate, and the rotating shaft of the passive wheel is fixedly connected to the base plate; the driving wheel is connected to the passive wheel via a synchronous belt, and a first sawtooth is provided on the side of the synchronous belt facing away from the driving wheel;

[0033] A toothed plate is connected to the driving arm, and a second sawtooth is provided on a side of the toothed plate facing the synchronous belt, and the first sawtooth is engaged with the second sawtooth.

[0034] In some embodiments, the drive assembly includes two drive wheels, and the two drive wheels are respectively connected to the output shaft of the drive motor through two transmission shafts; the two drive wheels are connected to the passive wheel through the corresponding synchronous belts, the two first saw teeth are engaged with the corresponding second saw teeth, and the two drive arms are connected to the drive frame.

[0035] In some embodiments, the telescopic drive mechanism further comprises:

[0036] A telescopic zero-position baffle, arranged on the driving arm;

[0037] The telescopic zero position sensor is arranged on the motor fixing plate; the telescopic zero position sensor is used to detect the position of the telescopic zero position baffle, and the telescopic zero position sensor is electrically connected to the controller.

[0038] In some embodiments, the telescopic mechanism includes:

[0039] A fixing member connected to the rear end of the base plate through the motor fixing plate;

[0040] A first positioning link assembly includes a first positioning link and a second positioning link, wherein the first end of the first positioning link and the first end of the second positioning link are both hinged to the fixing member through a first hinge block;

[0041] a tail link assembly, comprising a first tail link and a second tail link, wherein a first end of the first tail link is hingedly connected to a second end of the second positioning link via an eighth rotation axis, a first end of the second tail link is hingedly connected to a second end of the first positioning link via a ninth rotation axis; and the first tail link is hingedly connected to the second tail link via a thirteenth rotation axis;

[0042] A plurality of telescopic link groups, the telescopic link groups comprising a first telescopic link and a second telescopic link, the middle portion of the first telescopic link being hinged to the middle portion of the second telescopic link via a first rotation axis, the first end of the first telescopic link being hinged to the first end of the second telescopic link on an adjacent side via a second rotation axis, and the second end of the first telescopic link being hinged to the second end of the second telescopic link on the other adjacent side via a third rotation axis; the first end of the first telescopic link located at the tail is hinged to the second end of the second tail link via a fourth rotation axis, and the first end of the second telescopic link located at the tail is hinged to the second end of the first tail link via a fifth rotation axis; one of the plurality of telescopic link groups is hinged to the drive frame;

[0043] a head connecting rod assembly, comprising a first head connecting rod and a second head connecting rod, wherein the first end of the first head connecting rod is hingedly connected to the second end of the second telescopic connecting rod located at the head portion via a tenth rotation axis, the first end of the second head connecting rod is hingedly connected to the second end of the first telescopic connecting rod located at the head portion via an eleventh rotation axis; and the first head connecting rod is hingedly connected to the second head connecting rod via a twelfth rotation axis;

[0044] A positioning guide rail is arranged on the side of the suction cup fixing plate facing the telescopic mechanism; the second end of the first head connecting rod is movably connected to the positioning guide rail through a second hinge block; the second end of the second head connecting rod is movably connected to the positioning guide rail through a third hinge block.

[0045] In some embodiments, the telescopic mechanism further comprises:

[0046] a fourth hinge block, wherein the positioning guide rail includes a first section and a second section, the first section and the second section being symmetrically arranged on the suction cup fixing plate with respect to the fourth hinge block; the second end of the first head connecting rod is movably connected to the first section via the second hinge block, and the second end of the second head connecting rod is movably connected to the second section via the third hinge block;

[0047] The second positioning link group includes a third positioning link and a fourth positioning link; the second end of the third positioning link and the second end of the fourth positioning link are both hinged to the suction cup fixing plate through a fourth hinge block; the first end of the third positioning link is hinged to the first head link through a sixth rotation axis, and the first end of the fourth positioning link is hinged to the second head link through a seventh rotation axis.

[0048] In some embodiments, the material box support platform includes:

[0049] A material box guide rail is provided on the bottom plate along a telescopic direction;

[0050] A material box support plate is connected to the material box guide rail via a slider, and a trigger block is provided on the side of the material box support plate facing the telescopic mechanism; the material box support plate is used to support the material box during the process of taking and placing the material box;

[0051] A tension spring, one end of the tension spring is connected to a side of the material box pallet close to the drive motor, and the other end of the tension spring is connected to a side of the base plate away from the drive motor. The tension spring is suitable for switching between a stretched state and a contracted state. In the stretched state, the trigger block abuts against the side of the drive frame toward the telescopic mechanism; in the contracted state, the material box pallet extends along the telescopic direction.

[0052] In some embodiments, the invention further includes:

[0053] The limiting component includes two limiting baffles, and the two limiting baffles are symmetrically arranged on the bottom plate with respect to the telescopic direction of the telescopic mechanism. The two limiting baffles and the suction cup mechanism are surrounded to form an accommodating space, and the accommodating space is used to accommodate the material box.

[0054] In some embodiments, the vacuum pump and the controller are both arranged on the limit baffle.

[0055] In some embodiments, the limiting component further includes:

[0056] A limiting block is hinged to the front end of the material box support plate through a limiting shaft;

[0057] A torsion spring, wherein the torsion spring has two legs, one leg of the torsion spring is connected to the limit block, and the other leg of the torsion spring is connected to the material box pallet; the torsion spring is suitable for switching between a compressed state and an expanded state, in the compressed state, the bottom plate abuts against the limit block, and the limit block rotates counterclockwise around the material box pallet so that the limit block is higher than the surface of the material box pallet, and the limit block limits the material box; in the expanded state, the bottom plate is separated from the limit block, and the limit block rotates clockwise around the material box pallet so that the limit block is lower than the surface of the material box pallet.

[0058] In some embodiments, the invention further includes:

[0059] A shelf material box detection sensor is provided on the limit baffle, and is used to detect the material box located on the shelf. The shelf material box detection sensor is electrically connected to the controller.

[0060] In some embodiments, the invention further includes:

[0061] A pickup detection sensor is provided on the limit baffle, and is used to detect the pickup result. The pickup detection sensor is electrically connected to the controller.

[0062] In some embodiments, the invention further includes:

[0063] The rotating component is connected to the base plate, and the rotating component is used to drive the base plate to rotate.

[0064] In some embodiments, the rotating component includes:

[0065] A bottom plate adapter block connected to the bottom plate;

[0066] A rotating motor, wherein the rotating shaft of the rotating motor is connected to the bottom plate adapter block;

[0067] A support base is connected to the rotating motor, and is used to support the rotating motor; the support base is used to connect to external equipment.

[0068] In some embodiments, the rotating component further includes:

[0069] A rotation zero-position baffle is provided on the bottom plate adapter block;

[0070] A rotation zero position sensor is provided on the rotating motor, and is used to detect the position of the rotation zero position baffle. The rotation zero position sensor is electrically connected to the controller.

[0071] In some embodiments, the invention further includes:

[0072] A material box escape sensor is provided on the bottom plate, and is used to detect accidental escape of the material box. The material box escape sensor is electrically connected to the controller.

[0073] An embodiment of the present application also provides a container handling robot, comprising the container picking and placing device, moving device and lifting device described in any one of the above items, wherein the support seat is connected to the lifting device, and the lifting device is connected to the moving device.

[0074] An embodiment of the present application further provides a container handling method, which is applied to the container handling robot and includes the following steps:

[0075] Controlling the moving device to move the material box picking and placing device in the horizontal direction, and controlling the lifting device to move the material box picking and placing device in the vertical direction, so that the material box picking and placing device reaches the material box placement position on the warehouse shelf;

[0076] The telescopic mechanism of the material box picking and placing device is controlled to drive the suction cup to extend and retract in the front and rear directions. The suction cup sucks the material box on the warehouse shelf and moves it to the material box support platform of the material box picking and placing device, or the suction cup pushes the material box on the material box support platform to move to the warehouse shelf.

[0077] In some embodiments, the step of sucking a material box on a warehouse shelf and moving the material box to a material box support platform of the material box picking and placing device includes:

[0078] The material box picking and placing device is controlled to move downward a first predetermined distance as a whole, and the suction cup absorbs the material box on the warehouse shelf and moves it to the material box support platform.

[0079] In some embodiments, the step of controlling the material box picking and placing device to move downward as a whole by a first predetermined distance so that the suction cup absorbs the material box on the warehouse shelf and moves it to the material box support platform includes:

[0080] When the shelf material box detection sensor of the material box picking and placing device detects that the single-extending position of the warehouse shelf is occupied, the material box picking and placing device is controlled to move downward by the first predetermined distance as a whole, and the suction cup sucks the material box at the single-extending position of the warehouse shelf and moves it to the material box support platform;

[0081] When the shelf material box detection sensor of the material box picking and placing device detects that the single-extending position of the warehouse shelf is vacant and the double-extending position is occupied, the material box picking and placing device is controlled to move down as a whole by the first predetermined distance, and the suction cup sucks the material box at the double-extending position of the warehouse shelf and moves it to the material box support platform.

[0082] In some embodiments, the step of the suction cup pushing the material box on the material box support platform to move to the warehouse shelf includes:

[0083] The material box picking and placing device is controlled to move upward a third predetermined distance as a whole, and the suction cup pushes the material box on the material box supporting platform to move to the warehouse shelf.

[0084] In some embodiments, the step of controlling the material box picking and placing device to move upward by a third predetermined distance as a whole, and the suction cup pushing the material box on the material box support platform to move to the warehouse shelf, includes:

[0085] When the shelf material box detection sensor of the material box picking and placing device detects that the single-extending position of the warehouse shelf is vacant or the double-extending position is occupied, the material box picking and placing device is controlled to move upward by a third predetermined distance as a whole, and the suction cup pushes the material box on the material box support platform to move to the single-extending position of the warehouse shelf;

[0086] When the shelf box detection sensor of the box picking and placing device detects that both the single-extending position and the double-extending position of the shelf are idle, the box picking and placing device is controlled to move up a third predetermined distance as a whole, and the suction cup pushes the box on the box support platform to move to the double-extending position of the warehouse shelf.

[0087] The material box picking and placing device provided in an embodiment of the present application, when picking up a material box located on a shelf, the telescopic drive mechanism drives the telescopic mechanism to cause the suction cup to extend toward the material box. Because the suction cup mechanism includes at least one suction cup, the suction cup mechanism is installed at the front end of the telescopic mechanism. The telescopic mechanism can drive the suction cup mechanism to extend and retract, so that the suction cup mechanism can pick up the material box on the warehouse shelf and move it to the material box support platform, or push the material box on the material box support platform to move it to the warehouse shelf. By adopting the material box picking and placing device of the present application to carry out material box transportation, there is no need to reserve operating gaps between the material boxes for the robot, which increases the storage density of the material boxes on the shelf and improves the storage capacity rate of the warehouse.

[0088] Of course, any product implementing the present application does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0089] The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application.

[0090] FIG1 is a schematic diagram of a three-dimensional structure of a material box picking and placing device according to an embodiment of the present application;

[0091] FIG2 is a schematic diagram of the exploded structure of the material box picking and placing device provided in an embodiment of the present application;

[0092] FIG3 is a schematic diagram of the principle structure of the suction cup mechanism provided in an embodiment of the present application;

[0093] FIG4 is a schematic diagram of the three-dimensional structure of the suction cup mechanism provided in an embodiment of the present application;

[0094] FIG5 is a schematic diagram of a partially enlarged structure of point A in FIG4 ;

[0095] FIG6 is a schematic diagram of a partially enlarged structure of point B in FIG4 ;

[0096] FIG7 is a schematic diagram of a partially enlarged structure of point C in FIG4 ;

[0097] FIG8 is a schematic structural diagram of a telescopic mechanism in an extended state provided in an embodiment of the present application;

[0098] FIG9 is a schematic diagram of a three-dimensional structure of a suction cup fixing plate according to an embodiment of the present application;

[0099] FIG10 is a second schematic diagram of the three-dimensional structure of the suction cup fixing plate provided in an embodiment of the present application;

[0100] FIG11 is a third schematic diagram of the three-dimensional structure of the suction cup fixing plate provided in an embodiment of the present application;

[0101] FIG12 is a schematic diagram of a three-dimensional structure of a telescopic drive mechanism according to an embodiment of the present application;

[0102] FIG13 is a second schematic diagram of the three-dimensional structure of the telescopic drive mechanism provided in an embodiment of the present application;

[0103] FIG14 is a schematic diagram of a partially enlarged structure of point D in FIG13;

[0104] FIG15 is a third schematic diagram of the three-dimensional structure of the telescopic drive mechanism provided in an embodiment of the present application;

[0105] FIG16 is a schematic diagram of a partially enlarged structure of point E in FIG15 ;

[0106] FIG17 is a schematic diagram of an exploded structure of a telescopic drive mechanism provided in an embodiment of the present application;

[0107] FIG18 is a schematic diagram of a three-dimensional structure of a telescopic mechanism according to an embodiment of the present application;

[0108] FIG19 is a second schematic diagram of the three-dimensional structure of the telescopic mechanism provided in an embodiment of the present application;

[0109] FIG20 is a schematic diagram of a partially enlarged structure of point F in FIG19;

[0110] FIG21 is a schematic top view of the telescopic mechanism provided in an embodiment of the present application;

[0111] FIG22 is a schematic diagram of an exploded structure of a telescopic mechanism according to an embodiment of the present application;

[0112] FIG23 is a second exploded structural diagram of the telescopic mechanism provided in an embodiment of the present application;

[0113] FIG24 is a schematic diagram of a three-dimensional structure of a torsion spring in a compressed state provided by an embodiment of the present application;

[0114] FIG25 is a schematic diagram of a partially enlarged structure of point G in FIG24;

[0115] FIG26 is a schematic diagram of a three-dimensional structure of a torsion spring in an expanded state provided by an embodiment of the present application;

[0116] FIG27 is a schematic diagram of a partial enlarged structure of point H in FIG26;

[0117] FIG28 is a schematic diagram of the three-dimensional structure of a tension spring provided in an embodiment of the present application;

[0118] FIG29 is a schematic diagram of a partially enlarged structure of point I in FIG28;

[0119] FIG30 is a schematic diagram of the three-dimensional structure of a material box picking and placing device for carrying a material box provided in an embodiment of the present application;

[0120] FIG31 is a schematic diagram of the three-dimensional structure of a rotating component provided in an embodiment of the present application;

[0121] FIG32 is a schematic diagram of an exploded structure of a rotating component provided in an embodiment of the present application;

[0122] FIG33 is a second schematic diagram of the three-dimensional structure of the material box picking and placing device provided in an embodiment of the present application;

[0123] FIG34 is a third schematic diagram of the three-dimensional structure of the material box picking and placing device provided in an embodiment of the present application;

[0124] FIG35 is a schematic structural diagram of a container handling robot provided in an embodiment of the present application;

[0125] FIG36 is a schematic diagram of a single-position pickup process according to an embodiment of the present application;

[0126] FIG37 is a schematic diagram of a single-position cargo unloading process according to an embodiment of the present application;

[0127] FIG38 is a schematic diagram of a double-extending position pickup process according to an embodiment of the present application;

[0128] FIG39 is a schematic diagram of a double-extending position cargo unloading process according to an embodiment of the present application;

[0129] Figure 40 is a flow chart of the material box handling method provided in an embodiment of the present application.

[0130] Base plate 100; telescopic drive mechanism 110; telescopic guide rail 111; drive arm 112; drive frame 113; telescopic mechanism 120; fixing member 121; first positioning link group 122; first positioning link 123; second positioning link 124; first hinge block 125; telescopic link group 126; first telescopic link 127; second telescopic link 128; first rotating shaft 129; drive assembly 130; drive motor 131; motor fixing plate 132; driving wheel 133; driven wheel 134; toothed plate 135; fixing block 136; motor fixing plate connecting profile 137; transmission shaft 138; synchronous belt 139; second rotating shaft 140; The third rotation axis 141; the fourth rotation axis 142; the fifth rotation axis 143; the positioning guide rail 144; the second hinge block 145; the third hinge block 146; the fourth hinge block 147; the first section 148; the second section 149; the second positioning link group 150; the third positioning link 151; the fourth positioning link 152; the sixth rotation axis 153; the seventh rotation axis 154; the tail link group 155; the first tail link 156; the second tail link 157; the eighth rotation axis 158; the ninth rotation axis 159; the head link group 160; the first head link 161; the second head link 162; the tenth rotation axis 163; the eleventh rotation axis 164; the twelfth rotation axis Rotating shaft 165; thirteenth rotating shaft 166; synchronous belt supporting profile 170; suction cup mechanism 200; vacuum pump 210; suction cup 211; suction cup fixing plate 212; solenoid valve 213; vacuum pressure switch 214; pneumatic connecting block 215; air pipe 216; suction cup limiting frame 217; drag chain 218; support roller 219; guide groove 220; material box support platform 300; material box guide rail 310; material box support plate 311; slider 312; trigger block 313; tension spring 314; tension spring rear fixing point 315; tension spring front fixing point 316; limiting component 400; limiting baffle 410; limiting block 420; limiting shaft 421; torsion spring 430; first Foot 431; second foot 432; solenoid valve air outlet 433; three-way pneumatic connector 434; threading tube 435; ipsilateral plane 436; recessed portion 437; rotating component 500; bottom plate adapter block 510; rotation zero position baffle 511; rotation zero position sensor 512; rotating motor 520; support base 530; protruding connection portion 531; controller 600; shelf and bin detection sensor 610; picking detection sensor 620; telescopic zero position sensor 630; telescopic zero position baffle 631; bin escape sensor 640; bin 700; shelf 710; camera 720; bin picking and placing device 800; lifting device 900; moving device 910. DETAILED DESCRIPTION

[0131] To make the objectives, technical solutions, and advantages of this application more clearly understood, the present application is further described below with reference to the accompanying drawings and examples. It is apparent that the described examples are only a portion of the embodiments of this application, and not all of them. All other embodiments derived by persons of ordinary skill in the art based on the examples in this application are intended to fall within the scope of protection of this application.

[0132] As mentioned in the background technology, when using a box handling robot of related technology to carry out box handling, the warehouse shelves need to reserve operating gaps between boxes or inter-layer operating gaps between shelf layers for the robot's telescopic fork arms. As a result, the warehouse shelves can store fewer boxes and the warehouse's storage capacity is low.

[0133] FIG1 is one of the three-dimensional structural schematic diagrams of the material box picking and placing device provided in an embodiment of the present application, and FIG2 is an exploded structural schematic diagram of the material box picking and placing device provided in an embodiment of the present application. As shown in FIG1 and FIG2 , the material box picking and placing device 800 includes a base plate 100, a telescopic drive mechanism 110, a telescopic mechanism 120, a suction cup mechanism 200 and a material box support platform 300. The telescopic drive mechanism 110 is installed on the base plate 100, and the telescopic mechanism 120 is connected to the telescopic drive mechanism 110. The telescopic mechanism 120 has a front end and a rear end. Among them, the front end is the telescopic end and the rear end is the fixed end. The rear end of the telescopic mechanism is arranged at the rear end of the base plate 100. The suction cup mechanism 200 includes at least one suction cup 211, and the suction cup 211 is installed at the front end of the telescopic mechanism 120. The telescopic mechanism 120 is used to drive the suction cup 211 to extend and retract in the front and rear directions under the drive of the telescopic drive mechanism 110. The suction cup 211 is used to suck up the material box 700 on the warehouse shelf 710 and move it to the material box support platform 300, or to push the material box 700 on the material box support platform 300 to move it to the warehouse shelf 710. The material box support platform 300 is set on the bottom plate 100 and is installed along the extension direction of the suction cup mechanism 200 to support the material box 700 during the process of taking and placing the material box 700.

[0134] The material box picking and placing device 800 provided in the embodiment of the present application, when picking up the material box 700 located on the shelf 710, the telescopic drive mechanism 110 drives the telescopic mechanism 120 to drive the suction cup 211 to extend toward the material box 700. Since the suction cup mechanism 200 includes at least one suction cup 211, and the suction cup mechanism 200 is installed at the front end of the telescopic mechanism 120, the telescopic mechanism 120 can drive the suction cup mechanism 200 to extend and retract, so that the suction cup 211 can pick up the material box 700 on the warehouse shelf 710 and move it to the material box support platform 300, or push the material box 700 on the material box support platform 300 to move to the warehouse shelf 710. By adopting the material box picking and placing device 800 of the present application to carry out material boxes 700, there is no need to reserve operating gaps between the material boxes 700 for the robot, which increases the storage density of the material boxes 700 on the shelf 710 and improves the storage capacity rate of the warehouse.

[0135] It should be noted that the storage capacity ratio refers to the ratio of the volume of goods stored in the warehouse to the total volume of the warehouse. The larger the storage capacity ratio, the more bins 700 can be stored. The front end of this application is the extension direction, i.e., direction A in Figure 1, and the rear end of this application is the retraction direction, i.e., direction B in Figure 1.

[0136] FIG3 is a schematic diagram of the principle structure of the suction cup mechanism provided in an embodiment of the present application. FIG4 is a schematic diagram of the three-dimensional structure of the suction cup mechanism provided in an embodiment of the present application. FIG5 is a schematic diagram of the partial enlarged structure of point A in FIG4 . FIG6 is a schematic diagram of the partial enlarged structure of point B in FIG4 . FIG7 is a schematic diagram of the partial enlarged structure of point C in FIG4 . FIG8 is a schematic diagram of the structure of the telescopic mechanism provided in an embodiment of the present application in an extended state. As shown in FIG3 to FIG8 , the suction cup mechanism 200 further includes a vacuum pump 210 and a solenoid valve 213 . The vacuum pump 210 is connected to the suction cup 211 , and the solenoid valve 213 is disposed between the suction cup 211 and the vacuum pump 210 . The vacuum pump 210 is used to draw air from the suction cup 211 so that the suction cup 211 adheres to the material bin 700 . The solenoid valve 213 is used to connect the suction cup 211 to the vacuum pump 210 when adsorbing the material bin 700 , and to connect the suction cup 211 to the outside when separating from the material bin 700 to allow external air to enter the suction cup 211 . The vacuum pump 210 is disposed on the base plate 100 .

[0137] In some embodiments, as shown in FIG2 , the material box picking and placing device 800 further includes a controller 600, which is disposed on the base plate 100. The suction cup mechanism 200 further includes a three-way pneumatic connector 434 and a vacuum pressure switch 214. The three-way pneumatic connector 434 has a first port, a second port, and a third port. The first port is connected to the suction cup 211, the second port is connected to the connection port of the solenoid valve 213, the solenoid valve air outlet 433 is connected to the vacuum pump 210, and the air inlet of the solenoid valve 213 is connected to the outside. The third port is connected to the vacuum pressure switch 214, which is used to detect the internal pressure value of the suction cup 211. The vacuum pressure switch 214 and the telescopic drive mechanism 110 are both electrically connected to the controller 600. The suction cup 211 has an air inlet and an air outlet. The air outlet of the suction cup 211 is connected to the first port.

[0138] When the material box 700 is being sucked onto, the air inlet of the suction cup 211 contacts the surface of the material box 700, and the vacuum pump 210 is turned on. The air inside the suction cup 211 is sucked away by the vacuum pump 210 through the first port of the three-way pneumatic connector, the connection port of the solenoid valve 213, and the air outlet of the solenoid valve 213, so that the suction cup 211 achieves negative pressure suction on the material box 700. When the material box 700 is being separated, the vacuum pump 210 is turned off. Since the air inlet of the solenoid valve 213 is connected to the outside, external air enters the interior of the suction cup 211 through the air inlet of the solenoid valve 213, the connection port of the solenoid valve 213, and the first port of the three-way pneumatic connector, increasing the air pressure inside the suction cup 211 and separating the suction cup 211 from the material box 700. It should be noted that when the material box 700 is being sucked onto, the air outlet of the solenoid valve 213 is connected to the vacuum pump 210, the air outlet of the solenoid valve 213 is in an open state, and the air inlet of the solenoid valve 213 is in a closed state. When the material box 700 is separated, the air inlet of the solenoid valve 213 is connected to the outside, the air inlet of the solenoid valve 213 is in an open state, and the air outlet of the solenoid valve 213 is in a closed state.

[0139] Because the third port of the three-way pneumatic connector is connected to the vacuum pressure switch 214, the vacuum pressure switch 214 can detect the internal pressure value of the suction cup 211. When the internal pressure value of the suction cup 211 is less than the external pressure value, it indicates that the suction cup 211 has achieved negative pressure suction on the material box 700. The vacuum pressure switch 214 transmits the detection result to the controller 600, and the controller 600 controls the telescopic mechanism 120 to retract. When the internal pressure value of the suction cup 211 is greater than or equal to the external pressure value, it indicates that the suction cup 211 has not achieved negative pressure suction on the material box 700. If the suction cup 211 has not achieved negative pressure suction on the material box 700, the vacuum pressure switch 214 transmits the detection result to the controller 600, and the controller 600 controls the drive assembly 130 to drive the telescopic mechanism 120 to continue extending, so that the air inlet of the suction cup 211 re-engages with the surface of the material box 700, or the controller 600 issues an alarm. A pressure threshold may be set to detect the internal pressure state of the suction cup 211 , so as to more accurately determine whether the suction cup 211 achieves negative pressure adsorption on the material box 700 .

[0140] In some embodiments, FIG9 is one of the three-dimensional structural schematic diagrams of the suction cup fixing plate provided in the embodiment of the present application, FIG10 is the second three-dimensional structural schematic diagram of the suction cup fixing plate provided in the embodiment of the present application, and FIG11 is the third three-dimensional structural schematic diagram of the suction cup fixing plate provided in the embodiment of the present application. As shown in FIG2 to FIG11, the suction cup mechanism 200 also includes a suction cup fixing plate 212 and a pneumatic connection block 215. The suction cup fixing plate 212 is connected to the telescopic mechanism 120, one side of the suction cup fixing plate 212 is fixedly connected to the front end of the telescopic mechanism 120, and the suction cup 211 is fixed to the other side of the suction cup fixing plate 212 through the pneumatic connection block 215. The pneumatic connection block 215 has an air flow channel, the air inlet of the air flow channel is connected to the suction cup 211, and the air outlet of the air flow channel is connected to the first port. When the telescopic mechanism 120 is extended or retracted, the telescopic mechanism 120 drives the suction cup fixing plate 212 to move in the telescopic direction. Because the suction cup 211 is fixed to the suction cup fixing plate 212 via the pneumatic connection block 215, the suction cup fixing plate 212 drives the suction cup 211 to move in the telescopic direction, so that the suction cup 211 is attached to or separated from the material box 700. When the suction cup 211 is attached to the material box 700, the air in the suction cup 211 is sucked away by the vacuum pump 210 through the air flow channel, thereby achieving the suction of the material box 700. The provision of the suction cup fixing plate 212 and the pneumatic connection block 215 can improve the stability of the connection between the telescopic mechanism 120 and the suction cup 211, preventing the suction cup 211 from shaking during operation, which may cause suction failure.

[0141] In some embodiments, as shown in FIG2 , a suction cup limiting frame 217 is provided around the outer periphery of the suction cup 211. The suction cup limiting frame 217 is connected to the suction cup fixing plate 212. The suction cup limiting frame 217 is used to abut against the material box 700 when taking or placing the material box 700. When the suction cup 211 and the material box 700 are adsorbed, the material box 700 moves toward the suction cup 211, and the suction cup 211 abuts against the suction cup limiting frame 217, thereby increasing the contact area between the suction cup mechanism 200 and the material box 700, reducing the possibility of deflection of the material box 700 when being pushed out, and solving the problem of inaccurate pushing position of the material box 700 due to the elasticity of the suction cup 211 itself.

[0142] It should be noted that the pneumatic connection block 215 and the suction cup limiting frame 217 are fixed by screws on the same side plane 436 of the suction cup fixing plate 212, that is, away from the telescopic mechanism connecting rod side.

[0143] In some embodiments, a recessed portion 437 is provided on the same side plane 436 , and the pneumatic connection block 215 and the suction cup limiting frame 217 are fixed to the recessed portion 437 by screws.

[0144] When the material box is sucked, the suction cup limit frame 217 contacts the material box, expanding the contact surface between the material box retrieval device and the material box. Since the suction cup limit frame 217 and the material box are in hard contact, the shaking caused by the flexible contact of the suction cup itself during the material box retrieval process can be reduced.

[0145] When ejecting the container, the flexible suction cup is compressed, and soft contact can easily cause the container to wobble, preventing smooth ejection. Hard contact between the suction cup limiter frame 217 and the container allows for a smoother ejection process. While the suction cup does not create a vacuum when ejecting the container, the amount of compression generated by the flexible suction cup varies under different loads, leading to inaccurate ejection stroke. Hard contact between the suction cup limiter frame and the container limits further compression of the suction cup, ensuring accurate ejection positioning.

[0146] In some embodiments, as shown in FIG9 , the suction cup mechanism 200 further includes a support roller 219 connected to the side of the suction cup fixing plate 212 facing the support plate of the bin 700. When the telescopic mechanism 120 drives the suction cup 211 to extend toward the shelf 710 or the bin 700, the support roller 219 rolls along the support plate of the bin 700. The support roller 219 supports the suction cup fixing plate 212, preventing the telescopic mechanism 120 from tilting downward due to gravity when retracting to access the bin 700, which could result in the suction cup 211 being mispositioned and failing to absorb the material.

[0147] In some embodiments, as shown in Figures 2, 4, 5, and 6, the suction cup mechanism 200 further includes an air tube 216 and a drag chain 218. The first end of the drag chain 218 is connected to the suction cup fixing plate 212, and the second end of the drag chain 218 is connected to the base plate 100. The air tube 216 is disposed within a protective cavity of the drag chain 218, and the vacuum pump 210 is connected to the suction cup 211 via the air tube 216. When the first end of the drag chain 218 moves in the extension and retraction direction driven by the suction cup fixing plate 212, the air tube 216, which is disposed within the protective cavity of the drag chain 218, can pull the air tube 216 in the extension and retraction direction, ensuring that the first end of the air tube 216 and the suction cup 211 move in the extension and retraction direction synchronously. The second end of the drag chain 218 remains stationary simultaneously with the second end of the air tube 216. The provision of the drag chain 218 can store, pull, and protect the air tube 216. The second end of the air pipe 216 can be connected to the vacuum pump through a connecting pipe. The connecting pipe extends from the outlet of the drag chain 218 behind the material box escape sensor, bends downward, extends from the bottom of the bottom plate to the side limit baffle 410, and finally connects to the vacuum pump.

[0148] In some embodiments, a guide groove 220 is provided on the top of the base plate along the direction of extension and retraction, and the drag chain 218 is embedded in the guide groove 220. On the one hand, the guide groove 220 can protect the drag chain 218 from collisions. On the other hand, the guide groove 220 can also guide and limit the drag chain 218, ensuring that the first end of the drag chain 218 moves along the direction of extension and retraction.

[0149] FIG12 is a schematic diagram of the three-dimensional structure of the telescopic drive mechanism provided in an embodiment of the present application, FIG13 is a schematic diagram of the three-dimensional structure of the telescopic drive mechanism provided in an embodiment of the present application, FIG14 is a schematic diagram of a partially enlarged structure at D in FIG13, FIG15 is a schematic diagram of the three-dimensional structure of the telescopic drive mechanism provided in an embodiment of the present application, FIG16 is a schematic diagram of a partially enlarged structure at E in FIG15, and FIG17 is an exploded schematic diagram of the telescopic drive mechanism provided in an embodiment of the present application. As shown in FIG12 to FIG17, the telescopic drive mechanism 110 includes a telescopic guide rail 111, a drive arm 112, a drive assembly 130, and a drive frame 113. The telescopic guide rail 111 is arranged on the base plate 100 along the telescopic direction, and the drive arm 112 is movably connected to the telescopic guide rail 111. The drive assembly 130 is arranged on the base plate 100, and the drive assembly 130 is connected to the drive arm 112. The drive assembly 130 is used to drive the drive arm 112 to slide along the telescopic direction, and the drive assembly 130 is electrically connected to the controller 600. The driving frame 113 is connected to the driving arm 112 , which is also connected to the telescopic mechanism 120 . The driving arm 112 is used to drive the driving frame 113 to move along the telescopic direction, so that the driving frame 113 drives the telescopic mechanism 120 to telescope.

[0150] When the telescopic drive mechanism 110 drives the telescopic mechanism 120 to extend and retract, the drive assembly 130 drives the drive arm 112 to slide along the telescopic guide rail 111. Because the drive frame 113 is connected to the drive arm 112, and the drive frame 113 is also connected to the telescopic mechanism 120, when the drive arm 112 slides, the drive arm 112 drives the telescopic mechanism 120 to extend and retract through the drive frame 113, so that the telescopic mechanism 120 drives the suction cup 211 to move and pick up and place the material box 700. The drive assembly 130 is electrically connected to the controller 600, so that the controller 600 controls the drive assembly 130 to drive the drive arm 112 to slide along the telescopic guide rail 111.

[0151] In some embodiments, as shown in Figures 12 to 17, the drive assembly 130 includes a drive motor 131, a drive wheel 133, a driven wheel 134, and a toothed plate 135. The drive motor 131 is fixed to the rear end of the base plate 100 via a motor fixing plate 132, and the drive motor 131 is electrically connected to the controller 600. The drive wheel 133 is provided on a rotating shaft of the base plate 100 and is connected to the output shaft of the drive motor 131. The driven wheel 134 is provided at the front end of the base plate 100, and the rotating shaft of the driven wheel 134 is fixedly connected to the base plate 100. The drive wheel 133 is connected to the driven wheel 134 via a synchronous belt 139, and the side of the synchronous belt 139 facing away from the drive wheel 133 is provided with a first sawtooth. The toothed plate 135 is connected to the drive arm 112, and the side of the toothed plate 135 facing the synchronous belt 139 is provided with a second sawtooth, and the first sawtooth and the second sawtooth are meshed. The motor fixing plate 132 is connected to the base plate 100 via a motor fixing plate connecting profile 137 .

[0152] When the drive assembly 130 drives the drive arm 112 to slide along the telescopic guide rail 111, the drive motor 131 rotates the drive wheel 133. Because the drive wheel 133 is connected to the driven wheel 134 via a synchronous belt 139, the drive wheel 133 and the driven wheel 134 cooperate to rotate the synchronous belt 139. Due to the meshing of the first and second serrations, the rotation of the synchronous belt 139 drives the toothed plate 135. Because the toothed plate 135 is connected to the drive arm 112, the synchronous belt 139 drives the drive arm 112 to slide along the telescopic guide rail 111.

[0153] In some embodiments, as shown in FIG. 12 to FIG. 17 , the drive motor 131 is connected to the motor fixing plate 132 via a fixing block 136 , and the output shaft of the drive motor 131 is connected to the rotating shaft of the drive wheel 133 via a speed reducer.

[0154] In some embodiments, as shown in Figures 12 to 17, the base plate 100 is provided with a synchronous belt support profile 170, which is used to support the middle portion of the synchronous belt 139. When the drive arm 112 moves to the middle of the synchronous belt 139, that is, between the driving wheel 133 and the driven wheel 134, the synchronous belt support profile 170 can offset the gravity of the synchronous belt 139, ensuring that the first and second saw teeth are fully engaged. The cross-section of the synchronous belt support profile 170 can be I-shaped. On the one hand, this increases the contact area between the top surface of the synchronous belt support profile 170 and the synchronous belt, and also increases the contact area between the bottom surface of the synchronous belt support profile 170 and the bottom surface, thereby improving the stability of the synchronous belt support profile 170. On the other hand, because the synchronous belt support profile 170 has a cavity, the weight of the synchronous belt support profile 170 is reduced, thereby improving the portability of the drive assembly 130.

[0155] In some embodiments, as shown in Figures 12 to 17, the drive assembly 130 includes two drive wheels 133, and the two drive wheels 133 are respectively connected to the output shaft of the drive motor 131 through two transmission shafts 138; the two drive wheels 133 are connected to the passive wheel 134 through corresponding synchronous belts 139, the two first saw teeth are engaged with the corresponding second saw teeth, and the two drive arms 112 are both connected to the drive frame 113.

[0156] The drive motor 131 drives the two drive wheels 133 via two transmission shafts 138. These drive wheels 133 cooperate with corresponding driven wheels 134 to rotate two timing belts 139. The two timing belts 139 engage with corresponding toothed plates 135, driving the drive arms 112 located on either side of the drive frame 113 in the telescopic direction. Because both drive arms 112 are connected to the drive frame 113, the drive arms 112 act on both sides of the drive frame 113, symmetrically with respect to the telescopic direction. This evenly distributes the force on the drive frame 113, improving the stability of the telescopic mechanism 120 as it is extended and retracted by the drive frame 113.

[0157] In some embodiments, as shown in FIG2 , the telescopic drive mechanism 110 further includes a telescopic zero position baffle 631 and a telescopic zero position sensor 630. The telescopic zero position baffle 631 is disposed on the drive arm 112, and the telescopic zero position sensor 630 is disposed on the motor fixing plate 132. The telescopic zero position sensor 630 is used to detect the position of the telescopic zero position baffle 631, and the telescopic zero position sensor 630 is electrically connected to the controller 600. By monitoring the position of the telescopic zero position baffle 630, the telescopic zero position sensor 630 can monitor the position of the drive arm 112. For example, by monitoring whether the drive arm 112 has returned to its initial position, the telescopic mechanism 120 can be determined to have retracted into the material bin pick-up and placement device 800. By monitoring whether the drive arm 112 has reached its final position, the telescopic mechanism 120 can be determined to have extended to the shelf 710. It should be noted that the zero position in this application refers to the initial position of the movement of the telescopic mechanism 120 and the rotating component 500.

[0158] FIG18 is a schematic diagram of the three-dimensional structure of the telescopic mechanism provided in an embodiment of the present application; FIG19 is a schematic diagram of the three-dimensional structure of the telescopic mechanism provided in an embodiment of the present application; FIG20 is a schematic diagram of the partially enlarged structure at point F in FIG19; FIG21 is a schematic diagram of the top view of the telescopic mechanism provided in an embodiment of the present application; FIG22 is a schematic diagram of the exploded structure of the telescopic mechanism provided in an embodiment of the present application; and FIG23 is a schematic diagram of the exploded structure of the telescopic mechanism provided in an embodiment of the present application. As shown in FIG18 to FIG23, the telescopic mechanism 120 includes a fixing member 121, a first positioning link group 122, a tail link group 155, multiple telescopic link groups 126, a head link group 160, and a positioning guide rail 144. The fixing member 121 is connected to the rear end of the base plate 100 via a motor fixing plate 132. The first positioning link group 122 includes a first positioning link 123 and a second positioning link 124. The first end of the first positioning link 123 and the first end of the second positioning link 124 are both hinged to the fixing member 121 via a first hinge block 125. The tail link assembly 155 includes a first tail link 156 and a second tail link 157. The first end of the first tail link 156 is hinged to the second end of the second positioning link 124 via an eighth rotation axis 158, and the first end of the second tail link 157 is hinged to the second end of the first positioning link 123 via a ninth rotation axis 159. The first tail link 156 is hinged to the second tail link 157 via a thirteenth rotation axis 166. The telescopic link assembly 126 includes a first telescopic link 127 and a second telescopic link 128. The middle portion of the first telescopic link 127 is hinged to the middle portion of the second telescopic link 128 via a first rotation axis 129. The first end of the first telescopic link 127 is hinged to the first end of the adjacent second telescopic link 128 via a second rotation axis 140, and the second end of the first telescopic link 127 is hinged to the second end of the adjacent second telescopic link 128 via a third rotation axis 141. The first end of the first telescopic link 127 at the tail is hinged to the second end of the second tail link 157 through the fourth rotating shaft 142, and the first end of the second telescopic link 128 at the tail is hinged to the second end of the first tail link 156 through the fifth rotating shaft 143; one of the multiple telescopic link groups 126 is hinged to the drive frame 113.

[0159] The head link assembly 160 includes a first head link 161 and a second head link 162. The first end of the first head link 161 is hinged to the second end of the second telescopic link 128 located at the head portion via a tenth rotation axis 163. The first end of the second head link 162 is hinged to the second end of the first telescopic link 127 located at the head portion via an eleventh rotation axis 164. The first head link 161 is hinged to the second head link 162 via a twelfth rotation axis 165. The positioning rail 144 is provided on the side of the suction cup fixing plate 212 facing the telescopic mechanism 120. The second end of the first head link 161 is movably connected to the positioning rail 144 via a second hinge block 145, and the second end of the second head link 162 is movably connected to the positioning rail 144 via a third hinge block 146.

[0160] Because one of the multiple telescopic link groups 126 is hingedly connected to the drive frame 113, and the multiple telescopic link groups 126 are hingedly connected to each other, as the drive frame 113 moves toward the shelf 710, the drive frame 113 drives the first telescopic link 127 and the second telescopic link 128 of one telescopic link group 126 to rotate toward each other. Because the first end of one telescopic link group 126 is hingedly connected to the first end of the second telescopic link 128 on one side via the second rotation axis 140, and the second end of the first telescopic link 127 is hingedly connected to the second end of the second telescopic link 128 on the other side via the third rotation axis 141, the first telescopic links 127 and the second telescopic links 128 of the multiple telescopic link groups 126 simultaneously rotate toward each other, increasing the total length of the telescopic mechanism 120 and achieving extension of the telescopic mechanism 120.

[0161] The first and second tail links 156, 157 rotate toward each other under the coordinated action of the multiple telescopic link groups 126. The first and second positioning links 123, 124 rotate toward each other under the coordinated action of the tail link group 155. Because the first positioning link group 122 is hingedly connected to the fixed member 121 via the first hinge block 125, the first and second positioning links 123, 124 remain connected to the fixed member 121 during this rotational approach.

[0162] Under the coordinated action of the multiple telescopic link groups 126, the first head link 161 and the second head link 162 rotate toward each other. During this process, the second hinge block 145 and the third hinge block 146 slide toward each other along the positioning guide 144. The positioning guide 144 ensures that the telescopic mechanism 120 extends and retracts along the telescopic direction without deflection.

[0163] Therefore, as the drive frame 113 drives the telescopic connecting rod group 126 to move in the telescopic direction, the linkage within each connecting rod group is utilized to change the angle between each connecting rod, thereby driving the suction cup fixing plate 212 to move in the telescopic direction. It should be noted that the present application can also achieve hinge connection through means such as retaining springs, nuts, washers, bearings, etc., so that the connected two can only rotate in the circumferential direction without axial and radial displacement.

[0164] As shown in Figures 18 to 23, the telescopic mechanism 120 also includes a fourth hinge block 147 and a second positioning link assembly 150. The positioning guide rail 144 includes a first section 148 and a second section 149, which are symmetrically arranged on the suction cup fixing plate 212 with respect to the fourth hinge block 147. The second end of the first head link 161 is movably connected to the first section 148 via the second hinge block 145, and the second end of the second head link 162 is movably connected to the second section 149 via the third hinge block 146. The second positioning link assembly 150 includes a third positioning link 151 and a fourth positioning link 152. The second ends of the third positioning link 151 and the second ends of the fourth positioning link 152 are both hingedly connected to the suction cup fixing plate 212 via the fourth hinge block 147. The first end of the third positioning link 151 is hingedly connected to the first head link 161 via the sixth rotation axis 153, and the first end of the fourth positioning link 152 is hingedly connected to the second head link 162 via the seventh rotation axis 154. The fourth hinge block 147 and the second positioning link assembly 150 cooperate to ensure that the suction cup fixing plate 212 remains perpendicular to the plane formed by the rotation centers of the link assemblies, and moves back and forth as the angles of the link assemblies change.

[0165] In some embodiments, as shown in Figures 2 and 24 to 29, the container support platform 300 includes a container guide rail 310, a container support plate 311, and a tension spring 314. The container guide rail 310 is positioned on the base plate 100 along the telescopic direction. The container support plate 311 is connected to the container guide rail 310 via a slider 312. A trigger block 313 is provided on the side of the container support plate 311 facing the telescopic mechanism 120. The container support plate 311 is used to support the container 700 during loading and unloading. One end of the tension spring 314 is connected to the side of the container support plate 311 closest to the drive motor 131, and the other end of the tension spring 314 is connected to the side of the base plate 100 facing away from the drive motor 131. The tension spring 314 is adapted to switch between an extended state and a retracted state. In the extended state, the trigger block 313 abuts the side of the drive frame 113 facing the telescopic mechanism 120. In the retracted state, the container support plate 311 extends in the telescopic direction.

[0166] Specifically, the rear fixing point 315 of the tension spring is connected to the material box supporting plate 311, and the front fixing point 316 of the tension spring is connected to the bottom plate.

[0167] When the material box 700 is adsorbed, as the drive frame 113 moves toward the shelf 710, the tension spring 314 switches from a stretched state to a retracted state, and the material box support plate 311 moves along the material box guide rail 310 toward the shelf 710 under the elastic force of the tension spring 314. As the tension spring 314 switches to a retracted state, the material box support plate 311 extends so that the material box support plate 311 can support the material box 700 adsorbed by the suction cup 211. After the material box 700 is adsorbed by the suction cup 211, the drive frame 113 moves in a direction away from the shelf 710, that is, the telescopic mechanism 120 drives the material box 700 to retract into the material box picking and placing device 800. Because the trigger block 313 abuts against the side of the drive frame 113 facing the telescopic mechanism 120, the drive frame 113 pushes the trigger block 313 back into the material box picking and placing device 800. Because one end of the tension spring 314 is connected to the rear end of the container support plate 311 and the other end of the tension spring 314 is connected to the front end of the base plate 100, when the trigger block 313 is pushed back, the container support plate 311 supporting the container 700 is pulled back, and the tension spring 314 switches from a contracted state to a stretched state. Since the container 700 is located on the upper surface of the container support plate 311, and the container support plate 311 is disposed on the upper surface of the base plate 100, the base plate 100 supports the container 700 through the container support plate 311.

[0168] FIG24 is a schematic diagram of the three-dimensional structure of a torsion spring in a compressed state according to an embodiment of the present application, FIG25 is a schematic diagram of a partially enlarged structure at position G in FIG24 , FIG26 is a schematic diagram of the three-dimensional structure of a torsion spring in an expanded state according to an embodiment of the present application, FIG27 is a schematic diagram of a partially enlarged structure at position H in FIG26 , FIG28 is a schematic diagram of the three-dimensional structure of a tension spring according to an embodiment of the present application, FIG29 is a schematic diagram of a partially enlarged structure at position I in FIG28 , and FIG30 is a schematic diagram of the three-dimensional structure of a material box picking and placing device for carrying a material box according to an embodiment of the present application. As shown in FIG24 to FIG30 , the material box picking and placing device 800 further includes a limiting component 400. The limiting component 400 includes two limiting baffles 410, which are symmetrically arranged on the bottom plate 100 with respect to the extension direction of the telescopic mechanism 120. The two limiting baffles 410 and the suction cup mechanism 200 enclose a receiving space for receiving the material box 700. Because the two limiting baffles 410 are symmetrically arranged on the bottom plate 100 with respect to the telescopic direction of the telescopic mechanism 120, the two limiting baffles 410 can limit the material box 700, preventing the material box 700 from deflecting to either side of the telescopic direction when moving along the telescopic direction. It should be noted that the vacuum pump 210 and the controller 600 can be arranged on the limiting baffles. Since the limiting baffles 410 are fixed to the bottom plate 100, the vacuum pump 210 and the controller 600 are arranged on the bottom plate through the limiting baffles.

[0169] In some embodiments, as shown in Figures 24 to 30, the limiting component 400 further includes a limiting block 420, which is hinged to the front end of the container support plate 311 via a limiting shaft 421. A torsion spring 430 has two legs, a first leg 431 of the torsion spring connected to the limiting block 420, and a second leg 432 of the torsion spring connected to the container support plate 311. The torsion spring is adapted to switch between a compressed state and an expanded state. In the compressed state, the bottom plate 100 abuts the limiting block 420, and the limiting block 420 rotates counterclockwise around the container support plate 311, raising the limiting block 420 above the surface of the container support plate 311 and limiting the position of the container 700. In the expanded state, the bottom plate 100 separates from the limiting block 420, and the limiting block 420 rotates clockwise around the container support plate 311, raising the limiting block 420 below the surface of the container support plate 311.

[0170] When the material box 700 is sucked, as the material box support plate 311 extends out of the storage space, the limit block 420 is hinged to the front end of the material box support plate 311 via the limit axis, and the material box support plate 311 drives the limit block 420 away from the bottom plate 100, and the torsion spring switches from a compressed state to an expanded state. The limit block 420 rotates clockwise around the material box support plate 311, and the limit block 420 is lower than the surface of the material box support plate 311, so that the material box 700 enters the upper surface of the material box support plate 311 under the drive of the suction cup 211. As the material box support plate 311 retracts into the storage space, the limit block 420 is hinged to the front end of the material box support plate 311 via the limit axis, and the material box support plate 311 drives the limit block 420 close to the bottom plate 100, and the limit block 420 abuts against the bottom plate 100, and the torsion spring switches from an expanded state to a compressed state. The limit block 420 rotates counterclockwise around the material box pallet 311, and the limit block 420 is higher than the surface of the material box pallet 311, so that the limit block 420 limits the material box 700 to prevent the material box 700 from sliding out of the material box pallet 311 toward the direction of the limit block 420 during the movement of the material box pallet 311.

[0171] Therefore, the two limiting baffles 410 are located on both sides of the material box 700 to prevent the material box 700 from tilting left or right. The limiting block 420 is located at the front end of the material box 700 to prevent the material box 700 from sliding forward. The telescopic mechanism 120 and the suction cup 211 are located at the rear end of the material box 700 to prevent the material box 700 from moving backward.

[0172] In some embodiments, as shown in FIG30 , the bin retrieval device 800 further includes a shelf bin detection sensor 610, which is disposed on the limit baffle 410. The shelf bin detection sensor 610 is used to detect a bin 700 located on a shelf 710. The shelf bin detection sensor 610 is electrically connected to the controller 600. When the shelf bin detection sensor 610 detects that a bin 700 is not present on the shelf 710, the shelf bin detection sensor 610 sends the detection result to the controller 600. The controller 600 controls the drive assembly 130 to stop moving based on the detection result to facilitate manual intervention.

[0173] In some embodiments, as shown in FIG30 , the bin retrieval device 800 further includes a pickup detection sensor 620 , which is disposed on the limit baffle 410 and is used to detect the pickup result. The pickup detection sensor 620 is electrically connected to the controller 600 . When the pickup detection sensor 620 detects a pickup failure, the pickup detection sensor 620 sends the detection result to the controller 600 , which controls the drive assembly 130 to stop moving based on the detection result to facilitate manual intervention.

[0174] FIG31 is a schematic diagram of the three-dimensional structure of the rotating component provided in an embodiment of the present application, and FIG32 is a schematic diagram of the exploded structure of the rotating component provided in an embodiment of the present application. As shown in FIG31 and FIG32, the material box picking and placing device 800 further includes a rotating component 500, which is connected to the base plate 100 and is used to drive the base plate 100 to rotate. The rotating component 500 drives the base plate 100 to rotate, that is, the rotating component 500 drives the telescopic mechanism 120, the suction cup mechanism 200, the base plate 100, the limiting component 400 and the controller 600 to rotate, so as to pick up and place the material box 700 in different directions.

[0175] In some embodiments, as shown in Figures 31 and 32, the rotating component 500 includes a bottom plate adapter block 510, a rotating motor 520 and a support base 530. The bottom plate adapter block 510 is connected to the bottom plate 100, and the rotating shaft of the rotating motor 520 is connected to the bottom plate adapter block 510. The support base 530 is connected to the rotating motor 520, and the support base 530 is used to support the rotating motor 520. The support base 530 is used to connect to an external device. The bottom plate adapter block 510 is driven to rotate by the rotating motor 520. Since the bottom plate adapter block 510 is connected to the bottom plate 100, the rotating motor 520 can drive the telescopic mechanism 120, the adsorption component, the bottom plate 100, the limiting component 400 and the controller 600 to rotate, so as to pick up and place the material box 700 in different directions.

[0176] In some embodiments, the support base 530 is symmetrically provided with protruding connection parts 531 about the bottom plate adapter block 510, and the support base 530 is connected to the external device through the two symmetrical protruding connection parts 531. For example, the support base 530 is connected to the lifting device 900 through the two symmetrical protruding connection parts 531.

[0177] In some embodiments, as shown in Figures 31 and 32, the rotating component 500 further includes a rotational zero position baffle 511 and a rotational zero position sensor 512. The rotational zero position baffle 511 is disposed on the base plate adapter block 510, and the rotational zero position sensor 512 is disposed on the rotating motor 520. The rotational zero position sensor 512 is used to detect the position of the rotational zero position baffle 511, and the rotational zero position sensor 512 is electrically connected to the controller 600. The position of the rotational zero position baffle 511 is monitored by the rotational zero position sensor 512, that is, the rotational zero position sensor 512 monitors the position of the base plate adapter block 510. For example, by monitoring whether the base plate adapter block 510 has returned to its initial position, it is determined whether the base plate 100 has returned to its initial rotational position. It should be noted that the zero position in the present application refers to the initial position of the movement of the telescopic mechanism 120 and the rotating component 500.

[0178] FIG33 is a second schematic diagram of the three-dimensional structure of the material box picking and placing device provided in an embodiment of the present application, and FIG34 is a third schematic diagram of the three-dimensional structure of the material box picking and placing device provided in an embodiment of the present application. As shown in FIG7 , FIG33 and FIG34 , the material box picking and placing device 800 further includes a material box escape sensor 640. The material box escape sensor 640 is disposed on the bottom plate 100. The material box escape sensor 640 is used to detect the accidental escape of the material box 700. The material box escape sensor 640 is electrically connected to the controller 600. When the material box escape sensor 640 detects that the material box 700 has accidentally escaped, the material box escape sensor 640 sends the detection result to the controller 600. The controller 600 controls the driving assembly 130 to stop moving according to the detection result so that manual intervention can be performed.

[0179] It should be noted that the connection line of the material box out of the sensor 640 is electrically connected to the controller 600 through the threading tube 435. By providing the threading tube 435, the connection line between the material box out of the sensor 640 and the controller 600 can be protected to avoid damage to the connection line.

[0180] In some embodiments, as shown in FIG2 , a camera 720 is further included. The camera 720 is disposed on a side of the bottom plate 100 facing the bin 700 and is electrically connected to the controller 600. The camera 720 is used to read the shelf code on the shelf 710 to verify and record the information of the bin 700 and the shelf 710.

[0181] It should be noted that in some embodiments, the controller, shelf material box detection sensor, material box escape sensor, telescopic zero position sensor, rotation zero position sensor, material box escape sensor, and vacuum pressure switch constitute the detection system of the material box picking and placing device.

[0182] FIG35 is a schematic structural diagram of a container handling robot provided in an embodiment of the present application. As shown in FIG35 , the container handling robot provided in an embodiment of the present application includes any one of the above-mentioned container picking and placing devices 800, a moving device 910, and a lifting device 900. The support base 530 is connected to the lifting device 900, and the lifting device 900 is connected to the moving device 910. Since the support base 530 is connected to the lifting device 900, when picking up goods from different positions of the shelf 710, the lifting device 900 and the container picking and placing device 800 are moved horizontally by the moving device 910, and the container picking and placing device 800 is moved vertically by the lifting device 900. The container picking and placing device 800 reaches different positions on the shelf 710 and picks and places containers 700 at different positions.

[0183] In the material box handling robot provided in the embodiment of the present application, a simple, efficient and low-cost telescopic mechanism is provided. There is only one set of telescopic components, and the stroke change is achieved by changing the angle of the connecting rod. Double-extension position picking and placing of goods can be achieved only by the middle part driving frame. The simple mechanism can reduce production and maintenance costs and improve production and assembly efficiency. The limiting component is a four-side limiting mechanism to prevent the material box from falling out during the rotation of the component and ensure the positioning accuracy when the material box is pushed out and retracted. The side limit and the rear limit are both fixed in form and simple in structure. The limit block is linked to the bottom plate, and the gravitational potential energy and elastic potential energy are used to achieve the transformation of the positioning position. It has a locking ability to prevent the limit from rising prematurely to block the material box from being picked up and placed.

[0184] The specific material box picking and placing process in this embodiment is shown in Figures 36 to 39. The working principle of the material box handling robot is as follows:

[0185] It should be noted that shelf 710 can accommodate two rows of bins 700 in the horizontal direction. The single-extended position of shelf 710 refers to the position where the first bin 700 is located, extending horizontally from the outer edge of shelf 710 to the interior of shelf 710. The double-extended position of shelf 710 refers to the position where the second bin 700 is located, extending horizontally from the outer edge of shelf 710 to the interior of shelf 710.

[0186] FIG36 is a schematic diagram of a single-position pickup process according to an embodiment of the present application. The single-position pickup process, as shown in FIG36 , includes the following steps:

[0187] Step 3600: The controller 600 receives a pickup instruction;

[0188] Step 3601: Control the camera to read the shelf code. At the same time, the container handling robot adjusts its posture. The lifting device 900 and the container pick-up and placement device 800 are moved horizontally by the moving device 910. The lifting device 900 is used to move the container pick-up and placement device 800 vertically. The container pick-up and placement device 800 reaches different positions on the shelf 710.

[0189] Step 3602: the shelf material box detection sensor 610 detects the shelf 710;

[0190] Step 3603: When it is detected that the single-extending position of shelf 710 is occupied, it means that a material box 700 is set at the single-extending position and the goods can be picked up;

[0191] The container retrieval device 800 moves downward as a whole by a first predetermined distance, for example, 10 mm. The plane of the container support plate 311 is slightly lower than the plane of the container 700 support plate of the shelf 710 to prevent the container 700 from hitting the container support plate 311 during retrieval, resulting in unstable retrieval or failure of the suction cup 211 to separate from the container 700.

[0192] Step 3604: When it is detected that the single-extended position of shelf 710 is vacant, it means that there is no material box 700 at the single-extended position and the goods cannot be picked up. It is necessary to change the storage position of shelf 710 or perform manual intervention;

[0193] In step 3605, the air inlet of the suction cup 211 is attached to the surface of the material box 700 to form a sealed space. The controller 600 simultaneously turns on the vacuum pump 210 and the solenoid valve 213 to extract the gas inside the sealed space to form a negative pressure environment.

[0194] Step 3606: The drive motor 131 rotates forward, and the telescopic mechanism 120 extends the suction cup 211 to the set stroke. The material box support plate 311 extends out of the accommodation space under the tension of the tension spring 314, and the limit block 420 descends to be lower than the surface of the material box support plate 311;

[0195] Step 3607: The air pressure inside the sealed space is detected by the vacuum pressure switch 214. When the air pressure detection result reaches a predetermined threshold, it indicates that the suction cup 211 has successfully adsorbed the material box 700. The telescopic mechanism 120 contracts, and the material box 700 is stored in the storage space.

[0196] Step 3608: the material box support plate 311 is retracted into the accommodation space;

[0197] In step 3609, when the air pressure detection result does not reach the predetermined threshold, the retractable mechanism 120 extends the suction cup 211 again to a second predetermined distance, for example, 10 mm, so that the air inlet of the suction cup 211 is in contact with the surface of the material box 700 to form a sealed space.

[0198] Step 3610: If the air pressure detection result still does not reach the predetermined threshold, it means that the suction cup 211 cannot achieve suction on the material box 700, and the pickup fails, requiring manual intervention; when the air pressure detection result reaches the predetermined threshold, it means that the suction cup 211 has achieved suction on the material box 700. The telescopic mechanism 120 contracts and the material box 700 is stored in the storage space;

[0199] Step 3611: The limit block 420 contacts the bottom plate 100, and the torsion spring switches from the expanded state to the compressed state. The limit block 420 rotates counterclockwise around the container support plate 311, and the limit block 420 is higher than the surface of the container support plate 311, so that the limit block 420 can limit the container 700.

[0200] Step 3612: When the detection sensor of the bin 700 is not triggered, it indicates that the pickup has failed and manual intervention is required;

[0201] Step 3613: The material box detection sensor performs detection;

[0202] Step 3614: When the material box detection sensor is triggered and confirms that the material box 700 has been stored, the material box 700 detection sensor sends the detection result to the controller 600, indicating that the pickup is successful.

[0203] FIG37 is a schematic diagram of a process for releasing cargo at a single extension position according to an embodiment of the present application. The process for releasing cargo at a single extension position is shown in FIG37 and includes the following steps:

[0204] Step 3700: The controller 600 receives a cargo release instruction;

[0205] Step 3701: Control the camera to read the shelf code. At the same time, the container handling robot adjusts its posture. The lifting device 900 and the container pick-up and placement device 800 are moved horizontally by the moving device 910. The lifting device 900 is used to move the container pick-up and placement device 800 vertically. The container pick-up and placement device 800 reaches different positions on the shelf 710.

[0206] Step 3702: the shelf material box detection sensor 610 detects the shelf 710;

[0207] In step 3703, if the single-extend position of shelf 710 is detected to be occupied, it means that there is a container 700 in the single-extend position and goods cannot be released. Shelf 710 needs to be replaced or manual intervention is required. If both the single-extend position and the double-extend position are vacant, in order to avoid the container 700 in the single-extend position blocking the double-extend position and making it unusable, goods cannot be released. Shelf 710 needs to be replaced or manual intervention is required.

[0208] Step 3704: When it is detected that the single-extending position of shelf 710 is vacant and the double-extending positions are occupied, it indicates that only the single-extending position is vacant and the goods can be released. The container pick-up and placement device 800 is moved upward by a third predetermined distance, for example, 10 mm. The plane of the container support plate 311 is slightly higher than the plane of the container 700 support plate of shelf 710 to prevent the container 700 from hitting the shelf 710 crossbeam during the push-out process, which could cause the telescopic mechanism 120 to become stuck, damage the structural components, or cause the goods to fail to be released.

[0209] In step 3705, the drive motor 131 rotates forward, driving the frame 113 toward the shelf 710. The container pallet 311 extends out of the storage space under the tension of the tension spring 314. As the container pallet 311 extends out of the storage space, it drives the stopper 420 away from the bottom plate 100. The torsion spring switches from a compressed state to an expanded state, and the stopper 420 rotates clockwise around the container pallet 311. The stopper 420 is lower than the surface of the container pallet 311, allowing the container 700 to slide from the upper surface of the container pallet 311 toward the shelf 710 under the drive of the suction cup 211.

[0210] Step 3706 , the telescopic mechanism 120 extends to a set stroke to place the material box 700 on the shelf 710 ;

[0211] Step 3707: the driving motor 131 rotates in the reverse direction, and the telescopic mechanism 120 retracts to the zero position;

[0212] In step 3708, the driving frame 113 retracts the container support plate 311 into the receiving space by contacting the trigger block 313 during the process of retracting to the zero position. As the container support plate 311 retracts into the receiving space, the stop block 420 contacts the bottom plate 100, and the torsion spring switches from the expanded state to the compressed state, causing the stop block 420 to rise from the bottom of the bottom plate 100.

[0213] Step 3709: Goods released successfully.

[0214] FIG38 is a schematic diagram of a process for picking up goods at a double-extending position according to an embodiment of the present application. The process for picking up goods at a double-extending position is shown in FIG38 and includes the following steps:

[0215] Step 3800: The controller 600 receives a pickup instruction;

[0216] Step 3801: Control the camera to read the shelf code. At the same time, the container handling robot adjusts its posture. The lifting device 900 and the container pick-up and placement device 800 are moved horizontally by the moving device 910. The lifting device 900 is used to move the container pick-up and placement device 800 vertically. The container pick-up and placement device 800 reaches different positions on the shelf 710.

[0217] Step 3802: The shelf container detection sensor 610 detects the shelf 710;

[0218] Step 3803: When it is detected that both the single-extending position and the double-extending position of shelf 710 are vacant, it means that there is no bin 700 at the double-extending position and the goods cannot be retrieved. The storage position of shelf 710 needs to be changed or manual intervention is required. When it is detected that the single-extending position of shelf 710 is occupied, the telescopic mechanism 120 cannot be extended to the double-extending position due to the obstruction of the bin 700 at the single-extending position and the goods cannot be retrieved. The storage position of shelf 710 needs to be changed or manual intervention is required.

[0219] Step 3804: When it is detected that the single-extending position of shelf 710 is vacant and the double-extending position is occupied, the container retrieval device 800 moves downward as a whole by a first predetermined distance, for example, 10 mm. The plane of the container support plate 311 is slightly lower than the plane of the container 700 support plate of shelf 710 to prevent the container 700 from hitting the container support plate 311 during retrieval, resulting in unstable retrieval or the suction cup 211 being separated from the container 700 and failing to retrieve the container.

[0220] In step 3805, the air inlet of the suction cup 211 is attached to the surface of the material box 700 to form a sealed space. The controller 600 simultaneously turns on the vacuum pump 210 and the solenoid valve 213 to extract the gas inside the sealed space to form a negative pressure environment.

[0221] Step 3806: The drive motor 131 rotates forward, and the telescopic mechanism 120 extends the suction cup 211 to the set stroke. The material box support plate 311 extends out of the accommodation space under the tension of the tension spring 314, and the limit block 420 descends to be lower than the surface of the material box support plate 311;

[0222] Step 3807: Detect the air pressure inside the sealed space through the vacuum pressure switch 214;

[0223] In step 3808, when the air pressure detection result does not reach the predetermined threshold, the retractable mechanism 120 extends the suction cup 211 again to a second predetermined distance, for example, 10 mm, so that the air inlet of the suction cup 211 is in contact with the surface of the material box 700 to form a sealed space.

[0224] Step 3809: When the air pressure detection result reaches the predetermined threshold, it indicates that the suction cup 211 has successfully adsorbed the material box 700. The telescopic mechanism 120 contracts to store the material box 700 in the storage space.

[0225] Step 3810: The vacuum pressure switch detects the air pressure. If the air pressure detection result still does not reach the predetermined threshold, it means that the suction cup 211 is unable to absorb the material box 700, and the pickup fails, requiring manual intervention. When the air pressure detection result reaches the predetermined threshold, it means that the suction cup 211 has absorbed the material box 700. The telescopic mechanism 120 contracts, and the material box 700 is stored in the storage space.

[0226] Step 3811: As the container pallet 311 retracts into the receiving space, the stopper 420 contacts the bottom plate 100, and the torsion spring switches from an expanded state to a compressed state. The stopper 420 rotates counterclockwise around the container pallet 311, and the stopper 420 is higher than the surface of the container pallet 311, so that the stopper 420 can limit the container 700.

[0227] Step 3812: The material box detection sensor performs detection;

[0228] Step 3813: If the bin detection sensor is not triggered, it indicates that the pickup has failed and manual intervention is required;

[0229] In step 3814, when the bin detection sensor is triggered, it is confirmed that the bin 700 has been received. The bin 700 detection sensor sends the detection result to the controller 600, indicating that the pickup is successful.

[0230] FIG39 is a schematic diagram of a double-extending position cargo release process according to an embodiment of the present application. The double-extending position cargo release process is shown in FIG39 and includes the following steps:

[0231] Step 3900: The controller 600 receives a release instruction;

[0232] Step 3901: Control the camera to read the shelf code. At the same time, the container handling robot adjusts its posture. The moving device 910 moves the lifting device 900 and the container pick-up and placement device 800 horizontally. The lifting device 900 moves the container pick-up and placement device 800 vertically. The container pick-up and placement device 800 reaches different positions on the shelf 710.

[0233] Step 3902: The shelf container detection sensor 610 detects the shelf 710;

[0234] In step 3903, if the single-extending position of shelf 710 is detected to be occupied, it means that there is a container 700 in the single-extending position and the goods cannot be placed there. Shelf 710 needs to be replaced or manual intervention is required. If the single-extending position is vacant and the double-extending position is occupied, the goods cannot be placed there either. Shelf 710 needs to be replaced or manual intervention is required.

[0235] Step 3904: When it is detected that both the single-extended position and the double-extended position of the shelf 710 are vacant, it indicates that the goods can be released. The container pick-up and placement device 800 is moved upward as a whole by a third predetermined distance, for example, 10 mm. The plane of the container support plate 311 is slightly higher than the plane of the container 700 support plate of the shelf 710 to prevent the container 700 from hitting the shelf 710 crossbeam during the push-out process, causing the telescopic mechanism 120 to become stuck, causing damage to the structural components, or causing the goods to fail to be released.

[0236] In step 3905, the drive motor 131 rotates forward, driving the frame 113 toward the shelf 710. The container pallet 311 extends out of the storage space under the tension of the tension spring 314. As the container pallet 311 extends out of the storage space, it drives the stopper 420 away from the bottom plate 100. The torsion spring switches from a compressed state to an expanded state, and the stopper 420 rotates clockwise around the container pallet 311. The stopper 420 is lower than the surface of the container pallet 311, allowing the container 700 to slide from the upper surface of the container pallet 311 toward the shelf 710 under the drive of the suction cup 211.

[0237] Step 3906: The telescopic mechanism 120 extends to a set stroke to place the material box 700 on the shelf 710;

[0238] Step 3907: the driving motor 131 rotates in the reverse direction, and the telescopic mechanism 120 retracts to the zero position;

[0239] In step 3908, the driving frame 113 retracts the container support plate 311 into the receiving space by contacting the trigger block 313 during the process of retracting to the zero position. As the container support plate 311 retracts into the receiving space, the stop block 420 contacts the bottom plate 100, and the torsion spring switches from the expanded state to the compressed state. The stop block 420 rises from the bottom of the bottom plate 100.

[0240] Step 3909: Goods released successfully.

[0241] FIG40 is a flow chart of a container handling method according to an embodiment of the present application. As shown in FIG40 , an embodiment of the present application further provides a container handling method, which is applied to a container handling robot and includes the following steps:

[0242] Step 401: Control the moving device to move the material box picking and placing device in the horizontal direction, and control the lifting device to move the material box picking and placing device in the vertical direction, so that the material box picking and placing device reaches the material box placement position on the warehouse shelf;

[0243] Step 402, control the telescopic mechanism of the material box picking and placing device to drive the suction cup to extend and retract in the front and rear directions, the suction cup sucks the material box on the warehouse shelf and moves it to the material box support platform of the material box picking and placing device, or the suction cup pushes the material box on the material box support platform to move it to the warehouse shelf.

[0244] In some embodiments, the step of sucking a material box on a warehouse shelf and moving it to a material box support platform of a material box picking and placing device includes:

[0245] The material box picking and placing device is controlled to move downward a first predetermined distance as a whole, and the suction cup absorbs the material box on the warehouse shelf and moves it to the material box support platform.

[0246] In some embodiments, the step of controlling the entire material box picking and placing device to move downward a first predetermined distance, causing the suction cup to pick up the material box on the warehouse shelf and move the material box to the material box support platform includes:

[0247] When the shelf material box detection sensor of the material box picking and placing device detects that the single-extending position of the warehouse shelf is occupied, the material box picking and placing device is controlled to move downward by a first predetermined distance as a whole, and the suction cup picks up the material box at the single-extending position of the warehouse shelf and moves it to the material box support platform;

[0248] When the shelf material box detection sensor of the material box picking and placing device detects that the single-extending position of the warehouse shelf is vacant and the double-extending position is occupied, the material box picking and placing device is controlled to move down a first predetermined distance as a whole, and the suction cup sucks the material box at the double-extending position of the shelf and moves it to the material box support platform.

[0249] In some embodiments, the step of pushing the material box on the material box support platform to move to the warehouse shelf by the suction cup includes:

[0250] The material box picking and placing device is controlled to move upward a third predetermined distance as a whole, and the suction cup pushes the material box on the material box supporting platform to move to the warehouse shelf.

[0251] In some embodiments, the step of controlling the material box picking and placing device to move upward by a third predetermined distance as a whole, and the suction cup pushing the material box on the material box support platform to move to the warehouse shelf, includes:

[0252] When the shelf material box detection sensor of the material box picking and placing device detects that the single-extending position of the warehouse shelf is vacant or the double-extending position is occupied, the material box picking and placing device is controlled to move upward by a third predetermined distance as a whole, and the suction cup pushes the material box on the material box support platform to move to the single-extending position of the warehouse shelf;

[0253] When the shelf box detection sensor of the box picking and placing device detects that both the single-extending position and the double-extending position of the shelf are vacant, the box picking and placing device is controlled to move up a third predetermined distance as a whole, and the suction cup pushes the box on the box support platform to move to the double-extending position of the warehouse shelf.

[0254] The above description is only a preferred embodiment of the present application and is not intended to limit the scope of protection of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the scope of protection of the present application.

Claims

1. A material box picking and placing device, characterized in that: include: A bottom plate (100), a telescopic drive mechanism (110), a telescopic mechanism (120), a suction cup mechanism (200), and a material box support platform (300); The telescopic driving mechanism (110) is installed on the base plate (100); The telescopic mechanism (120) is connected to the telescopic drive mechanism (110), and the telescopic mechanism (120) has a front end and a rear end; wherein the front end is a telescopic end, and the rear end is a fixed end; the rear end of the telescopic mechanism (120) is arranged at the rear end of the bottom plate (100); The suction cup mechanism (200) comprises: at least one suction cup (211); the suction cup (211) is mounted on the front end of the telescopic mechanism (120); the telescopic mechanism (120) is used to drive the suction cup (211) to telescope in the front-back direction under the drive of the telescopic drive mechanism (110); the suction cup (211) is used to suck the material box on the warehouse shelf and move it to the material box support platform (300), or to push the material box on the material box support platform (300) to move to the warehouse shelf; The material box supporting platform (300) is arranged on the bottom plate (100) and installed along the extension and contraction direction of the suction cup mechanism (200), and is used to support the material box during the process of taking and placing the material box.

2. The material box picking and placing device according to claim 1, characterized in that: The suction cup mechanism (200) further comprises: a vacuum pump (210) and a solenoid valve (213); the vacuum pump (210) is in communication with the suction cup (211), and the solenoid valve (213) is arranged between the suction cup and the vacuum pump (210); the vacuum pump (210) is used to absorb the gas in the suction cup (211) so that the suction cup (211) adsorbs the material box; the solenoid valve (213) is used to make the suction cup (211) communicate with the vacuum pump (210) when adsorbing the material box, and to communicate with the outside when separating the material box so as to introduce external air into the suction cup (211); the vacuum pump (210) is arranged on the bottom plate (100).

3. The material box picking and placing device according to claim 2, characterized in that: Also includes: A controller (600) is provided on the bottom plate (100); The suction cup mechanism (200) further comprises a three-way pneumatic joint and a vacuum pressure switch (214); the three-way pneumatic joint comprises a first port, a second port and a third port; the first port is in communication with the suction cup (211), the second port is in communication with a connection port of the solenoid valve (213), the air outlet of the solenoid valve (213) is in communication with the vacuum pump (210), and the air inlet of the solenoid valve (213) is in communication with the outside; the third port is in communication with the vacuum pressure switch (214), and the vacuum pressure switch (214) is used to detect the internal pressure value of the suction cup (211); the vacuum pressure switch (214) and the telescopic drive mechanism (110) are both electrically connected to the controller (600).

4. The material box picking and placing device according to claim 3, characterized in that: The suction cup mechanism (200) further comprises: a suction cup fixing plate (212), the suction cup fixing plate (212) being connected to the telescopic mechanism (120); one surface of the suction cup fixing plate (212) being fixedly connected to the front end of the telescopic mechanism (120); A pneumatic connection block (215), wherein the suction cup (211) is fixed to the other side of the suction cup fixing plate (212) via the pneumatic connection block (215), and the pneumatic connection block (215) has an air flow channel, wherein an air inlet of the air flow channel is in communication with the suction cup (211), and an air outlet of the air flow channel is in communication with the first port.

5. The material box picking and placing device according to claim 4, characterized in that: A suction cup limiting frame (217) is provided on the outer periphery of the suction cup (211), the suction cup limiting frame (217) is connected to the suction cup fixing plate (212), and the suction cup limiting frame (217) is used to abut against the material box (700) when taking or placing the material box.

6. The material box picking and placing device according to claim 5, characterized in that: The suction cup mechanism (200) further comprises: An air pipe (216) and a drag chain (218), wherein a first end of the drag chain (218) is connected to the suction cup fixing plate (212), and a second end of the drag chain (218) is connected to the bottom plate (100); the air pipe (216) is arranged in a protective cavity of the drag chain (218); and the vacuum pump (210) is connected to the suction cup (211) through the air pipe (216).

7. The material box picking and placing device according to claim 3, characterized in that: The telescopic driving mechanism (110) comprises: A telescopic guide rail (111) is provided on the bottom plate (100) along a telescopic direction; a driving arm (112), the driving arm (112) being movably connected to the telescopic guide rail (111); A drive assembly (130) is provided on the base plate (100), the drive assembly (130) is connected to the drive arm (112), and the drive assembly (130) is used to drive the drive arm (112) to slide along the telescopic direction; the drive assembly (130) is electrically connected to the controller (600); A driving frame (113) is connected to the driving arm (112), and the driving frame (113) is also connected to the telescopic mechanism (120). The driving arm (112) is used to drive the driving frame (113) to move along the telescopic direction, so that the driving frame (113) drives the telescopic mechanism (120) to telescope.

8. The material box picking and placing device according to claim 7, characterized in that: The drive assembly (130) comprises: A driving motor (131) is fixed to the rear end of the base plate (100) via a motor fixing plate (132); the driving motor (131) is electrically connected to the controller (600); A driving wheel (133) is provided at the rear end of the base plate (100), and a rotating shaft of the driving wheel (133) is connected to an output shaft of the driving motor (131); A passive wheel (134) is provided at the front end of the base plate (100), and the rotation axis of the passive wheel (134) is fixedly connected to the base plate (100); the driving wheel (133) is connected to the passive wheel (134) via a synchronous belt (139), and a first sawtooth is provided on a side of the synchronous belt (139) facing away from the driving wheel (133); A toothed plate (135) is connected to the driving arm (112), and a second sawtooth is provided on a side of the toothed plate (135) facing the synchronous belt (139), wherein the first sawtooth is engaged with the second sawtooth.

9. The material box picking and placing device according to claim 8, characterized in that: The driving assembly (130) includes two driving wheels (133), and the two driving wheels (133) are respectively connected to the output shaft of the driving motor (131) through two transmission shafts (138); the two driving wheels (133) are connected to the driven wheel (134) through the corresponding synchronous belt (139), the two first saw teeth are engaged with the corresponding second saw teeth, and the two driving arms (112) are both connected to the driving frame (113).

10. The material box picking and placing device according to claim 8, characterized in that: The telescopic drive mechanism (110) further comprises: A telescopic zero-position baffle (631) is provided on the driving arm (112); A telescopic zero position sensor (630) is provided on the motor fixing plate (132); the telescopic zero position sensor (630) is used to detect the position of the telescopic zero position baffle (631), and the telescopic zero position sensor (630) is electrically connected to the controller (600).

11. The material box picking and placing device according to claim 8, characterized in that: The telescopic mechanism (120) comprises: A fixing member (121) connected to the rear end of the base plate (100) through the motor fixing plate (132); a first positioning link assembly (122), comprising a first positioning link (123) and a second positioning link (124), wherein the first end of the first positioning link (123) and the first end of the second positioning link (124) are both hinged to the fixing member (121) via a first hinge block (125); A tail link assembly (155) comprises a first tail link (156) and a second tail link (157), wherein the first end of the first tail link (156) is hinged to the second end of the second positioning link (124) via an eighth rotation axis (158), and the first end of the second tail link (157) is hinged to the second end of the first positioning link (123) via a ninth rotation axis (159); and the first tail link (156) is hinged to the second tail link (157) via a thirteenth rotation axis (166); A plurality of telescopic link groups (126), wherein the telescopic link group (126) includes a first telescopic link (127) and a second telescopic link (128), wherein the middle portion of the first telescopic link (127) is hinged to the middle portion of the second telescopic link (128) via a first rotating shaft (129), the first end of the first telescopic link (127) is hinged to the first end of the second telescopic link (128) on the adjacent side via a second rotating shaft (140), and the second end of the first telescopic link (127) is hinged to the first end of the second telescopic link (128) on the adjacent side via a third rotating shaft (140). The rotating shaft (141) is hinged to the second end of the second telescopic link (128) on the other adjacent side; the first end of the first telescopic link (127) located at the tail is hinged to the second end of the second tail link (157) via a fourth rotating shaft (142), and the first end of the second telescopic link (128) located at the tail is hinged to the second end of the first tail link (156) via a fifth rotating shaft (143); one of the multiple telescopic link groups (126) is hinged to the driving frame (113); A head connecting rod assembly (160) comprises a first head connecting rod (161) and a second head connecting rod (162), wherein the first end of the first head connecting rod (161) is hinged to the second end of the second telescopic connecting rod (128) located at the head portion via a tenth rotation axis (163), and the first end of the second head connecting rod (162) is hinged to the second end of the first telescopic connecting rod (127) located at the head portion via an eleventh rotation axis (164); the first head connecting rod (161) is hinged to the second head connecting rod (162) via a twelfth rotation axis (165); A positioning guide rail (144) is arranged on the side of the suction cup fixing plate (212) facing the telescopic mechanism (120); the second end of the first head connecting rod (161) is movably connected to the positioning guide rail (144) through a second hinge block (145); and the second end of the second head connecting rod (162) is movably connected to the positioning guide rail (144) through a third hinge block (146).

12. The material box picking and placing device according to claim 11, characterized in that: The telescopic mechanism (120) further comprises: A fourth hinge block (147), the positioning guide rail (144) includes a first section (148) and a second section (149), the first section (148) and the second section (149) are symmetrically arranged on the suction cup fixing plate (212) with respect to the fourth hinge block (147); the second end of the first head connecting rod (161) is movably connected to the first section (148) through the second hinge block (145), and the second end of the second head connecting rod (162) is movably connected to the second section (149) through the third hinge block (146); The second positioning link group (150) includes a third positioning link (151) and a fourth positioning link (152); the second end of the third positioning link (151) and the second end of the fourth positioning link (152) are both hinged to the suction cup fixing plate (212) through a fourth hinge block (147); the first end of the third positioning link (151) is hinged to the first head link (161) through a sixth rotation axis (153), and the first end of the fourth positioning link (152) is hinged to the second head link (162) through a seventh rotation axis (154).

13. The material box picking and placing device according to claim 8, characterized in that: The material box support platform (300) comprises: A material box guide rail (310) is provided on the bottom plate (100) along a telescopic direction; A material box support plate (311) is connected to the material box guide rail (310) via a slider (312), and a trigger block (313) is provided on the side of the material box support plate (311) facing the telescopic mechanism (120); the material box support plate (311) is used to support the material box during the process of taking and placing the material box; A tension spring (314), one end of the tension spring (314) is connected to a side of the material box support plate (311) close to the drive motor (131), and the other end of the tension spring (314) is connected to a side of the base plate (100) away from the drive motor (131), and the tension spring (314) is suitable for switching between a stretched state and a contracted state. In the stretched state, the trigger block (313) abuts against a side of the drive frame (113) toward the telescopic mechanism (120); in the contracted state, the material box support plate (311) extends in the telescopic direction.

14. The material box picking and placing device according to claim 13, characterized in that: Also includes: A limiting component (400) includes two limiting baffles (410), the two limiting baffles (410) are symmetrically arranged on the bottom plate (100) with respect to the telescopic direction of the telescopic mechanism (120), and the two limiting baffles (410) and the suction cup mechanism (200) are surrounded to form a receiving space, and the receiving space is used to receive the material box.

15. The material box picking and placing device according to claim 14, characterized in that: The vacuum pump and the controller are both arranged on the limit baffle.

16. The material box picking and placing device according to claim 14, characterized in that: The limiting component (400) further includes: A limiting block (420) is hinged to the front end of the material box support plate (311) via a limiting shaft; A torsion spring, wherein the torsion spring has two legs, one leg of the torsion spring is connected to the limit block (420), and the other leg of the torsion spring is connected to the material box support plate (311); the torsion spring is suitable for switching between a compressed state and an expanded state, in the compressed state, the bottom plate (100) abuts against the limit block (420), and the limit block rotates counterclockwise around the material box support plate so that the limit block (420) is higher than the surface of the material box support plate (311), and the limit block (420) limits the material box (700); in the expanded state, the bottom plate (100) is separated from the limit block (420), and the limit block rotates clockwise around the material box support plate so that the limit block (420) is lower than the surface of the material box support plate (311).

17. The material box picking and placing device according to claim 14, characterized in that: Also includes: A shelf material box detection sensor (610) is provided on the limit baffle (410), the shelf material box detection sensor (610) is used to detect the material box (700) located on the shelf (710), and the shelf material box detection sensor (610) is electrically connected to the controller (600).

18. The material box picking and placing device according to claim 14, characterized in that: Also includes: A pickup detection sensor (620) is provided on the limit baffle (410), and the pickup detection sensor (620) is used to detect a pickup result. The pickup detection sensor (620) is electrically connected to the controller (600).

19. The material box picking and placing device according to claim 3, characterized in that: Also includes: The rotating component (500) is connected to the bottom plate (100), and the rotating component (500) is used to drive the bottom plate (100) to rotate.

20. The material box picking and placing device according to claim 19, characterized in that: The rotating component (500) comprises: A bottom plate adapter block (510) connected to the bottom plate (100); a rotating motor (520), wherein the rotating shaft of the rotating motor (520) is connected to the bottom plate adapter block (510); A support base (530) is connected to the rotating motor (520), and the support base (530) is used to support the rotating motor (520); the support base (530) is used to connect to an external device.

21. The material box picking and placing device according to claim 20, characterized in that: The rotating component (500) further includes: A rotation zero-position baffle (511) is provided on the bottom plate adapter block (510); A rotation zero position sensor (512) is provided on the rotating motor (520), the rotation zero position sensor (512) is used to detect the position of the rotation zero position baffle (511), and the rotation zero position sensor (512) is electrically connected to the controller (600).

22. The material box picking and placing device according to any one of claims 3 to 21, characterized in that: Also includes: A material box escape sensor (640) is provided on the bottom plate (100). The material box escape sensor (640) is used to detect accidental escape of the material box (700). The material box escape sensor (640) is electrically connected to the controller (600).

23. A material box handling robot, characterized in that: It comprises a material box picking and placing device (800), a moving device (910) and a lifting device (900) as described in any one of claims 1 to 22, the support seat (530) is connected to the lifting device (900), and the lifting device (900) is connected to the moving device (910).

24. A container handling method, applied to the container handling robot according to claim 23, comprising the following steps: Controlling the moving device to move the material box picking and placing device in the horizontal direction, and controlling the lifting device to move the material box picking and placing device in the vertical direction, so that the material box picking and placing device reaches the material box placement position on the warehouse shelf; The telescopic mechanism of the material box picking and placing device is controlled to drive the suction cup to extend and retract in the front and rear directions. The suction cup sucks the material box on the warehouse shelf and moves it to the material box support platform of the material box picking and placing device, or the suction cup pushes the material box on the material box support platform to move to the warehouse shelf.

25. The container transport method according to claim 24, wherein: The step of sucking the material box on the warehouse shelf and moving it to the material box support platform of the material box picking and placing device includes: The material box picking and placing device is controlled to move downward a first predetermined distance as a whole, and the suction cup absorbs the material box on the warehouse shelf and moves it to the material box support platform.

26. The container transport method according to claim 25, characterized in that: The step of controlling the material box picking and placing device to move downward as a whole by a first predetermined distance, and the suction cup sucking the material box on the warehouse shelf and moving it to the material box support platform includes: When the shelf material box detection sensor of the material box picking and placing device detects that the single-extending position of the warehouse shelf is occupied, the material box picking and placing device is controlled to move downward by the first predetermined distance as a whole, and the suction cup sucks the material box at the single-extending position of the warehouse shelf and moves it to the material box support platform; When the shelf material box detection sensor of the material box picking and placing device detects that the single-extending position of the warehouse shelf is vacant and the double-extending position is occupied, the material box picking and placing device is controlled to move down as a whole by the first predetermined distance, and the suction cup sucks the material box at the double-extending position of the warehouse shelf and moves it to the material box support platform.

27. The container transport method according to claim 24, wherein: The step of pushing the material box on the material box support platform to move to the warehouse shelf by the suction cup includes: The material box picking and placing device is controlled to move upward a third predetermined distance as a whole, and the suction cup pushes the material box on the material box supporting platform to move to the warehouse shelf.

28. The container transport method according to claim 27, characterized in that: The step of controlling the material box picking and placing device to move upward by a third predetermined distance as a whole, and the suction cup pushing the material box on the material box support platform to move to the warehouse shelf, comprises: When the shelf material box detection sensor of the material box picking and placing device detects that the single-extending position of the warehouse shelf is vacant or the double-extending position is occupied, the material box picking and placing device is controlled to move upward by a third predetermined distance as a whole, and the suction cup pushes the material box on the material box support platform to move to the single-extending position of the warehouse shelf; When the shelf box detection sensor of the box picking and placing device detects that both the single-extending position and the double-extending position of the shelf are idle, the box picking and placing device is controlled to move up a third predetermined distance as a whole, and the suction cup pushes the box on the box support platform to move to the double-extending position of the warehouse shelf.

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