Pick-and-place device, robot, warehousing system and pick-and-place method

Abstract

Provided in the present application are a pick-and-place device, a robot, a warehousing system and a pick-and-place method. The pick-and-place device is used for picking and placing material boxes. The pick-and-place device comprises a device body, a telescopic mechanism and a hook mechanism, wherein the telescopic mechanism is movably connected to the device body; the hook mechanism is movably connected to the telescopic mechanism, and comprises a mounting seat, a first driving unit and a hook member, the first driving unit being disposed on the mounting seat, the hook member being rotationally connected to the mounting seat, and the first driving unit being configured to drive the hook member to rotate relative to the mounting seat, such that the hook member engages with or disengages from a material box; the device body comprises a bearing surface, which is used for bearing the material box; when the hook member engages with an engagement groove on the material box, the height of the hook member is higher than that of the bearing surface; and when the hook member disengages from the engagement groove on the material box, the height of the hook member is lower than that of the bearing surface. As a result, the picking and placing of the material box can be realized, and the structure of the pick-and-place device is simplified, thereby reducing the costs.

Description

Goods taking and placing device, robot, warehousing system and goods taking and placing method

[0001] The present application claims priority to the Chinese patent application No. 202410735842.5, filed on June 6, 2024, and entitled "Goods taking and placing device, robot, warehousing system and goods taking and placing method", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of warehousing logistics, and in particular, to a goods taking and placing device, a robot, a warehousing system and a goods taking and placing method. BACKGROUND

[0003] With the development of artificial intelligence and automation technology, robots are widely used in the field of warehousing logistics for taking and placing, transporting and sorting goods. In a logistics system, goods are usually stored in shelves, and robots with corresponding functions take and place goods or complete goods transportation tasks by interfacing with the shelves or conveying lines.

[0004] In related technologies, a fork for taking and placing goods is usually arranged on a robot, and a mechanical hand that can extend and retract relative to a fixed direction of the body of the robot is usually arranged on the fork. The mechanical hand usually has multiple joints, multiple sets of transmission mechanisms and multiple drive units, so that the mechanical hand can complete the operation of taking and placing a material box.

[0005] However, the structure of the fork on the robot is currently complex, heavy and high in cost. SUMMARY

[0006] The present application provides a goods taking and placing device, a robot, a warehousing system and a goods taking and placing method to at least partially solve at least one of the technical problems that the structure of the fork on the robot is currently complex, heavy and high in cost.

[0007] In a first aspect, the present application provides a goods taking and placing device for taking and placing a material box, the goods taking and placing device comprising a device body, an extension mechanism and a hooking mechanism, the extension mechanism being movably connected to the device body, and the hooking mechanism being movably connected to the extension mechanism.

[0008] The hooking mechanism comprises a mounting seat, a first drive unit and a hooking piece, the first drive unit is arranged on the mounting seat, and the hooking piece is movably connected to the mounting seat. The outer side of the material box has a docking groove. The first drive unit is configured to drive the hooking piece to move relative to the mounting seat, so that the hooking piece is docked with or separated from the docking groove of the material box.

[0009] The device body comprises a bearing surface for bearing the material box, the height of the hooking hand is higher than the bearing surface when the hooking hand is in abutment with the abutment groove of the material box, and the height of the hooking hand is lower than the bearing surface when the hooking hand is separated from the abutment groove of the material box.

[0010] The taking and placing device provided in the application can move the hooking mechanism, and when the hooking mechanism is opposite to the material box, the hooking hand on the hooking mechanism is used to abut with the material box, so that the material box can be moved when the hooking mechanism and the hooking mechanism move, and the taking and placing operation of the material box is realized.

[0011] As an optional implementation, the bottom of the material box has at least one abutment groove, the hooking hand is rotationally connected with the mounting seat, and when the hooking hand is rotated to abut with the material box, the hooking hand is at least partially inserted into the abutment groove.

[0012] In this way, the reliability of the abutment between the hooking hand and the material box can be improved, and the hooking hand can be prevented from falling off when the material box is dragged to move.

[0013] As an optional implementation, the rotation plane of the hooking hand can be parallel to the extension direction of the abutment groove.

[0014] In this way, when the hooking mechanism is opposite to the abutment groove and the hooking hand is rotated, the hooking hand can be prevented from interfering with the bottom wall of the material box.

[0015] As an optional implementation, the first driving unit has an output shaft, and the hooking hand is connected with the output shaft.

[0016] In this way, the hooking hand can be directly driven by the first driving unit, the structure of the hooking mechanism can be simplified, and the product cost can be reduced.

[0017] As an optional implementation, the hooking hand is at least two, the first driving unit is at least two, and the hooking hand and the first driving unit are one-to-one correspondingly arranged.

[0018] In this way, when the material box is taken and placed, the at least two hooking hands can be used to abut with the material box at the same time, and the stability of the movement process of the material box can be improved.

[0019] As an optional implementation, the hooking mechanism further comprises a connecting rod, the hooking hand is rotationally connected with the mounting seat through a rotating shaft, the first end of the connecting rod is connected with the first driving unit, the second end of the connecting rod is connected with the hooking hand, and the second end of the connecting rod has a spacing from the rotation center of the hooking hand.

[0020] In this way, the hooking hand can be rotated by the movement of the connecting rod, and the rotation smoothness of the hooking hand can be improved.

[0021] As an optional implementation, the first driving unit has an output shaft, the output shaft is connected with a driving member, and the first end of the connecting rod member is connected with the driving member. The first end of the connecting rod member has a spacing from the rotation center of the output shaft.

[0022] In this way, the hook member, the connecting rod member and the driving member can jointly form a connecting rod mechanism, thereby facilitating the design of the arrangement position of the first driving unit.

[0023] As an optional implementation, the connecting rod member can include a connecting rod main body and a bent portion connected with the connecting rod main body, the connecting rod main body is connected with the hook member, and the bent portion is connected with the driving member.

[0024] In this way, interference between the connecting rod member and the rotation shaft of the driving member can be prevented when the driving member rotates, and the rotation angle range of the driving member is increased.

[0025] As an optional implementation, the hook member is two, the connecting rod member is two, the two hook members are located at the two ends of the mounting seat, and the driving member is located between the two hook members; the connection positions of the two connecting rod members with the driving member are respectively located on the opposite sides of the output shaft.

[0026] In this way, the linkage of the two hook members can be realized by a single driving unit, thereby reducing the cost.

[0027] As an optional implementation, the taking and placing device can further include a second driving unit and a driving wheel; the telescopic mechanism can include a telescopic member, a transmission member and at least two transmission wheels, the at least two transmission wheels are respectively arranged at the two ends of the telescopic member along the first direction, and the transmission member is arranged around the transmission wheels; the hook mechanism is connected with the transmission member.

[0028] The second driving unit is arranged on the device main body, and the second driving unit is configured to drive the driving wheel to rotate. The driving wheel cooperates with the transmission member and drives the transmission member to transmit around the transmission wheel, so as to move the hook mechanism relative to the telescopic member.

[0029] In this way, the bidirectional telescopic taking and placing of the telescopic mechanism can be realized by the second driving unit.

[0030] As an optional implementation, the transmission member forms a closed ring around the at least two transmission wheels; and the driving wheel is located on the inner side of the transmission member and is engaged with the transmission member.

[0031] In this way, the compactness of the upper part layout of the device main body can be improved, and the space occupation can be reduced.

[0032] As an optional implementation, the telescopic member is slidingly connected with the device main body; the two ends of the telescopic member along the first direction are respectively provided with abutting members; when the hook mechanism moves to any one of the two ends of the telescopic member along the first direction and abuts against the abutting member, the driving wheel drives the telescopic mechanism to move relative to the device main body.

[0033] In this way, when the hooking mechanism moves to the two ends of the telescopic mechanism, the positions of the hooking mechanism and the telescopic mechanism are relatively fixed and jointly extended.

[0034] As an optional implementation, the device body can be provided with a first guide rail, and the telescopic member is connected with a first sliding block in sliding connection with the first guide rail; and / or,

[0035] The telescopic member can be provided with a second guide rail, and the mounting seat is connected with a second sliding block in sliding connection with the second guide rail.

[0036] In this way, the smoothness of the movement of the telescopic member relative to the device body can be improved, and the smoothness of the movement of the hooking mechanism relative to the telescopic mechanism can be improved.

[0037] As an optional implementation, the taking and placing device can further include an elastic member and at least two hanging shafts, the device body is provided with a first hanging portion at each end in the first direction, and the at least two hanging shafts are respectively located at the two ends of the device body and abut against the first hanging portion at the same end; the two ends of the elastic member are connected with the hanging shafts at the two ends of the device body; and the hanging shafts are arranged at the end portions of the telescopic member.

[0038] In this way, when the hooking mechanism moves between the two ends of the telescopic mechanism, the position of the telescopic mechanism can be limited by the hanging shafts to avoid the telescopic mechanism from deviating relative to the device body.

[0039] As an optional implementation, the telescopic member is a tension spring, the telescopic member is provided with a second hanging portion at each end in the first direction, and the at least two hanging shafts are respectively located at the two ends of the telescopic member; when the telescopic member is extended relative to the device body, the hanging shaft located at the end of the telescopic member away from the extended end abuts against the second hanging portion, and the hanging shaft located at the end of the telescopic member close to the extended end abuts against the first hanging portion.

[0040] As an optional implementation, the telescopic member is a compression spring, the telescopic member is provided with a second hanging portion at each end in the first direction, and the at least two hanging shafts are respectively located at the two ends of the telescopic member; when the telescopic member is extended relative to the device body, the hanging shaft located at the end of the telescopic member close to the extended end abuts against the second hanging portion, and the hanging shaft located at the end of the telescopic member away from the extended end abuts against the first hanging portion.

[0041] In this way, when the hooking mechanism moves to the end of the telescopic mechanism and synchronously extends with the telescopic mechanism, the abutting state of the hooking mechanism and the telescopic mechanism can be maintained.

[0042] As an optional implementation, the hooking mechanism can further include a detection unit connected with the mounting seat; the detection unit is configured to detect the relative position of the hooking mechanism and the material box.

[0043] In this way, the accuracy of the abutting position of the hooking member and the material box can be ensured.

[0044] In a second aspect, the application provides a robot, comprising a robot body and the above-mentioned picking and placing device, the picking and placing device being arranged on the robot body, and the picking and placing device being movable in the height direction of the robot body.

[0045] In a third aspect, the application provides a picking method applied to a robot, wherein the robot comprises a picking and placing device, the picking and placing device comprising a device body, an extension mechanism and a hooking mechanism, the hooking mechanism being movably connected with the extension mechanism; the hooking mechanism comprising a mounting seat, a first driving unit and a hooking member, the hooking member being movably connected with the mounting seat, and the first driving unit being configured to drive the hooking member to move relative to the mounting seat; the device body comprising a bearing surface, the bearing surface being used for bearing a material box, the height of the hooking member being higher than the bearing surface when the hooking member is in abutment with an abutment groove of the material box, and the height of the hooking member being lower than the bearing surface when the hooking member is separated from the abutment groove of the material box.

[0046] The method comprises:

[0047] receiving a picking instruction, driving the hooking mechanism to move to the first end of the extension mechanism, so that the hooking mechanism pushes the extension mechanism to extend to below a target material box;

[0048] determining that the hooking mechanism is opposite to an abutment groove of the target material box, and driving the hooking member to move to abut against the abutment groove; wherein the abutment groove is located at the bottom side of the end portion of the target material box;

[0049] driving the hooking mechanism in reverse to carry the target material box to the picking and placing device.

[0050] As an optional implementation, the hooking mechanism can further comprise a detection unit;

[0051] As an optional implementation, determining that the hooking mechanism is opposite to the abutment groove of the target material box specifically comprises:

[0052] when the detection unit detects the abutment groove, it is determined that the hooking mechanism is opposite to the abutment groove.

[0053] As an optional implementation, driving the hooking mechanism in reverse to carry the target material box to the picking and placing device comprises:

[0054] driving the hooking mechanism and the extension mechanism to retract synchronously, and carrying part of the target material box to the picking and placing device;

[0055] driving the hooking mechanism to move from the first end of the extension mechanism to the second end of the extension mechanism, and carrying all of the target material box to the picking and placing device.

[0056] In a fourth aspect, the application provides a method for placing goods by a robot, wherein the robot comprises a goods taking and placing device, the goods taking and placing device comprises a device main body, an extension mechanism and a hooking mechanism, the hooking mechanism is movably connected with the extension mechanism; the hooking mechanism comprises a mounting seat, a first driving unit and a hooking piece, the first driving unit is arranged on the mounting seat, the hooking piece is movably connected with the mounting seat, and the first driving unit is configured to drive the hooking piece to move relative to the mounting seat; the device main body comprises a bearing surface, and the bearing surface is used for bearing a material box; when the hooking piece is in abutment with an abutment groove of the second end of the material box, the height of the hooking piece is higher than the bearing surface; when the hooking piece is separated from the abutment groove of the second end of the material box, the height of the hooking piece is lower than the bearing surface.

[0057] The method comprises the following steps: receiving a goods placing instruction, controlling the robot to carry the target material box to a target goods placing position, abutting the hooking mechanism with a bottom abutment groove of the second end of the target material box, driving the hooking mechanism towards the target goods placing position, moving the hooking mechanism from the second end of the extension mechanism to the first end of the extension mechanism, and synchronously extending the extension mechanism to drive the target material box to the target goods placing position.

[0058] The method comprises the following steps: driving the hooking piece to move to separate the hooking piece from the abutment groove of the target material box, and reversely driving the hooking mechanism to make the hooking mechanism retract into the goods taking and placing device.

[0059] As an optional implementation, the method comprises the following steps: controlling the robot to carry the target material box to the target goods placing position, and abutting the hooking mechanism with the bottom abutment groove of the second end of the target material box.

[0060] The method comprises the following steps: controlling the robot to move to the target goods placing position, and if the goods placing direction of the target material box is different from the goods taking direction of the target material box, moving the hooking mechanism to the second end of the extension mechanism, and driving the hooking piece to move to abut with the bottom abutment groove of the second end of the target material box.

[0061] The application provides a warehouse system, which comprises a goods shelf and a robot, the robot is used for taking and placing a material box on the goods shelf, and the robot is used for executing the above-mentioned goods taking method or the above-mentioned goods placing method.

[0062] The application provides a material box taking and placing device, a robot, a storage system and a material box taking and placing method, wherein the material box taking and placing device is used for taking and placing a material box, and the material box taking and placing device comprises a device main body, an extension mechanism and a hooking mechanism. The extension mechanism is movably connected with the device main body, and the hooking mechanism is movably connected with the extension mechanism. The hooking mechanism comprises a mounting seat, a first driving unit and a hooking piece. The first driving unit is arranged on the mounting seat, and the hooking piece is movably connected with the mounting seat. The outer side of the material box is provided with a butt joint groove. The first driving unit is configured to drive the hooking piece to move relative to the mounting seat, so that the hooking piece is butt jointed with or separated from the butt joint groove of the material box. Therefore, the material box can be moved when the extension mechanism and the hooking mechanism move, and the taking and placing operation of the material box is realized. The structure of the material box taking and placing device is simplified, and the cost is reduced.

[0063] In addition to the technical problems solved by the embodiments of the application described above, the technical features constituting the technical solutions and the beneficial effects brought by the technical features, other technical problems solved by the material box taking and placing device, the robot, the storage system and the material box taking and placing method provided by the application, and other technical features included in the technical solutions and the beneficial effects brought by the technical features will be further described in detail in the specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0064] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can also be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0065] FIG. 1 is a structural schematic view of the material box taking and placing device provided by the embodiments of the application;

[0066] FIG. 2 is a top view of the material box taking and placing device provided by the embodiments of the application;

[0067] FIG. 3 is a structural schematic view of the hooking mechanism in the material box taking and placing device provided by the embodiments of the application;

[0068] FIG. 4 is a structural schematic view of the material box taken and placed by the material box taking and placing device provided by the embodiments of the application;

[0069] FIG. 5 is a schematic view of the hooking piece of the material box taking and placing device and the material box butt jointed provided by the embodiments of the application;

[0070] FIG. 6 is a schematic view of the hooking piece of the material box taking and placing device and the material box separated provided by the embodiments of the application;

[0071] FIG. 7 is a first driving structure schematic view of the hooking mechanism in the material box taking and placing device provided by the embodiments of the application;

[0072] Fig. 8 is a schematic diagram of a second driving structure of the hooking mechanism in the goods taking and placing device according to an embodiment of the present application;

[0073] Fig. 9 is a front view of the second driving structure of the hooking mechanism in the goods taking and placing device according to an embodiment of the present application;

[0074] Fig. 10 is a schematic diagram of the structure of the connecting rod in the goods taking and placing device according to an embodiment of the present application;

[0075] Fig. 11 is a schematic diagram of the structure of the telescopic mechanism in the goods taking and placing device according to an embodiment of the present application;

[0076] Fig. 12 is a front view of the goods taking and placing device according to an embodiment of the present application;

[0077] Fig. 13 is a first transmission schematic diagram of the telescopic mechanism in the goods taking and placing device according to an embodiment of the present application;

[0078] Fig. 14 is a second transmission schematic diagram of the telescopic mechanism in the goods taking and placing device according to an embodiment of the present application;

[0079] Fig. 15 is a partial view of the position A in Fig. 12;

[0080] Fig. 16 is a schematic diagram of the connection between the transmission member and the mounting seat in the goods taking and placing device according to an embodiment of the present application;

[0081] Fig. 17 is a schematic diagram of the bottom side of the goods taking and placing device according to an embodiment of the present application;

[0082] Fig. 18 is a schematic diagram of the device main body of the goods taking and placing device according to an embodiment of the present application;

[0083] Fig. 19 is a schematic diagram of the robot according to an embodiment of the present application;

[0084] Fig. 20 is a schematic diagram of the goods taking process of the goods taking and placing device according to an embodiment of the present application;

[0085] Fig. 21 is a flow chart of the goods taking method according to an embodiment of the present application;

[0086] Fig. 22 is a flow chart of the goods placing method according to an embodiment of the present application.

[0087] Label explanation: 1-robot; 10-pick-and-place device; 100-device main body; 101-carrier surface; 110-first guide rail; 120-first hanging part; 200-telescopic mechanism; 210-telescopic part; 211-second hanging part; 220-transmission part; 230-transmission wheel; 240-abutment part; 250-first sliding block; 260-second guide rail; 300-hooking mechanism; 310-mounting seat; 320-first driving unit; 321-output shaft; 330-hooking part; 340-link part; 341-link main body; 342-bent part; 350-driving part; 360-connection part; 370-second sliding block; 380-detection unit; 400-second driving unit; 410-driving wheel; 500-hanging shaft; 510-elastic part; 20-material box; 21-butting groove; 30-robot main body. DETAILED DESCRIPTION

[0088] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the following will be combined with the accompanying drawings for the embodiments of the present application to make a clear and complete description of the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0089] First, those of ordinary skill in the art should understand that the embodiments are only used for explaining the technical principles of the present application, and are not intended to limit the protection scope of the present application. Those of ordinary skill in the art can make adjustments as needed to adapt to specific application occasions.

[0090] Second, it should be noted that, in the description of the present application, the terms indicating the direction or position relationship such as "upper", "lower", "left", "right", "front", "back", "inner", "outer", and the like are based on the direction or position relationship shown in the drawings, which is only for the convenience of description, and does not indicate or imply that the device or member must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0091] In the description of the present specification, the description referring to the terms "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0092] In the present application, the terms "mount" or "connect" are used interchangeably. "Connect" can be direct connection or indirect connection through intermediate parts; it can be movable connection or fixed connection. The term "and / or" includes any combination of the listed items, for example, "A and / or B" includes "A and B", "only A", or "only B" three cases.

[0093] Various types of robots are widely used in various fields such as industry and life, and robots play an important role in transportation and logistics industries. In a warehouse logistics system, goods are usually stored in shelves, and robots take and place goods by interfacing with the shelves or conveying lines, and can transport the goods. The fork for taking and placing goods is usually provided on the robot for taking and placing goods, and a mechanical hand that can extend in a fixed direction relative to the body of the robot is usually provided on the fork, and the fork as a whole can rotate relative to the body of the robot. The mechanical hand usually completes the taking and placing operation on the side of the robot in the forward direction, so when the robot completes the task of taking and placing goods on different sides of the shelf, the fork needs to be rotated to change the orientation of the fork.

[0094] Therefore, in the related art, when the fork is rotated to the position of the target shelf, the fork needs to be rotated to the position of the target shelf, and then the telescopic operation is performed to take and place the goods, resulting in low efficiency of the robot for taking and placing goods. The fork usually has multiple joints, multiple sets of transmission mechanisms and multiple drive units, and the mechanical hand can complete the operation of taking and placing the material box. The structure of the fork on the robot is complex, heavy and high in cost.

[0095] In addition, when the fork of the robot takes and places the material box, the joint of the fork needs to extend into the inside of the shelf storage location, occupying the storage space inside the storage location, resulting in reduced warehouse density and reduced overall space utilization of the warehouse system.

[0096] To solve the above problems, the present application provides a taking and placing device, a robot, a warehouse system and a taking and placing method. The structure of the telescopic mechanism and the hooking mechanism on the taking and placing device is designed so that the fork device can be telescoped forward and backward. The hooking mechanism does not need to extend into the inside of the shelf storage location when it interfaces with the material box, improving the space utilization and the warehouse efficiency. The structure of the taking and placing device is simplified, the weight of the equipment is reduced, and the product cost is reduced.

[0097] In order to facilitate understanding, the application scenario of the taking and placing device, the robot, the warehouse system and the taking and placing method provided by the present application is first described.

[0098] The taking and placing device provided by the application is applied to a robot, and the robot can be applied to a warehouse or a logistics system for taking and placing goods. Specifically, the robot can be applied to logistics distribution of an industrial production line, warehouse in and out of manufacturing industry products, warehouse in and out of retail industry products, express in and out of e-commerce logistics, and the like, and the transported products or goods can be industrial parts, electronic accessories or products, medicines, clothing accessories, food, books, and the like. The robot can directly transport goods or transport a container loaded with goods, which is not limited in the application, and the carrying object of the carrying robot will be referred to as a container in the following description without specific examples. In an embodiment, the robot can walk on the ground, in another embodiment, the robot can also climb to a shelf to take and place goods, and in some other embodiments, the robot can also walk on a guide rail arranged on the shelf.

[0099] FIG. 1 is a structural schematic diagram of the taking and placing device provided by the embodiment of the application, FIG. 2 is a top view of the taking and placing device provided by the embodiment of the application, FIG. 3 is a structural schematic diagram of a hooking structure of the taking and placing device provided by the embodiment of the application, FIG. 4 is a structural schematic diagram of a container taken and placed by the taking and placing device provided by the embodiment of the application, FIG. 5 is a schematic diagram of the hooking structure of the taking and placing device provided by the embodiment of the application and the container in abutment, and FIG. 6 is a schematic diagram of the hooking structure of the taking and placing device provided by the embodiment of the application and the container separated.

[0100] As shown in FIGS. 1 to 6, the embodiment provides a taking and placing device 10 for taking and placing a container 20. The taking and placing device 10 can be applied to a robot in a warehouse logistics system. The taking and placing device 10 takes the container 20 from a shelf or places the container 20 on the shelf. The shelf can include one or more shelves for placing the container 20, and the shelf is provided with a plurality of storage locations for placing the container 20. The shape and structure of the shelf and the storage location are not limited in the application, as long as the container 20 can be placed on the storage location of the shelf.

[0101] The taking and placing device 10 includes a device body 100, an extension mechanism 200, and a hooking structure 300. The extension mechanism 200 is movably connected to the device body 100, and the hooking structure 300 is movably connected to the extension mechanism 200. During the taking and placing operation, the hooking structure 300 can move relative to the extension mechanism 200, and the extension mechanism 200 and the device body 100 are relatively fixed, or the hooking structure 300 and the extension mechanism 200 can move relative to the device body 100. In this way, the extension mechanism 200 can be extended, and the hooking structure 300 can completely drive the container 20 to the taking and placing device 10.

[0102] The hooking mechanism 300 comprises a mounting base 310, a first driving unit 320 and a hooking member 330. The first driving unit 320 is arranged on the mounting base 310, and the hooking member 330 is movably connected to the mounting base 310. The material box 20 has a docking groove 21 on the outer side, and the first driving unit 320 is configured to drive the hooking member 330 to move relative to the mounting base 310, including but not limited to rotating or telescoping movement, so as to dock or separate the hooking member 330 from the docking groove 21 of the material box 20.

[0103] The device body 100 comprises a bearing surface 101. The bearing surface 101 is used to bear the material box 20. When the hooking member 330 is docked with the docking groove 21 of the material box 20, the height of the hooking member 330 is higher than the bearing surface 101. When the hooking member 330 is separated from the docking groove 21 of the material box 20, the height of the hooking member 330 is lower than the bearing surface 101.

[0104] It can be understood that the first driving unit 320 can drive the hooking member 330 to rotate, so that the hooking member 330 has different positions relative to the mounting base 310.

[0105] Taking the picking process as an example, the telescopic mechanism 200 needs to be extended first, and the hooking mechanism 300 needs to be docked with the material box 20 at a relative preset position. Therefore, before the hooking mechanism 300 reaches the preset position relative to the material box 20, the hooking member 330 of the hooking mechanism 300 can be in a retracted state relative to the mounting base 310 (at this time, the height of the hooking member 330 is lower than the bearing surface 101). When the hooking mechanism 300 reaches the preset position, the first driving unit 320 can drive the hooking member 330 to rotate, so that the hooking member 330 extends relative to the mounting base 310 (at this time, the height of the hooking member 330 is higher than the bearing surface 101), and then the hooking member 330 is docked with the material box 20. Thereafter, as the telescopic mechanism 200 retracts, the hooking member 330 can move the material box 20, achieving the picking of the material box 20.

[0106] In the putting process, the hooking member 330 is docked with the material box 20. Through the movement of the hooking mechanism 300 and the telescopic mechanism 200, the material box 20 is moved from the device body 100 to the shelf, and after the putting is completed, the hooking member 330 is rotated from the extended state to the retracted state relative to the mounting base 310 under the drive of the first driving unit 320, so that the hooking member 330 is separated from the material box 20, and the telescopic mechanism 200 can be retracted.

[0107] It should be noted that in the taking and placing device 10 provided by the embodiments of the present application, the hooking mechanism 300 that can move is arranged on the telescopic mechanism 200, when the hooking mechanism 300 and the material box 20 are in the preset position of butt joint, the hooking mechanism 300 is used to butt joint with the butt joint structure of the material box 20 located outside the shelf, so that the material box 20 can be moved when the telescopic mechanism 200 and the hooking mechanism 300 move, and the taking and placing operation of the material box 20 is realized. When the hooking mechanism 300 and the material box 20 butt joint, it is not necessary to extend to the deep part of the storage location, so as not to occupy the space inside the storage location, which is beneficial to reduce the width of the storage location of the shelf and improve the storage density of the shelf. In addition, the rotatable hooking piece 330 is used to cooperate with the material box 20, so that the taking and placing device 10 does not need to be lifted as a whole to cooperate with the material box 20, which simplifies the process of taking and placing goods, simplifies the structure of the taking and placing device 10 as a whole, reduces the weight of the taking and placing device 10, and reduces the production cost.

[0108] First, the specific butt joint mode of the hooking piece 330 and the material box 20 will be described in detail.

[0109] Please continue to refer to FIGS. 1 to 6, in a possible implementation manner, the bottom of the material box 20 has a butt joint groove 21, the hooking piece 330 is rotationally connected with the mounting seat 310, and when the hooking piece 330 rotates to butt joint with the material box 20, the hooking piece 330 is at least partially inserted into the butt joint groove 21. When the hooking piece 330 drags the material box 20 to move, the hooking piece 330 abuts against the groove wall of the butt joint groove 21, so as to improve the reliability of the butt joint of the hooking piece 330 and the material box 20, and avoid the hooking piece 330 from falling off when the material box 20 moves.

[0110] It can be understood that the hooking piece 330 can be a rod-shaped structure or a sheet-shaped structure. The diameter or thickness of the hooking piece 330 can be slightly smaller than the width of the butt joint groove 21, so as to avoid interference between the hooking piece 330 and the outer wall of the material box 20 when the hooking piece 330 is rotationally inserted into the butt joint groove 21.

[0111] For example, the hooking piece 330 is a sheet-shaped structure, that is, the length and width of the hooking piece 330 are greater than its thickness. The rotation connection point of the hooking piece 330 relative to the mounting seat 310 can be eccentrically arranged relative to the center or gravity center of the hooking piece 330, so as to reduce the space occupation in the rotation stroke of the hooking piece 330 while ensuring that the hooking piece 330 can butt joint with the butt joint groove 21 of the material box 20.

[0112] For example, the material of the hooking piece 330 can be plastic or metal and alloy materials such as iron and aluminum, and the embodiments of the present application do not make specific limitations.

[0113] In some embodiments, the rotation plane of the hooking member 330 can be parallel to the extending direction of the docking slot 21. When the hooking mechanism 300 is aligned with the docking slot 21, and the hooking member 330 is rotated, interference between the hooking member 330 and the bottom wall of the material box 20 can be prevented.

[0114] It can be understood that the docking slot 21 can extend along the width direction of the material box 20. For example, the extending direction of the docking slot 21 can be perpendicular to the picking and placing direction of the picking and placing device 10. The slot of the docking slot 21 can be arranged downward, and when the hooking mechanism 300 is aligned with the docking slot 21, the hooking member 330 is below the docking slot 21. When the hooking member 330 needs to be aligned with the docking slot 21, the first driving unit 320 can drive the hooking member 330 to deflect upward.

[0115] For example, the hooking member 330 can be arranged at both ends of the mounting seat 310, and the rotation plane of the hooking member 330 is a vertical plane, and the X direction can be perpendicular to the vertical plane. The rotation plane of the hooking member 330 can be perpendicular to the picking and placing direction of the picking and placing device 10. When the hooking member 330 is disengaged from the docking slot 21 of the material box 20, the hooking member 330 is retracted relative to the mounting seat 310, at this time, the hooking member 330 is accommodated at the side of the mounting seat 310, and the height of the hooking member 330 is lower than the top surface of the mounting seat 310, and when the hooking member 330 is aligned with the docking slot 21 of the material box 20, the hooking member 330 can be extended relative to the mounting seat 310, at this time, the hooking member 330 is higher than the top surface of the mounting seat 310.

[0116] For example, in some embodiments, the docking slot 21 can be arranged on the bottom wall of the material box 20, or the docking slot 21 can be formed by a handle arranged at the side of the material box 20, and the specific arrangement position of the docking slot 21 is not limited in the embodiments of the present application. For example, the docking slot 21 can be arranged on the top of the side wall of the material box 20 facing the picking and placing device 10, and the slot of the docking slot 21 is arranged upward. When the hooking mechanism 300 is aligned with the docking slot 21, the hooking member 330 is above the docking slot 21. When the hooking member 330 needs to be aligned with the docking slot 21, the first driving unit 320 can drive the hooking member 330 to deflect downward.

[0117] In some embodiments, at least one end of the bottom of the material box 20 is provided with a docking slot 21. For example, only one docking slot 21 can be arranged at one end of the bottom of the material box 20, or as shown in FIG. 4, one docking slot 21 can be arranged at each of the opposite ends of the bottom of the material box 20.

[0118] It should be noted that when the hooking member 330 is opposite to the butt joint groove 21 of the material box 20, since the hooking member 330 will not interfere with the material box 20 in the rotating process, when the hooking mechanism 300 is stretched to below the material box 20, the hooking structure can be as close to the bottom wall of the material box 20 as possible, so as to avoid that the hooking mechanism 300 and the telescopic mechanism 200 occupy too much space below the target material box 20, which is beneficial to reduce the layer height of the shelf storage location and improve the storage density.

[0119] In the embodiment of the present application, the first driving unit 320 can drive the hooking member 330 in a direct driving or indirect driving manner, which will be described in detail below.

[0120] FIG. 7 is a schematic diagram of a first driving structure of the hooking mechanism in the taking and placing device provided by the embodiment of the present application.

[0121] Please refer to FIG. 7, and combine FIG. 1, FIG. 2 and FIG. 4, in a possible implementation manner, the first driving unit 320 has an output shaft 321, and the hooking member 330 is connected with the output shaft 321, so that the hooking member 330 can be directly driven by the first driving unit 320, the structure of the hooking mechanism 300 is simplified, and the product cost is reduced.

[0122] For example, the first driving unit 320 can be a motor or an electromagnet. The first driving unit 320 and the hooking member 330 can be respectively arranged on opposite sides of the mounting seat 310. The hooking member 330 can be directly connected with the output shaft 321, or the hooking member 330 can be connected with the output shaft 321 through a rotating shaft and a shaft coupling, which is not limited in the embodiment of the present application.

[0123] In some embodiments, the hooking member 330 is at least two, and the first driving unit 320 is at least two; the hooking member 330 and the first driving unit 320 are arranged one by one. When taking and placing the material box 20, at least two hooking members 330 can be butt jointed with the material box 20 at the same time, so as to improve the stability of the material box 20 in the moving process.

[0124] For example, the first driving unit 320 can be two, and the hooking member 330 can be two, the two first driving units 320 and the two hooking members 330 are respectively connected in correspondence, and the rotating directions of the two hooking members 330 driven by the two first driving units 320 are opposite. In this way, when the two hooking members 330 are retracted relative to the mounting seat 310, the two hooking members 330 can be accommodated inside the mounting seat 310, so as to avoid that the hooking member 330 occupies the space outside the end of the mounting seat 310.

[0125] FIG. 8 is a schematic diagram of a second driving structure of the hook hand mechanism in the goods taking and placing device according to an embodiment of the present application, FIG. 9 is a front view of the second driving structure of the hook hand mechanism in the goods taking and placing device according to an embodiment of the present application, and FIG. 10 is a schematic diagram of a structure of the connecting rod in the goods taking and placing device according to an embodiment of the present application.

[0126] Please refer to FIGS. 8-10, and combine with FIGS. 1-6. In a possible implementation, the hook hand mechanism 300 can further include a connecting rod 340. The hook hand 330 is rotatably connected with the mounting seat 310 through a rotating shaft, the first end of the connecting rod 340 is connected with the first driving unit 320, and the second end of the connecting rod 340 is connected with the hook hand 330. The second end of the connecting rod 340 has a spacing with the rotating center of the hook hand 330. When the first driving unit 320 drives the connecting rod 340, the hook hand 330 can be driven to rotate through the activity of the connecting rod 340, and the consistency of the rotation of the two hook hands 330 can be maintained.

[0127] For example, the first end of the connecting rod 340 is rotatably connected with the first driving unit 320, for example, one of the connecting rod 340 and the first driving unit 320 is provided with a rotating shaft, and the other is provided with a rotating shaft hole, and the rotating shaft is inserted into the rotating shaft hole. In order to improve the rotation smoothness, a bearing can be arranged between the rotating shaft and the rotating shaft hole. The second end of the connecting rod 340 is rotatably connected with the hook hand 330, and the connecting rod 340 and the hook hand 330 can also adopt the connection mode of the rotating shaft and the rotating shaft hole, which will not be described here.

[0128] The first driving unit 320 has an output shaft 321, the output shaft 321 is connected with a driving piece 350, and the first end of the connecting rod 340 is connected with the driving piece 350. The first end of the connecting rod 340 has a spacing with the rotating center of the output shaft 321.

[0129] It can be understood that the hook hand 330, the connecting rod 340 and the driving piece 350 can jointly form a connecting rod mechanism, so as to facilitate the design of the arrangement position of the first driving unit 320.

[0130] In some embodiments, the connecting rod 340 can include a connecting rod body 341 and a bending part 342 connected with the connecting rod body 341, the connecting rod body 341 is connected with the hook hand 330, and the bending part 342 is connected with the driving piece 350, so as to prevent the connecting rod 340 from interfering with the rotating shaft of the driving piece 350 when the driving piece 350 rotates, and increase the rotation angle range of the driving piece 350.

[0131] Exemplarily, the connecting rod body 341 can extend in a direction perpendicular to the X direction, and the bent portion 342 is bent upward or downward relative to the extending direction of the connecting rod body 341, so that the connecting rod 340 forms a spoon-shaped structure. When the driving member 350 rotates to drive the connecting rod 340 to move, and the bent portion 342 is located at the side of the output shaft 321, the bent portion 342 can avoid the output shaft 321 to avoid interference with the output shaft 321.

[0132] Exemplarily, the connecting rod body 341 and the bent portion 342 can be an integral molded member, and the material of the connecting rod 340 can be plastic or metal, etc., which is not limited in the embodiment of the application.

[0133] In some embodiments, the hook member 330 can be two, and the connecting rod 340 can be two, the two hook members 330 are located at the two ends of the mounting seat 310, and the driving member 350 is located between the two hook members 330. The connection positions of the two connecting rods 340 and the driving member 350 are located on the opposite sides of the output shaft 321, so that the linkage of the two hook members 330 can be realized by a single driving unit, the cost is reduced, and the rotation of the two hook members 330 can be kept consistent.

[0134] Exemplarily, the rotation connection points of the two connecting rods 340 and the driving member 350 can be arranged in line with the center of the output shaft 321, so as to improve the balance of the force when the driving member 350 drives the two connecting rods 340.

[0135] It should be noted that when the two connecting rods 340 are installed on the hooking mechanism 300, the bending directions of the bent portions 342 of the two connecting rods 340 can be opposite, so that when the two hook members 330 are folded relative to the mounting seat 310, the bent portions 342 of the two connecting rods 340 can avoid the output shaft 321 upward and downward, respectively.

[0136] The specific structure of the telescopic mechanism 200 and the movement mode of the hooking mechanism 300 and the telescopic mechanism 200 will be described in detail below.

[0137] FIG. 11 is a structural schematic view of a telescopic mechanism in a taking and placing device provided by the embodiment of the application, FIG. 12 is a front view of the taking and placing device provided by the embodiment of the application, FIG. 13 is a first transmission schematic view of the telescopic mechanism in the taking and placing device provided by the embodiment of the application, FIG. 14 is a second transmission schematic view of the telescopic mechanism in the taking and placing device provided by the embodiment of the application, FIG. 15 is a partial view of position A in FIG. 12, and FIG. 16 is a connection schematic view of a transmission member and a mounting seat in the taking and placing device provided by the embodiment of the application.

[0138] Please refer to FIG. 11 to FIG. 16, and combine with FIG. 1 and FIG. 2, in a possible implementation, the taking and placing device 10 can further include a second driving unit 400 and a driving wheel 410. The telescopic mechanism 200 can include a telescopic piece 210, a transmission piece 220 and at least two transmission wheels 230. The at least two transmission wheels 230 are respectively arranged at two ends of the telescopic piece 210 along a first direction (X direction), and the transmission piece 220 is arranged around the transmission wheels 230. The hooking mechanism 300 is connected with the transmission piece 220.

[0139] The second driving unit 400 is arranged on the device main body 100, and the second driving unit 400 is configured to drive the driving wheel 410 to rotate. The driving wheel 410 cooperates with the transmission piece 220 and drives the transmission piece 220 to transmit around the transmission wheel 230. The transmission piece 220 can drive the hooking mechanism 300 to move relative to the telescopic piece 210 during transmission.

[0140] It can be understood that when the hooking mechanism 300 moves between the two ends of the telescopic piece 210, the transmission piece 220 transmits around the transmission wheel 230. At this time, the position of the telescopic piece 210 relative to the device main body 100 can remain fixed. When the hooking mechanism 300 moves to the two ends of the telescopic piece 210, the positions of the hooking mechanism 300 and the telescopic piece 210 remain fixed with the continuous rotation of the driving wheel 410. At this time, the transmission piece 220 no longer transmits around the transmission wheel 230, and the telescopic mechanism 200 as a whole telescopes relative to the device main body 100. In this way, the second driving unit 400 can realize the bidirectional telescoping taking and placing of the telescopic mechanism 200.

[0141] Therefore, the taking and placing device 10 provided by the embodiment of the present application can drive the hooking mechanism 300 to move relative to the telescopic piece 210 through the cooperation of the driving wheel 410 and the transmission piece 220, so that the hooking mechanism 300 can take and place the material box 20. Meanwhile, the telescopic mechanism 200 can be driven by the hooking mechanism 300 to telescope relative to the device main body 100 in two directions, so that the taking and placing device 10 can complete the taking operation in the front and back directions without rotating, thereby reducing the occupied space of the taking and placing device 10, reducing the shelf spacing in the warehouse logistics system, and improving the warehouse density.

[0142] The telescoping movement direction of the telescopic mechanism 200 relative to the device main body 100 is defined as the X direction, i.e., the first direction is the X direction, and the movement direction of the hooking mechanism 300 relative to the telescopic mechanism 200 is also the X direction. The width direction of the taking and placing device 10 is defined as the Y direction, and the mounting seat 310 of the hooking mechanism 300 can extend along the Y direction. The Y direction is perpendicular to the X direction.

[0143] The specific cooperation structure of the hooking mechanism 300 and the telescopic mechanism 200 will be described in detail below.

[0144] In some embodiments, the transmission member 220 forms a closed ring around the at least two transmission wheels 230. The driving wheel 410 is located on the inner side of the transmission member 220 and is engaged with the transmission member 220, so as to improve the compactness of the upper part layout of the device body 100 and reduce the space occupation.

[0145] For example, the second driving unit 400 is a motor. The transmission member 220 can be a flexible transmission member, which can be a belt, a chain or the like. The transmission wheel 230 can be a belt wheel, a chain wheel or the like, and the embodiments of the present application do not make specific limitations thereon. Taking the chain and the chain wheel as an example, the mounting seat 310 of the hooking mechanism 300 can be connected with the chain through the connecting member 360, wherein the connecting member 360 can be riveted with the chain through screws or the like fasteners, so as to ensure the reliability of the connection between the mounting seat 310 and the transmission member 220.

[0146] In some embodiments, the telescopic member 210 is slidingly connected with the device body 100. The telescopic member 210 is provided with abutting members 240 at both ends in the first direction. When the hooking mechanism 300 moves to any one of the two ends of the telescopic member 210 and abuts against the abutting member 240, the driving wheel 410 drives the telescopic mechanism 200 to move relative to the device body 100, so that when the hooking mechanism 300 moves to the two ends of the telescopic mechanism 200, the positions of the hooking mechanism 300 and the telescopic mechanism 200 are relatively fixed and jointly extended.

[0147] It can be understood that, through the transmission of the transmission member 220, the relative movement between the telescopic mechanism 200 and the device body 100 and the relative movement between the hooking mechanism 300 and the telescopic mechanism 200 can be realized by using a single driving source, i.e., only by using the second driving unit 400 for driving, so as to improve the compactness and transmission efficiency of the overall structure of the picking and placing device 10.

[0148] In some embodiments, the side of the abutting member 240 facing the hooking mechanism 300 can be provided with a buffer pad. The buffer pad has elasticity, so as to slow down the impact force and avoid the transmission of the impact force to the telescopic mechanism 200, thereby improving the stability of the picking and placing process.

[0149] For example, the material of the buffer pad can include but is not limited to rubber, silicone, sponge and the like, and the embodiments of the present application do not make specific limitations thereon.

[0150] The specific arrangement position and transmission mode of the transmission wheel 230 will be described below.

[0151] In some embodiments, the transmission wheel 230 matched with one transmission member 220 can be two, and the two transmission wheels 230 are respectively rotatably connected at both ends of the telescopic member 210 in the X direction, and the transmission member 220 is arranged around the two transmission wheels 230.

[0152] In some other embodiments, there are six transmission wheels 230, and three transmission wheels 230 are arranged on each of the two ends of the telescopic member 210 along the X direction. Among the three transmission wheels 230 on one end of the telescopic member 210, two transmission wheels 230 are inner transmission wheels 230 abutting against the inner side of the transmission member 220, and one transmission wheel 230 is an outer transmission wheel 230 abutting against the outer side of the transmission member 220. The outer transmission wheel 230 is located between the two inner transmission wheels 230.

[0153] It should be noted that other numbers of transmission wheels 230 can also be arranged in the embodiments of the present application, as long as the transmission member 220 forms a closed ring shape and drives the hooking mechanism 300 to move when the transmission member 220 rotates around the transmission wheels 230. The specific number of transmission wheels 230 is not limited in the embodiments of the present application.

[0154] In a possible implementation, the device body 100 can be provided with a first guide rail 110, and the telescopic member 210 is connected with a first sliding block 250, which is in sliding connection with the first guide rail 110, so as to improve the smoothness of the movement of the telescopic member 210 relative to the device body 100. The first guide rail 110 extends along the X direction.

[0155] For example, there can be two first guide rails 110, which are parallel and arranged on opposite sides of the device body 100. The opposite sides of the bottom of the telescopic member 210 can be respectively provided with first sliding blocks 250, and there is at least one first sliding block 250 on each side to be in sliding cooperation with the first guide rail 110.

[0156] In a possible implementation, the telescopic member 210 can be provided with a second guide rail 260, and the mounting seat 310 is connected with a second sliding block 370, which is in sliding connection with the second guide rail 260, so as to improve the smoothness of the movement of the hooking mechanism 300 relative to the telescopic mechanism 200. The second guide rail 260 extends along the X direction.

[0157] For example, there can be two second guide rails 260, which are parallel and arranged on opposite sides of the upper surface of the telescopic member 210. The opposite sides of the bottom of the hooking mechanism 300 can be respectively provided with second sliding blocks 370, and there is at least one second sliding block 370 on each side to be in sliding cooperation with the second guide rail 260.

[0158] FIG. 17 is a bottom view of the picking and placing device provided in the embodiments of the present application, and FIG. 18 is a schematic view of the device body of the picking and placing device provided in the embodiments of the present application.

[0159] Please refer to FIG. 12 to FIG. 18, in a possible implementation, the taking and placing device 10 can further include elastic members 510 and at least two hanging shafts 500, the device body 100 is respectively provided with first hanging parts 120 at two ends in the first direction, and the at least two hanging shafts 500 are respectively opposite to the first hanging parts 120 at the two ends of the device body 100. The at least two hanging shafts 500 are located at the two ends of the device body 100, and the hanging shaft 500 is in abutment with the first hanging part 120 at the same end. The two ends of the elastic member 510 are respectively connected with the hanging shafts 500 at the two ends of the device body 100. The hanging shaft 500 can be arranged at the end of the telescopic member 210.

[0160] It can be understood that when the hooking mechanism 300 moves between the two ends of the telescopic mechanism 200, the position of the telescopic mechanism 200 can be limited by the hanging shaft 500, so as to avoid the telescopic mechanism 200 from being offset relative to the device body 100.

[0161] For example, the elastic member 510 is a spring.

[0162] In some embodiments, the telescopic member 210 is respectively provided with second hanging parts 211 at two ends in the first direction, and the at least two hanging shafts 500 are respectively located at the two ends of the telescopic member 210.

[0163] In an implementation, the elastic member 510 can be a tension spring, when the telescopic member 210 is extended relative to the device body 100, the hanging shaft 500 located at the end of the telescopic member 210 away from the extension is in abutment with the second hanging part 211, and the hanging shaft 500 located at the end of the telescopic member 210 close to the extension is in abutment with the first hanging part 120, and the elastic member 510 is stretched. Therefore, when the hooking mechanism 300 moves to the end of the telescopic mechanism 200 and synchronously extends with the telescopic mechanism 200, the abutment state of the hooking mechanism 300 and the telescopic mechanism 200 can be maintained, and the relative position of the two is stable.

[0164] In another implementation, the elastic member 510 can be a compression spring, when the telescopic member 210 is extended relative to the device body 100, the hanging shaft 500 located at the end of the telescopic member 210 away from the extension is in abutment with the second hanging part 211, and the hanging shaft 500 located at the end of the telescopic member 210 close to the extension is in abutment with the first hanging part 120, and the elastic member 510 is compressed, so as to maintain the abutment state of the hooking mechanism 300 and the telescopic mechanism 200, and keep the relative position of the two stable.

[0165] Exemplarily, the first hanging part 120 and the second hanging part 211 can each be provided with a hanging groove. The hanging shaft 500 can be arranged along the Y direction. The hanging grooves of the first hanging part 120 and the second hanging part 211 are towards the same side. When the elastic member 510 can be a tension spring, the hanging grooves of the first hanging part 120 and the second hanging part 211 are towards the outside of the end of the device main body 100, that is, the hanging shaft 500 is arranged on the side of the corresponding first hanging part 120 and the second hanging part 211 which is towards the outside of the device main body 100. When the elastic member 510 can be a compression spring, the hanging grooves of the first hanging part 120 and the second hanging part 211 are towards the inside of the end of the device main body 100, that is, the hanging shaft 500 is arranged on the side of the corresponding first hanging part 120 and the second hanging part 211 which is towards the inside of the device main body 100.

[0166] In a possible implementation, the hooking mechanism 300 can further include a detection unit 380 connected with the mounting seat 310. The detection unit 380 is configured to detect the relative position of the hooking mechanism 300 and the material box 20, so as to ensure the accuracy of the docking position of the hooking member 330 and the material box 20.

[0167] Exemplarily, the detection unit 380 can be an optical sensor. The detection unit 380 can detect the distance between the hooking mechanism 300 and the bottom surface of the material box 20. When the hooking mechanism 300 is opposite to the docking groove 21 of the material box 20, the distance detected by the detection unit 380 is the distance between the hooking mechanism 300 and the bottom of the docking groove 21 or the signal detected by the detection unit 380 changes suddenly, and the specific detection manner is not limited herein, so as to determine that the hooking mechanism 300 has moved to the preset position opposite to the docking groove 21.

[0168] It should be noted that the device main body 100 can be provided with a bearing surface 101. The bearing surface 101 can be connected to the opposite sides of the device main body 100, and the height of the bearing surface 101 is higher than the position of the telescopic mechanism 200.

[0169] In addition, the device main body 100 can further be provided with a first detection module and a second detection module. The first detection module can detect the position of the material box 20 relative to the device main body 100, so as to determine whether the material box 20 has been completely taken out or placed on the bearing surface 101 of the device main body 100, or whether the material box 20 has been completely removed from the device main body 100. The second detection module is used to detect the height position of the goods taking and placing device 10 relative to the goods shelf, so as to ensure that the goods taking and placing device 10 is opposite to the target storage location where the material box 20 needs to be taken out or placed. The first detection module and the second detection module can each be an optical sensor, and the embodiments of the present application do not make specific limitation thereon.

[0170] FIG. 19 is a schematic view of the robot 1 provided in the embodiments of the present application.

[0171] Please refer to FIG. 19, the embodiment of the present application provides a robot 1, which comprises a robot body 30 and the above-mentioned technical solutions of the goods taking and placing device 10. The goods taking and placing device 10 is arranged on the robot body 30, and the goods taking and placing device 10 can move up and down along the height direction of the robot body 30.

[0172] The robot 1 is applied to a warehouse system, can move between shelves of the warehouse system and / or climb up and down along the shelves, and take or place the material box 20 on the shelves, thereby playing a role of taking and placing and transferring the material box 20.

[0173] In some embodiments, the goods taking and placing device 10 can be lifted relative to the robot body 30, and the robot body 30 can move on the ground and / or climb up and down along the shelves, so that the goods taking and placing device 10 can be opposite to different storage locations of the shelves to take the target material box 20. After the goods taking and placing device 10 is docked with the corresponding storage location of the shelves, the goods taking and placing device 10 can take or place the material box 20.

[0174] It should be noted that the robot 1 provided by the embodiment of the present application can include all the technical solutions and technical effects of the above-mentioned goods taking and placing device 10, which will not be described here.

[0175] FIG. 20 is a schematic diagram of a taking process of the goods taking and placing device provided by the embodiment of the present application, and FIG. 21 is a flowchart of a taking method provided by the embodiment of the present application.

[0176] Please refer to FIG. 20 and FIG. 21, the present application provides a taking method applied to a robot 1, wherein the robot 1 comprises a goods taking and placing device 10, a receiver, a processor, and a memory. The goods taking and placing device 10 comprises a device body 100, an extension mechanism 200, and a hooking mechanism 300. The hooking mechanism 300 is movably connected with the extension mechanism 200. The hooking mechanism 300 comprises a mounting seat 310, a first driving unit 320, and a hooking piece 330. The device body 100 comprises a bearing surface 101 for bearing the material box 20. When the hooking piece 330 is docked with the docking groove 21 of the material box 20, the height of the hooking piece 330 is higher than the bearing surface 101. When the hooking piece 330 is separated from the docking groove 21 of the material box 20, the height of the hooking piece 330 is lower than the bearing surface 101. The memory stores computer executable program codes for executing various tasks. After the receiver receives the instruction sent by the server, the processor executes the program codes to control the robot 1 and various execution mechanisms (such as the goods taking and placing device 10) to perform corresponding actions.

[0177] In one embodiment, the method for picking up goods comprises:

[0178] S101, receiving a picking instruction, driving the hooking mechanism 300 to move to the first end of the telescopic mechanism 200, so that the hooking mechanism 300 pushes the telescopic mechanism 200 to extend to the lower side of the target material box 20.

[0179] It should be noted that the sequence of the robot 1 driving to the target picking position and driving the hooking mechanism 300 to move to the first end of the telescopic mechanism 200 is not limited, which can be executed in sequence or simultaneously. For example, the hooking mechanism 300 can be driven to move to the first end of the telescopic mechanism 200 during driving to the target picking position, or the hooking mechanism 300 can be driven to move to the first end of the telescopic mechanism 200 after reaching the target picking position, or the hooking mechanism 300 can be driven to move to the first end of the telescopic mechanism 200 while reaching the target picking position. The first end of the telescopic mechanism 200 is the end close to the target picking position, and the second end of the telescopic mechanism 200 is the end away from the target picking position.

[0180] Specifically, the hooking mechanism 300 moves relative to the telescopic mechanism 200 first, and the position of the telescopic mechanism 200 remains fixed during the movement of the hooking mechanism 300 to the first end of the telescopic mechanism 200. After the hooking mechanism 300 moves to the first end of the telescopic mechanism 200, the hooking mechanism 300 abuts against the end of the telescopic mechanism 200, and the relative positions of the hooking mechanism 300 and the telescopic mechanism 200 remain unchanged, and the two jointly extend relative to the device body 100.

[0181] S102, determining that the hooking mechanism 300 is opposite to the butt joint groove 21 of the target material box 20, and driving the hooking member 330 to butt joint with the butt joint groove 21.

[0182] It can be understood that, in one embodiment, the bottom of the target material box 20 has a butt joint groove 21, and the slot of the butt joint groove 21 faces downward. When the hooking mechanism 300 is opposite to the butt joint groove 21, the hooking member 330 is located below the butt joint groove 21. It should be noted that only the butt joint groove 21 with the slot facing downward is taken as an example for description, and the slot of the butt joint groove 21 can also face upward, which will not be described herein.

[0183] The hooking mechanism 300 can further comprise a detection unit 380.

[0184] The determination that the hooking mechanism 300 is opposite to the butt joint groove 21 of the target material box 20 specifically comprises:

[0185] S1021, when the detection unit 380 detects the butt joint groove 21, it is determined that the hooking mechanism 300 is opposite to the butt joint groove 21.

[0186] It should be noted that the detection unit 380 can be an optical sensor. The detection unit 380 can detect the distance between the hooking mechanism 300 and the bottom surface of the material box 20. When the hooking mechanism 300 is opposite to the docking groove 21 of the material box 20, the distance detected by the detection unit 380 is the distance between the hooking mechanism 300 and the bottom of the docking groove 21 or the signal detected by the detection unit 380 changes suddenly. The specific detection method is not limited here, so as to determine that the hooking mechanism 300 has moved to the preset position opposite to the docking groove 21. At this time, the hooking member 330 can be driven to rotate, so that the hooking member 330 is docked with the docking groove 21.

[0187] S103, reversely driving the hooking mechanism 300 to drive the target material box 20 to the taking and placing device 10.

[0188] In the process of driving the hooking mechanism 300 to drive the material box 20 to the taking and placing device 10, the hooking mechanism 300 and the telescopic mechanism 200 are first driven to retract synchronously, and the target material box 20 is partially driven to the taking and placing device 10. In this process, the telescopic mechanism 200 moves from the extended state to the initial state.

[0189] Then, the hooking mechanism 300 is driven to move from the first end of the telescopic mechanism 200 to the second end of the telescopic mechanism 200, so as to drive the target material box 20 to the taking and placing device 10. In this process, the position of the telescopic mechanism 200 remains fixed relative to the device main body 100, and the hooking mechanism 300 moves relative to the telescopic mechanism 200.

[0190] FIG. 22 is a flowchart of a placing method provided by an embodiment of the present application.

[0191] Please refer to FIG. 22. The present application provides a placing method applied to a robot 1. The robot 1 includes a taking and placing device 10, the taking and placing device 10 includes a device main body 100, a telescopic mechanism 200 and a hooking mechanism 300, the hooking mechanism 300 is movably connected with the telescopic mechanism 200; the hooking mechanism 300 includes a mounting seat 310, a first driving unit 320 and a hooking member 330. The device main body 100 includes a bearing surface 101, the bearing surface 101 is used for bearing a material box 20, when the hooking member 330 is docked with a docking groove 21 of the material box 20, the height of the hooking member 330 is higher than the bearing surface 101, and when the hooking member 330 is separated from the docking groove 21 of the material box 20, the height of the hooking member 330 is lower than the bearing surface 101. In addition, the robot 1 further includes a receiver, a processor and a memory. For details, please refer to the description of the above-mentioned embodiments corresponding to FIG. 21.

[0192] The placing method includes:

[0193] S201, receiving a storage instruction, controlling the robot 1 to carry the target material box 20 to a target storage position, the hooking mechanism 300 is in butt joint with the bottom butt joint groove of the second end of the target material box 20, the hooking mechanism 300 is driven towards the target storage position, the hooking mechanism 300 moves from the second end of the telescopic mechanism 200 to the first end of the telescopic mechanism 200, and the telescopic mechanism 200 is synchronously extended to drive the target material box 20 to the target storage position.

[0194] Wherein, the first end of the telescopic mechanism 200 is the end close to the target storage position, the second end of the telescopic mechanism 200 is the end away from the target storage position, the first end of the target material box 20 is the end close to the target storage position, and the second end of the target material box 20 is the end away from the target storage position.

[0195] It should be noted that when the robot 1 takes a target material box 20 from the shelf, the target material box 20 can enter the storage and taking device 10 from one end of the telescopic mechanism 200, and when the target material box is placed on the shelf, it can enter the shelf from the same end or another end of the telescopic mechanism 200, which is not limited in the present application.

[0196] Wherein, when the hooking mechanism 300 starts to drive the target material box 20 to move, that is, when the target material box 20 is placed in the target storage position, the hooking mechanism 300 first moves from one end of the telescopic mechanism 200 to the other end, and in this process, the position of the telescopic mechanism 200 remains fixed, and the target material box 20 partially leaves the storage and taking device 10. Then, the hooking mechanism 300 and the telescopic mechanism 200 are extended together, the hooking mechanism 300 drives the material box 20 to completely leave the storage and taking device 10, and the material box 20 is placed in the storage position of the shelf.

[0197] In one embodiment, the robot is controlled to carry the target material box 20 to the target storage position, and the hooking mechanism 300 is in butt joint with the bottom butt joint groove 21 of one end of the target material box 20, specifically comprising:

[0198] S2011, controlling the robot 1 to move to the target storage position, if the storage direction of the target material box 20 is different from the taking direction on the different side of the storage and taking device 10, moving the hooking mechanism 300 to the second end of the telescopic mechanism 200, and driving the hooking member 330 to move to butt joint with the bottom butt joint groove 21 of the second end of the target material box 20.

[0199] It can be understood that before the hooking mechanism 300 is driven towards the target storage position, if a same-side storage instruction is received, that is, the storage direction of the target material box 20 is the same side as the taking direction of the target material box 20 of the taking and storing device 10, the target material box 20 is taken and stored on the same side, the hooking member 330 can be directly rotated to be connected with the connecting groove 21 of the target material box 20 or to keep the connection between the hooking member 330 and the connecting groove 21 of the target material box 20 when the robot 1 takes the target material box 20. If a different-side storage instruction is received, that is, the storage direction of the target material box 20 is different from the taking direction of the target material box 20 of the taking and storing device 10, the target material box 20 is taken and stored on the different side, the hooking mechanism 300 can be first moved to the second end of the telescopic mechanism 200, and then the hooking member 330 is rotated to be connected with the connecting groove 21 of the target material box 20.

[0200] It should be noted that the two actions of controlling the robot 1 to move and adjusting the position of the hooking mechanism 330 can be performed in any order, or can be performed synchronously, and the embodiments of the present application do not make specific limitations on this.

[0201] S202, the hooking member 330 is driven to move to be separated from the connecting groove 21 of the target material box 20; the hooking mechanism 300 is reversely driven, so that the hooking mechanism 300 and the telescopic mechanism 200 are retracted into the taking and storing device 10.

[0202] When the target material box 20 is completely placed into the storage location of the shelf, the hooking member 330 can be separated from the connecting groove 21, and the hooking mechanism 300 and the telescopic mechanism 200 can be retracted. During the retraction of the telescopic mechanism 200, the hooking mechanism 300 and the telescopic mechanism 200 can move synchronously until the telescopic mechanism 200 returns to the initial position.

[0203] In addition, the above storage method and taking method can be implemented in sequence, for example, the taking method is used to take a material box 20 on the shelf first, and then the storage method is used to place the material box 20 on the shelf, or the storage method is used to place a material box 20 on the shelf first, and then the taking method is used to take a material box 20 on the shelf.

[0204] For example, the storage system includes two shelves arranged oppositely, the robot 1 takes and stores goods in the aisle between the two shelves, the first storage location and the second storage location are two storage locations arranged oppositely on the two shelves, the robot 1 uses the taking method to take a material box 20 on the first storage location, and then continues to use the storage method to place the material box 20 on the second storage location without rotating or lifting. In this way, the position of the material box 20 can be adjusted conveniently, the action is simple, and the process is rapid.

[0205] It should be noted that the taking and placing device 10 mentioned in the above taking and placing methods can be any one or combination of the taking and placing device 10 provided in the embodiments of the present application, as long as the taking and placing device 10 includes the necessary structure for implementing the above taking and / or placing methods.

[0206] The embodiments of the present application provide a warehousing system, which includes a shelf and a robot 1. The robot 1 can take and place material boxes on the shelf. The robot 1 is used to execute the above taking method or the above placing method.

[0207] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A goods taking and placing device, characterized in that, The application discloses a material box taking and placing device, which comprises a device body, a telescopic mechanism and a hooking mechanism. The device body comprises a bearing surface for bearing the material box.

2. The goods-to-person device of claim 1, wherein, The bottom of the material box is provided with an interface groove at least at one end.

3. The goods-to-person device of claim 2, wherein, The hooking mechanism is rotatably connected with the mounting seat, and is at least partially inserted into the interface groove when the hooking mechanism is connected with the material box.

4. The goods handling device according to any one of claims 1-3, characterized in that, The rotating plane of the hooking mechanism is parallel to the extension direction of the interface groove.

5. The goods placing and taking apparatus according to any one of claims 1 to 3, characterized in that, The first driving unit is provided with an output shaft, and the hooking mechanism is connected with the output shaft.

6. The goods handling device according to any one of claims 1-3, characterized in that, The hooking mechanism comprises at least two hooking mechanisms, and the first driving unit comprises at least two first driving units.

7. The goods-to-person device of claim 6, wherein, The hooking mechanism further comprises a connecting rod.

8. The goods-to-person device of claim 7, wherein, The first end of the connecting rod is connected with the driving unit, and the first end of the connecting rod is spaced apart from the rotating center of the output shaft.

9. The goods-to-person device of claim 7, wherein, The connecting rod comprises a connecting rod body and a bending part connected with the connecting rod body.

10. The goods handling installation according to any one of claims 1-3, characterized in that The hooking mechanism comprises two hooking mechanisms, the connecting rod comprises two connecting rods, the two hooking mechanisms are located at two ends of the mounting seat, and the driving unit is located between the two hooking mechanisms. The two connecting rods are connected with the driving unit at positions located on opposite sides of the output shaft.

11. The goods-to-person device of claim 10, wherein, The taking and placing device further comprises a second driving unit and a driving wheel. The second driving unit is arranged on the device body, and is configured to drive the driving wheel to rotate. The driving wheel is located on the inner side of the transmission member and is engaged with the transmission member. The transmission member forms a closed ring shape around the at least two transmission wheels. The driving wheel is located on the inner side of the transmission member and is engaged with the transmission member.

12. The goods-to-person device of claim 10, wherein, The telescopic part is in sliding connection with the device body; the telescopic part is provided with abutting parts at both ends in the first direction; when the hooking mechanism moves to either end of the telescopic part in the first direction and abuts against the abutting part, the driving wheel drives the telescopic mechanism to move relative to the device body.

13. The goods-to-person device of claim 10, wherein, The device body is provided with a first guide rail, and the telescopic part is connected with a first sliding block in sliding connection with the first guide rail; and / or, The telescopic part is provided with a second guide rail, and the mounting seat is connected with a second sliding block in sliding connection with the second guide rail.

14. The goods-to-person device of claim 10, wherein, The device further comprises elastic members and at least two hanging shafts, the device body is provided with first hanging parts at both ends in the first direction, and the at least two hanging shafts are located at both ends of the device body; the hanging shafts abut against the first hanging parts at the same end; the elastic members are connected with the hanging shafts at both ends of the device body; and the hanging shafts are arranged at the ends of the telescopic part.

15. The goods-to-person device of claim 14, wherein, The elastic members are tension springs, the telescopic part is provided with second hanging parts at both ends in the first direction, and the at least two hanging shafts are located at both ends of the telescopic part; when the telescopic part is extended relative to the device body, the hanging shaft at the end of the telescopic part away from the extended end abuts against the second hanging part, and the hanging shaft at the end of the telescopic part close to the extended end abuts against the first hanging part.

16. The goods-to-person device of claim 14, wherein, The elastic members are compression springs, the telescopic part is provided with second hanging parts at both ends in the first direction, and the at least two hanging shafts are located at both ends of the telescopic part; when the telescopic part is extended relative to the device body, the hanging shaft at the end of the telescopic part close to the extended end abuts against the second hanging part, and the hanging shaft at the end of the telescopic part away from the extended end abuts against the first hanging part.

17. The goods-to-person system of any of claims 1-3, wherein, The hooking mechanism further comprises a detection unit connected with the mounting seat; the detection unit is configured to detect the relative position of the hooking mechanism and the material box.

18. A robot, characterized in that The robot comprises a robot body and a taking and placing device as claimed in any one of claims 1-17, the taking and placing device is arranged on the robot body, and the taking and placing device can move up and down along the height direction of the robot body.

19. A method for picking up a load applied to a robot, characterized by The robot comprises a taking and placing device, the taking and placing device comprises a device body, a telescopic mechanism and a hooking mechanism, the hooking mechanism is in moving connection with the telescopic mechanism; the hooking mechanism comprises a mounting seat, a first driving unit and a hooking member, the first driving unit is arranged on the mounting seat, the hooking member is in movable connection with the mounting seat, and the first driving unit is configured to drive the hooking member to move relative to the mounting seat; the device body comprises a bearing surface for bearing a material box, the height of the hooking member is higher than the bearing surface when the hooking member abuts against the abutting groove of the material box, and the height of the hooking member is lower than the bearing surface when the hooking member is separated from the abutting groove of the material box; The method comprises: receiving a picking instruction, driving the hooking mechanism to move to the first end of the telescopic mechanism, so that the hooking mechanism pushes the telescopic mechanism to extend to below a target material box; determining that the hooking mechanism is opposite to a docking groove of the target material box, and driving the hooking mechanism to move to dock with the docking groove; wherein the docking groove is located on the bottom side of the end of the target material box; driving the hooking mechanism in reverse to carry the target material box to the picking and placing device.

20. The method of claim 19, wherein, The hooking mechanism further comprises a detection unit. The determination that the hooking mechanism is opposite to the docking groove of the target material box comprises: When the detection unit detects the docking groove, it is determined that the hooking mechanism is opposite to the docking groove.

21. The method of claim 19, wherein, The driving of the hooking mechanism in reverse to carry the target material box to the picking and placing device comprises: driving the hooking mechanism and the telescopic mechanism to retract synchronously, carrying part of the target material box to the picking and placing device; driving the hooking mechanism to move from the first end of the telescopic mechanism to the second end of the telescopic mechanism, carrying all of the target material box to the picking and placing device.

22. A method for stocking goods applied to a robot, characterized by, The robot comprises a picking and placing device, the picking and placing device comprising a device main body, a telescopic mechanism and a hooking mechanism, the hooking mechanism being movably connected to the telescopic mechanism; the hooking mechanism comprises a mounting seat, a first driving unit and a hooking piece, the first driving unit being arranged on the mounting seat, the hooking piece being movably connected to the mounting seat, and the first driving unit being configured to drive the hooking piece to move relative to the mounting seat; the device main body comprises a bearing surface, the bearing surface being used to bear a material box, the height of the hooking piece being higher than the bearing surface when the hooking piece docks with a docking groove of the material box, and the height of the hooking piece being lower than the bearing surface when the hooking piece is separated from the docking groove of the material box; The method comprises: receiving a placing instruction, controlling the robot to carry a target material box to a target placing position, the hooking mechanism docking with a bottom docking groove of a second end of the target material box, driving the hooking mechanism towards the target placing position, the hooking mechanism moving from the second end of the telescopic mechanism to the first end of the telescopic mechanism, and pushing the telescopic mechanism to extend synchronously, thereby carrying the target material box to the target placing position; driving the hooking piece to move to separate from the docking groove of the target material box, and driving the hooking mechanism in reverse, so that the telescopic mechanism retracts into the picking and placing device.

23. The method of claim 22, wherein, The control of the robot to carry a target material box to a target placing position, the hooking mechanism docking with a bottom docking groove of a second end of the target material box comprises: controlling the robot to move to the target placing position, and if the placing direction of the target material box is different from the picking direction of the target material box on different sides of the picking and placing device, moving the hooking mechanism to the second end of the telescopic mechanism, and driving the hooking piece to move to dock with the bottom docking groove of the second end of the target material box.

24. A warehousing system characterized by A system comprising a rack and a robot, the robot being operable to pick and place bins on the rack, the robot being configured to perform the method of any of claims 19-21 or the method of any of claims 22-23.

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