CN117360997A

CN117360997A - Object taking device, transfer robot and object transfer method

Info

Publication number: CN117360997A
Application number: CN202311344546.4A
Authority: CN
Inventors: 牛星宇; 李晓伟; 袁李
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2023-10-17
Filing date: 2023-10-17
Publication date: 2024-01-09

Abstract

The embodiment of the application provides an object taking device, a carrying robot and an object carrying method, wherein the object taking device comprises a base; the object taking component can selectively extend out of or retract into the base; the object taking assembly is configured to carry the target object by acting on the front end surface of the target object when the target object is taken back, wherein the front end surface of the target object is one side surface of the object taking assembly facing the object taking assembly when the target object is to be taken back; a drive mechanism configured to drive the pick-up assembly relative to the base to reciprocate the pick-up assembly within the target cargo space and the base; the translation assembly is configured to drive the object taking assembly to move on the base so as to adjust the offset distance of the object taking assembly relative to the target cargo space, when the cargo box is carried, the object taking assembly does not need to be inserted into a gap between adjacent cargo boxes, so that when the cargo box is stored, the gap between the adjacent cargo boxes can be effectively reduced, and the storage density of the cargo box can be effectively improved.

Description

Object taking device, transfer robot and object transfer method

Technical Field

The application belongs to the technical field of storage logistics equipment, and particularly relates to a material taking device, a transfer robot and an article transfer method.

Background

Transfer robots are important devices in warehousing that are capable of automatically placing target items (e.g., containers) onto carriers (e.g., racks), completing a loading process (e.g., a box returning process), and also removing the target items from the carriers and then transporting them to a designated location.

The box taking structure of the existing transfer robot comprises a telescopic fork and a poking finger which is rotatably arranged at the front end of the telescopic fork. When the container is taken out and returned, the telescopic fork stretches into the side face of the container under the drive of the driving piece, the poking finger moves behind the container so as to take the container out of the goods shelf, or put the container into the goods shelf from the position between the telescopic fork.

However, the existing transfer robot requires that a certain space is required between the left side, the right side, the front side and the rear side of the container when the container is stored on a goods shelf, and a movable space for moving is reserved for the telescopic fork and the poking finger, so that the storage density of the container is reduced.

Disclosure of Invention

The embodiment of the application provides a get thing device, transfer robot and article transport method, when carrying the packing box, need not to insert in the clearance between the adjacent packing box to when the packing box is deposited, can effectively reduce the clearance between the adjacent packing box, can effectively promote the storage density of packing box.

According to a first aspect of embodiments of the present application, there is provided an object picking device comprising:

a base;

the object taking component can selectively extend out of or retract into the base; the object taking assembly is configured to carry the target object by acting on the front end surface of the target object when the target object is taken back, wherein the front end surface of the target object is one side surface of the object taking assembly facing the object taking assembly when the target object is to be taken back;

a drive mechanism configured to drive the pick-up assembly relative to the base to reciprocate the pick-up assembly within the target cargo space and the base;

and the translation assembly is configured to drive the fetching assembly to move on the base so as to adjust the offset distance of the fetching assembly relative to the target cargo space.

In some embodiments, the object retrieval device further comprises a support base;

the object taking assembly and at least part of the driving mechanism are both positioned on the supporting seat, and the translation assembly is connected with the supporting seat and is configured to drive the supporting seat to move so as to drive the object taking assembly to move relative to the base.

In some embodiments, the translation assembly comprises:

a translation driving member;

one end of the translation transmission piece is connected with the translation driving piece, and the translation transmission piece is configured to reciprocate under the driving of the translation driving piece;

The supporting seat is connected to the translation transmission piece.

In some embodiments, the translation driving member comprises a translation driving wheel, a translation driven wheel and a translation driving belt, and the translation driving member is connected with the translation driving wheel to drive the translation driving wheel to rotate;

the translation driving wheel and the translation driven wheel are arranged at intervals, two ends of the translation driving belt are sleeved on the translation driving wheel and the translation driven wheel, and the translation driving belt is configured to reciprocate under the drive of the translation driving wheel and is configured to drive the translation driven wheel to rotate;

the supporting seat is connected to the same side section of the translation driving belt.

In some embodiments, a driving block is arranged on the translation driving belt and moves synchronously with the translation driving belt;

the supporting seat is connected to the driving block.

In some embodiments, two ends of the translation transmission member respectively extend to the outside of the supporting seat.

In some embodiments, the object retrieval device further comprises a translation rail and a translation slider;

one of the translation guide rail and the translation sliding block is arranged on the base, and the other one of the translation guide rail and the translation sliding block is arranged on the supporting seat;

the translation slider is configured to slide along the translation rail when the support moves.

In some embodiments, there are at least two translation rails, and correspondingly, there are at least two translation blocks;

At least two translation guide rails are respectively positioned at two sides of the translation assembly, and each translation guide rail is provided with a corresponding translation sliding block in a sliding way.

In some embodiments, the object retrieval device further comprises:

the telescopic structure is arranged on the supporting seat, the free end of the telescopic structure can selectively extend out of or retract into the base, and the object taking assembly is arranged at the free end;

the driving mechanism is connected with the telescopic structure to drive the free end to extend out of or retract back into the base, so as to drive the fetching assembly to move relative to the base.

In some embodiments, the object retrieval device further comprises:

the movable seat is movably arranged on the supporting seat and can move relative to the supporting seat;

the telescopic structure is connected with the movable seat, and the free end of the telescopic structure is connected with the object taking assembly and can drive the object taking assembly to selectively extend out or retract back to the base;

the driving mechanism is respectively connected with the movable seat and the telescopic structure, and can selectively drive at least one of the movable seat and the telescopic structure to move when the target object is fetched and returned, so as to drive the object fetching component to extend out of or retract back to the base.

In some embodiments, the drive mechanism comprises:

the first driving structure is connected with the movable seat and is configured to drive the movable seat to move relative to the supporting seat so that the object taking assembly moves relative to the supporting seat under the drive of the movable seat;

The second driving structure is connected with the telescopic structure and is configured to drive the free end to move close to or far away from the movable seat so that the object taking assembly moves relative to the movable seat under the drive of the free end;

upon retrieval of the target item, the retrieval assembly is configured to move relative to the base under the drive of the first drive structure and/or the second drive structure to reciprocate within the base at the target cargo space.

In some embodiments, the object retrieval device is configured to perform one of the following actions when retrieving the target item:

the first driving structure drives the moving seat to move so as to drive the object taking assembly to move a first preset distance towards the target goods space, and the second driving structure drives the telescopic structure to extend out so as to drive the object taking assembly to move a second preset distance towards the target goods space, so that the object taking assembly moves to the target goods space to transfer the target object between the object taking assembly and the target goods space;

the second driving structure drives the telescopic structure to extend out so as to drive the object taking assembly to move a third preset distance towards the target goods space, and the first driving structure drives the moving seat to move so as to drive the object taking assembly to move a fourth preset distance towards the target goods space, so that the object taking assembly moves to the target goods space to transfer the target object between the object taking assembly and the target goods space;

The first driving structure and the second driving structure simultaneously drive the movable seat and the telescopic structure to move so as to drive the object taking assembly to move a working distance towards the target goods space, so that the object taking assembly moves to the target goods space to transfer the target object between the object taking assembly and the target goods space.

In some embodiments, when the target cargo space is the inner deep position of the target carrier, the second driving structure drives the telescopic structure to extend to drive the fetching assembly to move towards the target cargo space, so that the width of the telescopic structure is reduced, and the first driving structure drives the moving seat to move to drive the fetching assembly to move towards the target cargo space until the fetching assembly moves to the target cargo space, so as to transfer the target object between the fetching assembly and the target cargo space;

the width direction of the telescopic structure intersects with the telescopic direction.

In some embodiments, the object retrieval device further comprises:

the follow-up tray is movably arranged on the supporting seat so that the follow-up tray can extend out of or retract into the supporting seat;

the follow-up tray is configured to abut against the front end surface of the target carrier when the object taking assembly takes back the target object so as to fill a gap between the base and the target carrier; the follower tray is also configured to support the target item while the target item is carried on the retrieval assembly.

In some embodiments, the telescopic structure or the movable seat in the object taking device is provided with a force application member, the follow-up tray is provided with a force receiving portion, and the force application member can apply force to the force receiving portion at least in the retraction process of the object taking assembly so as to drive the follow-up tray to retract to the supporting seat.

In some embodiments, the object retrieval device further comprises:

the elastic component is provided with a third end and a fourth end which are oppositely arranged along the elastic direction, the third end of the elastic component is connected with the follow-up tray, and the fourth end of the elastic component is connected with the supporting seat;

the force application part comprises a bending part arranged at one end of the movable seat, and the force receiving part comprises an extending part arranged at one end of the follow-up tray; when the follow-up tray is at the initial position, the bending part is abutted against one surface of the extending part, which faces the front end of the follow-up tray;

the follow-up tray is configured to pop up under the elastic action of the elastic component when the movable seat moves forwards and is propped against the front end of the target carrier, and when the movable seat retreats, the bending part drives the extending part to retreat to the initial position.

In some embodiments, the object retrieval device further comprises:

the third limiting piece is arranged on the supporting seat and is positioned at the front end of the follow-up tray;

the third limiting piece comprises a first state and a second state, at least part of the third limiting piece extends out of the supporting surface of the follow-up tray in the first state, and the third limiting piece is lower than the supporting surface of the follow-up tray in the second state;

The third limiting piece is configured to be in a second state when the follow-up tray at least partially extends out of the supporting seat and is in a first state when the follow-up tray is located in the supporting seat, so that the target object on the follow-up tray is limited when the object taking device moves.

In some embodiments, the article taking assembly includes a mounting plate and a suction cup, the driving mechanism is configured to drive the mounting plate to move relative to the base, the suction cup is disposed on the mounting plate and is configured to adsorb a target article;

alternatively, the retrieval assembly includes a finger structure configured to hook the target article.

In some embodiments, the object retrieval device further comprises: a depth camera and a controller;

wherein the controller is configured to determine an offset distance from a captured image of the target cargo space by the depth camera; and controlling the translation assembly to work based on the offset distance so as to reduce the offset distance of the object taking assembly relative to the target cargo space, so that the object taking assembly moves to the designated position of the target carrier.

According to a second aspect of the embodiments of the present application, there is provided a transfer robot including:

a chassis;

the portal is arranged on the chassis;

in some embodiments, the object access device is disposed on the mast and is capable of being lifted along the mast.

In some embodiments, the transfer robot further comprises:

the temporary storage plate is arranged on the portal;

and the rotating mechanism is connected with the object taking device and is configured to drive the object taking device to rotate so that the object taking device can store the target object on the temporary storage plate or take out the target object from the temporary storage plate through the object taking device.

According to a third aspect of embodiments of the present application, there is provided an article handling method, applied to an article handling device as above, the article handling method including:

determining an offset distance of the pick-up assembly relative to the target cargo space;

the translation assembly drives the fetching assembly to move an offset distance relative to the target cargo space so as to enable the fetching assembly to move to a designated position;

the driving mechanism drives the fetching assembly to move towards the target cargo space until reaching the target cargo space;

and transferring the target object between the object taking assembly and the target goods space.

In some embodiments, determining an offset distance of the pickup assembly relative to the target cargo space includes:

and determining the offset distance according to the photographed image of the target cargo space by the depth camera.

According to the object taking device, the carrying robot and the object carrying method, the object taking assembly is configured to carry the object by acting on the front end face of the object (namely, the side face of the object taking assembly when the object is in the state of waiting to be taken) when the object is taken; like this, compare in the correlation technique, need not to insert the one end of getting the thing subassembly in the clearance between two adjacent packing boxes, that is to say, when depositing the packing box, can not keep reserving certain clearance between two adjacent packing boxes any longer, reduced the storage clearance between the adjacent packing box promptly, effectively promoted the storage density of packing box. In addition, through setting up translation subassembly, and this translation subassembly is configured to drive and get the thing subassembly and remove on the base, with the skew distance of getting the thing subassembly for the target goods position, like this, can effectively compensate and get the thing subassembly and get the accuracy that the thing subassembly got still to the target article because of the swing leads to in getting the thing or returning the thing in-process, improved the efficiency that the target article got still, compare and remove the getting device through the chassis in the correlation technique, and then remove the thing subassembly, the translation subassembly that this application embodiment was direct through in the getting device removes the thing subassembly, has improved regulation precision and efficiency, thereby improved getting box efficiency of getting device and transfer robot.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:

fig. 1 is an application scene view of a transfer robot provided in an embodiment of the present application;

fig. 2 is a schematic structural diagram of a transfer robot according to an embodiment of the present disclosure;

fig. 3 is a schematic overall structure of an object taking device according to an embodiment of the present application;

fig. 4 is a schematic view of another overall structure of the object taking device according to the embodiment of the present application;

FIG. 5 is a schematic view of yet another overall structure of the object picking apparatus according to the embodiment of the present application;

fig. 6 is a schematic structural diagram of the cooperation of the base and the translation assembly in the object taking device according to the embodiment of the present application;

FIG. 7 is a schematic view of the cooperation of the base, the translation assembly and the driving structure in the object picking device provided by the application;

fig. 8 is a schematic structural diagram of the cooperation between the base and the mobile seat in the object taking device according to the embodiment of the present application;

FIG. 9 is a schematic view of another structure of the base and the moving seat of the object picking device according to the embodiment of the present application;

Fig. 10 is a schematic structural diagram of a moving seat and a telescopic structure in the object taking device according to the embodiment of the present application;

fig. 11 is a schematic structural diagram of a telescopic structure and a supporting seat in the object taking device according to the embodiment of the present application;

fig. 12 is a schematic structural diagram of the cooperation of the moving seat, the telescopic structure and the fetching assembly in the fetching device according to the embodiment of the present application;

fig. 13 is a schematic structural view of a telescopic structure in an object fetching device according to an embodiment of the present application;

fig. 14 is a schematic view of a part of the structure of an object taking device according to an embodiment of the present application;

fig. 15 is a schematic view of a part of the structure of a follower tray in the object picking device according to the embodiment of the present application;

fig. 16 is a schematic structural view of the cooperation of the moving seat and the following tray in the object taking device according to the embodiment of the present application;

fig. 17 is a schematic structural diagram of a state in which a follower tray extends out of a supporting seat in the object taking device according to the embodiment of the present application;

fig. 18 is a schematic structural diagram showing a state in which a follower tray is retracted to a supporting seat in the object picking device according to the embodiment of the present application;

fig. 19 is a schematic structural view of the third limiting member and the following tray in the object taking device according to the embodiment of the present application;

fig. 20 is a schematic view of another structure of the third limiting member and the following tray in the object taking device according to the embodiment of the present application;

Fig. 21 is a schematic structural diagram of an article picking assembly in an article picking device according to an embodiment of the present application.

Reference numerals illustrate:

1-an object taking device; 2-chassis; 3-a portal; 4-target article; 5-a target carrier;

101-a base; 102-moving the seat; 103-an object taking component; 104-a translation assembly; 105-supporting seats; 106-translating the guide rail; 107-translating a slider; 109-telescoping structure; 10-a driving mechanism; 110-a second drive structure; 111-a first drive structure; 112-a first stop; 113-a second stop; 114-a follow-up tray; 115-a third stop; 116-guide bars; 117-a first rail; 118-a second rail; 119-a rotary drive; 120-a first sensor; 130-a second sensor; 140-an elastic component;

1021-a first slide rail; 1022-third slider; 1023-bending part; 1031-a mounting plate; 1032-sucking disc; 1033-a gas source device; 1034-a support; 1035-fourth sensors; 1041-a translational drive; 1042-translating the driving member; 1043-a drive block; 1091-a first end; 1092-a second end; 1093-cross-piece unit; 1094-hinge shaft; 1095-rotating the shaft; 1096-a second slider; 11-a drive assembly; 11 a-a drive motor; 11 b-a first pulley arrangement; 12-a transmission assembly; 1101-second drive member; 1102-a second power wheel; 1103-second transmission member; 1104-a second idler; 1105-a second drive block; 1111—a first driver; 1112-a first power wheel; 1113-a first transmission member; 1114—a first idler; 1115—a first drive block; 1121-a connecting rod; 1131-extension; 1132-a spacing cavity; 1141-an extension; 1142-a supporting surface; 1143-an interference member; 1144-a third rail; 1145-fourth slider; 1151-a first portion; 1152-a second portion; 1161—a guide surface;

10411-a drive motor; 10412-translating the drive wheel; 10421-translating the driven wheel; 10422-translating the drive belt; 10931-cross piece; 11431-a second roller; 11432-guide ramp; 11511-a first roller;

10931 a-drive rod.

Detailed Description

In order to better understand the technical solutions in the present application, the following description will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.

It should be noted that in the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, however, the present application may be practiced in other ways than as described herein, and therefore the scope of the present application is not limited by the specific embodiments disclosed below.

In the description of the present application, it should be understood that the terms "upper," "lower," "horizontal," "bottom," "inner," "outer," and the like indicate an orientation or a positional relationship based on that shown in the drawings, and are merely for convenience of description and simplification of the description, and do not indicate or imply that the apparatus or element in question must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application. In this application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium.

In the present application, unless explicitly specified and limited otherwise, the terms "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. However, it is noted that a direct connection indicates that two bodies connected together do not form a connection relationship by an excessive structure, but are connected to form a whole by a connection structure. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

The description herein as relating to "first," "second," etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance thereof or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature.

With the rapid development of electronic commerce, electronic commerce plays an increasingly important role in consumer life, and in order to facilitate the storage and transportation of goods, goods are generally stored and transported in warehouse systems.

In order to improve the handling efficiency and reduce the work intensity when handling containers or target articles on a shelf, a handling robot is generally used to pick up and return the containers or target articles from the shelf. The transfer robot is an important device in storage, and can automatically place target objects (such as containers) on a carrier (such as a goods shelf), complete a loading process (such as a box returning process), and remove the target objects from the carrier (such as a box taking process) and transport the target objects to a designated place.

Fig. 1 is an application scene view of a transfer robot provided in an embodiment of the present application, and fig. 2 is a schematic structural diagram of the transfer robot provided in an embodiment of the present application. Referring to fig. 1 and 2, specifically, the embodiment of the present application provides a transfer robot, which includes a chassis 2, a gantry 3, and an object taking device 1. Wherein, portal 3 sets up on chassis 2, and object taking device 1 sets up on portal 3.

Specifically, in the embodiment of the present application, the chassis 2 may be the same as or similar to the chassis 2 in the related art, the gantry 3 may be fixedly disposed on the chassis 2 and move under the driving of the chassis 2, where the connection manner of the gantry 3 and the chassis 2 may be the same as or similar to the manner in the related art, which is not described in detail in the embodiment of the present application.

In addition, it can be understood that in the embodiment of the application, a communication module may be disposed on the chassis 2 or the gantry 3, and the communication module may communicate with the upper computer and receive a control signal sent by the upper computer; in addition, the communication module can upload the position information of the transfer robot to the upper computer, and the upper computer controls the transfer robot to move in the warehouse system according to the transfer task, for example, to the appointed position of the target carrier 5, so as to conveniently dock with the target cargo space in the target carrier 5, and realize the process of fetching or returning objects.

The object taking device 1 is provided on the portal 3 and is movable up and down along the portal 3, for example, after the transfer robot moves to the target carrier 5, the object taking device 1 moves up and down along the portal 3, thereby reaching the height of the cargo space where the corresponding target object 4 is located.

In some examples, the transfer robot further comprises: a temporary storage plate (not shown) and a rotating mechanism (not shown).

The temporary storage plate is arranged on the door frame 3, a rotating mechanism is connected with the object taking device 1, and the rotating mechanism is configured to drive the object taking device 1 to rotate so that the object taking device 1 stores the target object 4 on the temporary storage plate or takes out the target object 4 from the temporary storage plate through the object taking device 1.

It will be appreciated that the object taking device 1 may be located on one side of the door frame 3, with the temporary storage plate being located on the other side of the door frame 3; in some examples, the temporary storage plate may be provided in plurality along the height direction of the door frame 3, or in some understandings, it may be understood that the temporary storage plate is provided in a plurality of layers along the height direction of the door frame 3. In this way, the transfer robot can transfer a plurality of target articles 4 at a time, and the transfer efficiency of the target articles 4 is improved.

In some examples, the driving structure on the door frame 3 may be connected to a lifting plate, the lifting plate is driven by the driving structure to lift, and a rotating mechanism is disposed on the lifting plate and connected to the object taking device 1, where the object taking device 1 may rotate relative to the lifting plate, so as to drive the object taking device 1 to rotate.

In the related art, an object taking device (for example, a box taking structure) of a handling robot generally includes a telescopic fork and a finger rotatably disposed at a front end of the telescopic fork, and when a box is taken back, the telescopic fork is driven by a driving member to extend into a side surface of a container so as to clamp the container. In addition, when getting the case, in stretching into goods shelves when flexible fork, and when the front end of flexible fork stretches out the packing box, the plectrum rotates to the packing box rear end face to supplementary flexible fork, receive the packing box clamp on the goods shelves and draw out.

In the process of taking and returning the containers, a certain gap (for inserting or extracting the telescopic fork) needs to be kept between two adjacent containers when the containers are placed or put on the goods shelf, and a certain interval (for extracting the fingers to extend in) needs to be kept between the front container and the rear container, so that part of the space for storing the containers is occupied, and the storage density of the containers on the goods shelf is low.

Therefore, the embodiment of the application provides an object taking device to solve the technical problems that a certain gap exists between containers in the related art, and the storage density of the containers is low.

Fig. 3 is a schematic overall structure of an object taking device provided in an embodiment of the present application, fig. 4 is a schematic overall structure of another object taking device provided in an embodiment of the present application, and fig. 5 is a schematic overall structure of another object taking device provided in an embodiment of the present application.

Referring to fig. 3 to 5, an embodiment of the present application provides an object taking device 1, including: a base 101, a drive mechanism 10, a pick up assembly 103 and a translation assembly 104.

Specifically, in the embodiment of the present application, the base 101 may be specifically made of a hard plastic (such as engineering plastic), and in some alternative examples, the base 101 may also be made of a metal or alloy material such as aluminum alloy, stainless steel, or cast iron. It can be appreciated that the specific arrangement of the base 101 may be the same as or similar to the arrangement of the base 101 in the related art, which is not described in detail in the embodiments of the present application.

The picker assembly 103 is movably disposed on the base 101 and is selectively extendable or retractable from the base 101. The drive mechanism 10 is configured to drive the retrieval assembly 103 in relation to the base 101 to extend or retract the retrieval assembly 103 from the base 101 to reciprocate within the target cargo space and the base 101 to effect retrieval of the target item 4.

It should be noted that, the fetching assembly 103 may be driven by the driving mechanism 10 to move along a first direction (shown in x direction in fig. 3), and the first direction may be parallel to the fetching direction. In some examples, the first direction and the fetching direction have a preset included angle, which may be an acute angle, so that the first direction x has a certain component in the fetching direction, as long as it is ensured that the fetching assembly 103 can finally reach the target cargo space.

The fetching direction refers to the extending direction of the connection line between the fetching component 103 and the target cargo space. The embodiment of the application specifically takes the first direction and the fetching direction as examples.

It will be appreciated that the target cargo space may be a cargo space on a target carrier, such as a pallet, or may be a temporary storage cargo space formed by a temporary storage plate. Accordingly, the picking direction may be a direction in which the picking assembly 103 moves toward the target carrier when picking up the target object, or may be a direction in which the picking assembly 103 moves toward the pallet cargo space. It will be appreciated that the direction of movement of the picking assembly 103 towards the cargo space of the target carrier 5 may be perpendicular to the direction of movement of the picking assembly 103 towards the pallet cargo space.

In addition, the pickup assembly 103 is configured to act on the front end surface of the target article 4 to carry the target article 4 when the target article 4 is picked up; the front end surface of the target article 4 is the end surface of the target article facing the article taking assembly 103 when the target article is to be taken back.

In this embodiment of the present application, the front end surface of the target article 4 may refer to a side surface of the target article 4 facing the article taking assembly 103 when the target article is to be taken back; alternatively, in some application scenarios, the target object 4 is stored on a shelf (may also be referred to as a target carrier 5), and the front end surface of the target object 4 may also refer to a side surface of the target object 4 facing the outside of the shelf. In the embodiment of the present application, the front end surface of the container may refer to a side surface facing/facing the outer side of the shelf, which is used as a specific example for illustrating the container, so as to facilitate the taking of the object taking component 103.

In some examples, the target carrier 5 may also be referred to as a temporary storage plate of the transfer robot. That is, the fetching unit 103 may extend out of the base 101 to the temporary storage plate, and fetch the target object 4 on the temporary storage plate, or place the target object 4 on the temporary storage plate.

As a specific example of an embodiment of the present application, a force providing component that can provide a force to the front end surface of the container may be provided at the movable end of the pick-up assembly 103, so as to move, carry, or pick-up the container.

As a specific example of an embodiment of the present application, a force providing component that can provide a force to the front end surface of the container may be specifically disposed at the movable end (which may also be referred to as the free end in some examples) of the access module 103, thereby enabling movement, handling, or retrieval of the container.

In a specific example of this embodiment of the present application, the force providing component may specifically be a hook, and meanwhile, an inserting slot into which the hook is inserted may be provided on the front end face of the container, and when the container is taken back, the hook may specifically be inserted into the inserting slot, so as to be connected with the front end face of the container, and provide a force for carrying the container.

In other specific examples of embodiments of the present application, the force providing member may also be a dual or multi-axis jaw mechanism and provided with a through hole in the front face of the container for insertion of the jaw mechanism; when the container is taken back, the clamping jaw mechanism is controlled to be in a clamping state and is inserted into the through hole; and then the clamping jaw mechanism is opened, so that the outer side wall of the clamping jaw mechanism is contacted with the inner wall of the through hole, and the container is carried by friction force between the outer side wall of the clamping jaw and the inner wall of the through hole. It will be appreciated that in some possible examples barbs may also be provided on the outer side walls of the jaw mechanism so that they may be hooked over the edges of the inner walls of the container to ensure that the jaw mechanism provides adequate transport capacity when the container is being transported.

It will also be appreciated that in alternative examples of embodiments of the present application, the force providing member may also be an electromagnet, and accordingly the front face of the container may be formed of a material that is attracted to the magnet (e.g., a ferrous material), and that upon retrieval of the container, the electromagnet may be energized when the force providing member is in proximity to or in contact with the container, thereby providing transport capacity to the container via the magnetic attraction of the electromagnet to the container.

It will be appreciated that in other possible examples of embodiments of the present application, the force providing member may also be made of a material that is attracted to a magnet, and accordingly, an electromagnet is disposed on the front face of the cargo box; in this way, when the container is returned, the electromagnet may be energized when the force providing member is brought into close proximity to or in contact with the container, so that a magnetic attraction force is generated between the force providing member and the electromagnet on the container, thereby providing a carrying force to the container.

In the embodiment of the present application, the pickup assembly 103 is configured to carry the target article 4 by acting on the front end surface of the target article 4 when the target article 4 is picked up; like this, when placing, depositing or storing the packing box on goods shelves, need not to reserve the clearance between packing box and packing box (i.e. between the adjacent packing box), can effectively reduce the storage clearance between the adjacent packing box, promote the storage density of packing box, effectively utilize the same storage space to deposit more packing boxes.

According to the object taking device provided by the embodiment of the application, the object taking component 103 is movably arranged on the base 101, and the object taking component 103 is driven by the driving mechanism 10 to reciprocate along the first direction, so as to extend out of the base 101 or retract back into the base 101, so that the transfer of a target object between the object taking device and a target goods space is realized. In addition, the pickup assembly 103 is provided to act on the front end face of the target article 4 when the target article 4 is picked up (i.e., the side face of the target article 4 facing the pickup assembly 103 when the target article 4 is in the state to be picked up), thereby carrying the target article 4; like this, compare in the correlation technique, need not to insert the one end of getting the thing subassembly 103 in the clearance between two adjacent packing boxes, that is to say, when depositing the packing box, can not keep reserving certain clearance between two adjacent packing boxes again, reduced the storage clearance between the adjacent packing box promptly, effectively promoted the storage density of packing box.

With continued reference to fig. 3-4, in embodiments of the present application, the translation assembly 104 may be disposed on the base 101, and the translation assembly 104 is configured to drive the pickup assembly 103 to move on the base 101 to adjust the offset distance of the pickup assembly relative to the target cargo space.

In this embodiment of the present application, the offset distance refers to a misalignment distance between the fetching component 103 and the target cargo space along the second direction, and is exemplified by an offset distance between a projection area of the fetching component 103 on the target carrier 5 and the target cargo space along the second direction, and is exemplified by an offset distance between a projection area of a center of the fetching component 103 on the target carrier 5 and a center of the target cargo space along the second direction.

Illustratively, the translation assembly 104 may drive the retrieval assembly 103 to move in the second direction. Wherein the second direction intersects the first direction and may be parallel to the surface of the base 101. For example, the second direction may in particular be perpendicular to the first direction. That is, in the embodiment of the present application, the translation assembly 104 drives the fetching assembly 103 to move along a direction perpendicular to the first direction. In some specific examples, referring to fig. 1-3, the second direction may specifically be the direction shown by the y-axis in fig. 3-5.

It is also understood that in some specific examples of embodiments of the present application, the translation assembly 104 may also be a displacement component that causes movement of the retrieval assembly 103 in a second direction as the retrieval assembly 103 is driven to move. Namely, a certain included angle exists between the actual moving direction of the translation assembly 104 driving the fetching assembly 103 and the second direction; here, it is only necessary to ensure that the movement of the picking assembly 103 by the translation assembly 104 is not parallel to the first direction, so that the movement of the picking assembly 103 has a displacement component in the second direction.

In some alternative examples of embodiments of the present application, the translation assembly 104 may be specifically a telescopic rod (e.g., a cylinder, a piston cylinder, an electric cylinder, a hydraulic cylinder, etc.) coupled to the mobile station 102 pickup assembly 103. Of course, in some alternative examples, the translation component 104 may be connected to the fetching component 103 through a telescopic rod, and a driving member is connected to an expansion joint of the telescopic rod, and the telescopic rod is driven to expand and contract by the driving member, so that the fetching component 103 is translated along the second direction.

Alternatively, in other alternative examples of the embodiment of the present application, the translation assembly 104 may also be configured to drive the pickup assembly 103 through the cooperation between the screw and the power block, so that the pickup assembly 103 may translate in the second direction. For example, a screw extending in the second direction is provided on the base 101, and a power block is provided on a side of the pickup assembly 103 facing the base 101 (typically, a bottom or lower side of the movable seat 102), the power block being screwed (or may be referred to as a screw connection) with the screw; thus, when the screw is driven to rotate by the motor, the screw drives the fetching assembly 103 connected with the power block to move by threads.

It will be appreciated that in order to fully utilize the longitudinal space of the shelves or the warehouse when the target items 4 are stored, the target items 4 typically need to be stacked in a vertical direction by a certain height. In the transfer robot, a certain height is usually provided between the object picking device 1 and the ground (for example, the height of the object picking device 1 is lifted by a lifting device) during the process of picking up the object 4 to be picked up; at this time, the pickup device may swing to some extent, which may cause a deviation or error in the position between the pickup assembly 103 and the target cargo space.

In this embodiment, the translation assembly 104 drives the fetching assembly 103 to move along the second direction y, so as to reduce the offset distance between the fetching assembly 103 and the target cargo space, and effectively compensate the deflection (or offset) of the fetching assembly 103 caused by swinging in the fetching or returning process, thereby ensuring the accuracy of the fetching assembly 103 for fetching and returning the target object 4 and improving the efficiency of fetching and returning the target object 4.

Compare in the chassis through driving transfer robot to translate whole transfer robot, thereby translate the mode of getting thing subassembly 103, this application embodiment is through increasing translation subassembly 104 in getting device 1, drive through this translation subassembly 104 and get the thing subassembly and translate for base 101, reduced the transfer route of driving force, improved the speed of adjusting to getting thing subassembly 103, also improved or avoided the transfer route overlength of driving force and made the condition that the driving force weakens, thereby improved the adjustment precision to getting thing subassembly 103.

With continued reference to fig. 3-5, in some alternative examples of embodiments of the present application, the object retrieval device 1 further includes a support base 105.

Specifically, referring to fig. 1-3, in the embodiment of the present application, the support base 105 is disposed on the base 101. In a specific arrangement, the picking assembly 103 and at least a portion of the drive mechanism 10 are both disposed on the support base 105, and the translation assembly 104 is coupled to the support base 105, e.g., may be disposed between the base 101 and the support base 105. That is, in this embodiment, the movement of the fetching assembly 103 along the second direction may specifically be the movement of the translation assembly 104 to the supporting seat 105, so as to drive the fetching assembly 103 and the driving structure disposed on the supporting seat 105 to move.

Specifically, in the embodiment of the present application, the specific connection manner between the translation assembly 104 and the support base 105 may be the same as the detailed description of the connection manner between the translation assembly 104 and the fetching assembly 103 in the previous embodiment of the present application, which is not repeated in the embodiment of the present application.

In the embodiment of the application, the supporting seat 105 is arranged on the base 101, and the driving mechanism 10 and the fetching component 103 are arranged on the supporting seat 105, so that the fetching component 103 on the supporting seat 105 and the driving mechanism 10 are driven to translate together by driving the supporting seat 105 through the translation component 104; can avoid the asynchronous condition of translation to take place between actuating mechanism 10 and the article subassembly 103, also prevent that actuating mechanism 10 from taking the drive of article subassembly 103 and translation subassembly 104 from taking the drive of article subassembly 103 to take place to interfere, ensure to take the article subassembly 103 to take place not to interfere between the removal along the first direction and the removal along the second direction to can effectively promote the accuracy of carrying out translation adjustment to the article subassembly 103 position, promote the efficiency of taking article subassembly 103 to get the target article 4 again.

Fig. 6 is a schematic structural diagram of the cooperation of the base and the translation assembly in the object taking device according to the embodiment of the present application.

Referring to fig. 6, in an alternative example of an embodiment of the present application, the translation assembly 104 may specifically extend in the second direction on the base 101. The translation assembly 104 specifically includes: a translation drive 1041 and a translation transmission 1042.

Specifically, in the embodiment of the present application, the translation driving member 1041 may be a motor (for example, a servo motor, a stepper motor, or a synchronous motor) capable of implementing forward and reverse rotation. In some specific examples of embodiments of the present application, the translation transmission 1042 may specifically extend in the second direction.

As a specific example of the embodiment of the present application, the translation transmission member 1042 may be a screw rod described in the foregoing embodiment of the present application, and one end of the screw rod is connected to the translation driving member 1041 through a coupling or a speed reducer, etc., and is driven to rotate by the translation driving member 1041.

In this embodiment, when the translation transmission member 1042 is a screw, a power block with internal threads may be disposed on a side of the support base 105 facing the translation transmission member 1042, and the power block is connected with the screw thread, so that when the screw rotates, the power block drives the support base 105 to move.

In other alternative examples of embodiments of the present application, the translational drive 1041 may also be a cylinder, piston cylinder, hydraulic cylinder, or the like. It will be appreciated that the output of the cylinder, piston cylinder or hydraulic cylinder may be disposed in a second direction and extend in the second direction; when the output end of the air cylinder, the piston cylinder or the hydraulic cylinder moves along the second direction, the supporting seat 105 is driven to move, so that the position of the object taking assembly 103 is translated and adjusted.

In this embodiment of the present application, the translation assembly 104 is disposed on the base 101, and the translation transmission member 1042 is disposed to reciprocate along the second direction under the driving of the translation driving member 1041, so that the moving distance of the supporting seat 105 can be conveniently controlled by the driving angle or the driving displacement of the translation driving member 1041, and the accuracy of the translation adjustment of the position of the fetching assembly 103 can be improved, so that the target article 4 can be accurately fetched or returned.

With continued reference to fig. 5 and 6, in one specific example of an embodiment of the present application, the translation drive 1041 includes a drive motor 10411, and the translation transmission 1042 may include a translation drive wheel 10423, a translation driven wheel 10421, and a translation drive belt 10422 (e.g., a chain, belt, timing belt, or timing belt).

Wherein the translational driven wheel 10421 and the translational driving wheel 10423 are arranged at intervals along the second direction, the translational driving belt 10422 is sleeved on the translational driving wheel 10423 and the translational driven wheel 10421, and the translational driving wheel 10423 and the synchronizing wheel tighten the translational driving belt 10422. The output end of the translational driving wheel driving motor 10411 is connected to the translational driving wheel 10423, and the translational driving wheel 10423 is driven by the driving motor 10411 to rotate.

In particular, referring to fig. 5 and 6, in an alternative example of an embodiment of the present application, the translational driving wheel 10423 may specifically be rotatably connected to the base 101, and an output end of the driving motor 10411 (may also be referred to as an output shaft of the driving motor 10411 in some examples) may be connected to the translational driving wheel 10423 through a coupling or a speed reducer, or the like; of course, in some examples, the output shaft may also be directly coupled to the translational drive wheel 10423. In the embodiment of the present application, the specific connection manner between the translational driving wheel 10423 and the output shaft is not limited.

It will be appreciated that, referring to fig. 5 and 6, in embodiments of the present application, the axis of the translational drive wheel 10423 may be disposed substantially perpendicular or approximately perpendicular to the surface of the base 101; of course, in some examples, the axial direction of the translational drive wheel 10423 may also be disposed parallel or approximately parallel to the surface of the base 101.

In a specific example of the embodiment of the present application, referring to fig. 5 and 6, when the driving motor 10411 drives the translational driving wheel 10423, the translational driving wheel 10423 drives the translational driving belt 10422 to rotate, and the translational driving belt 10422 synchronously drives the translational driven wheel 10421 to rotate.

It will be appreciated that, referring to fig. 6, in the embodiment of the present application, after the translational belt 10422 is sleeved on the translational driving wheel 10423 and the translational driven wheel 10421, the translational belt 10422 has two portions extending in the second direction along the first direction; it will be appreciated that the direction of movement between the two parts is reversed; in the embodiment of the present application, the supporting base 105 is connected to one of the parts and moves under the driving of the translation driving belt 10422.

In this embodiment of the application, drive translation drive wheel 10423, translation follow driving wheel 10421 and cover are located translation drive wheel 10423 and translation drive belt 10422 rotation between the translation follow driving wheel 10421 through driving motor 10411 to drive supporting seat 105 and remove, like this, whole translation subassembly 104's simple structure has simplified the overall structure of getting the object device, the lightweight design of the object device of being convenient for.

It should be noted that, the pulley transmission structure (e.g. the translation transmission member 1042) in the embodiment of the present application can prolong the transmission distance and increase the smoothness, and the transmission ratio is constant and the transmission efficiency is high.

The translational belt 10422 may be a belt, and because fatigue defects such as slipping and loosening may occur after the belt is used for a long time, in some embodiments, the translational belt 10422 may be a toothed synchronous belt (or chain belt), and the translational driving wheel 10423 and the translational driven wheel 10421 are toothed pulleys (or sprockets). By meshing the internal teeth of the chain belt with the teeth on the toothed pulleys, providing efficient power transfer, increased synchronicity and reduced return stroke differences, as well as supporting high torque transfer capability, and increased carrying capacity of the translating assembly 104.

As a specific example of the embodiment of the present application, with continued reference to fig. 6, in the embodiment of the present application, a driving block 1043 is disposed on the translation driving belt 10422, where the driving block 1043 is fixedly connected to the translation driving belt 10422, so as to move synchronously with the translation driving belt 10422 when the translation driving belt 10422 moves. In this embodiment, the support base 105 may be specifically fixedly connected to the driving block 1043.

Specifically, referring to fig. 6, the driving block 1043 may be fixed to the translational belt 10422 by a connection member such as a bolt, a screw, or a screw. When the device is specifically arranged, a mounting groove can be formed in one side, facing the translation transmission belt 10422, of the driving block 1043, the translation transmission belt 10422 can be specifically embedded into the mounting groove, and then the driving block 1043 and the synchronous belt are sequentially penetrated through and fixed by connecting components such as bolts, screws or bolts.

In this embodiment, through fixed connection drive block 1043 on translation drive belt 10422, supporting seat 105 is fixed to be set up on drive block 1043, so, the supporting seat 105 of being convenient for installs fixedly with translation drive belt 10422.

In other alternative examples of the embodiment of the present application, referring to fig. 3, two ends of the translation driving member 1042 respectively extend out of the supporting seat 105, so that the translation driving member 1041 is disposed outside the base 101, for example, a distance between the translation driving wheel 10423 and the translation driven wheel 10421 is greater than or equal to a width of the supporting seat 105 along the second direction.

Specifically, referring to fig. 3, in the embodiment of the present application, the translational driving wheel 10423 and the translational driven wheel 10421 may specifically be located at two sides of the support base 105 along the second direction. Thus, the connection between the translational driving wheel 10423 and the driving motor 10411 is convenient, the setting of the driving motor 10411 is convenient, and the influence of the driving motor 10411 on the movement of the supporting seat 105 along the second direction can be effectively avoided.

In another alternative example of embodiment of the present application, with continued reference to fig. 6, the object retrieval device further includes a translation rail 106 and a translation slider 107; wherein the translation rail 106 is disposed on the base 101, and an extending direction of the translation rail 106 is the same as or consistent with an extending direction of the translation belt 10422, for example, the translation rail 106 may extend along the second direction; in the embodiment of the present application, the translation slider 107 may be disposed on the support base 105, specifically, the translation slider 107 is disposed on a side of the support base 105 facing the base 101; the translation slider 107 is slidably connected to the translation rail 106.

In other alternative examples of the embodiment of the present application, the translation rail 106 may also be disposed on the support base 105, and accordingly, the translation slider 107 may be disposed on the base 101, and the translation rail 106 is slidably connected to the translation slider 107.

In the embodiment of the application, by arranging the translation guide rail 106 on one of the base 101 and the support base 105, and arranging the translation slide block 107 on the other of the base 101 and the support base 105, the translation guide rail 106 is slidably connected with the translation slide block 107; thus, when the support base 105 is translated by the translation unit 104, the support base 105 moves along the translation rail 106 by being guided by the translation rail 106 and the translation slider 107. In this way, the accuracy of the moving direction of the supporting seat 105 in the moving process is ensured, and in addition, the cooperation of the translation guide rail 106 and the translation sliding block 107 can play a certain limiting supporting role on the movement of the supporting seat 105, so that the translation stability of the supporting seat 105 is improved.

With continued reference to fig. 6, in an alternative example of an embodiment of the present application, at least two translation rails 106 are provided, and one translation slider 107 is slidably disposed on each rail.

Specifically, referring to fig. 6, in an embodiment of the present application, two translating rails 106 are located on either side of the translating assembly 104 in a first direction. That is, in the first direction, one of the translation assemblies 104 is provided with one translation rail 106, and the other translation rail 106 is provided on the other side of the translation assembly 104; it is understood that in embodiments of the present application, the two translating rails 106 may be specifically disposed parallel or approximately parallel to each other.

In some specific examples of embodiments of the present application, referring to fig. 6, the number of translating rails 106 may also be three or four in embodiments of the present application. Like this, support supporting seat 105 through a plurality of translation guide rails 106 and translation slider 107 to drive supporting seat 105 and removed, effectively promoted the stability of supporting seat 105 translation, avoided getting thing subassembly 103 and taking place the condition that rocks when the translation, promoted promptly and got thing subassembly 103 after the translation, get thing subassembly 103 position's accuracy, be convenient for get thing subassembly 103 and accurately get back target article 4.

In other alternative examples of embodiments of the present application, referring to fig. 3 and 6, a rotation driving member 119 is further provided on the base 101, and the rotation driving member 119 is fixedly connected to the base 101. In a specific arrangement, the output end of the rotary drive 119 may be engaged by a gear on a rotating shaft provided at the bottom of the base 101; in this way, the rotating motor can drive the base 101 to rotate through the power transmission before the gear at the output end and the rotating shaft, so as to drive the translation component 104, the supporting seat 105, the fetching component 103 and the fetching component 103 which are arranged on the base 101 to rotate; therefore, the storage rack can be suitable for taking and returning target articles 4 in storage spaces with narrow storage racks, the applicable scene of the transfer robot is improved, and the taking and returning efficiency of taking and returning the target articles 4 in the narrow storage racks is improved.

In this embodiment, the setting manner of the fetching assembly 103 may be various.

In some examples, the object taking device 1 may include a telescopic structure 109, where the telescopic structure 109 is disposed on the support base 105, in other words, the telescopic structure 109 is movably disposed on the base 101 through the support base 105, the object taking assembly 103 is disposed at a free end of the telescopic structure 109, and the driving mechanism 10 drives the telescopic structure 109 to stretch out or retract the object taking assembly 103 by driving the free end of the telescopic structure 109.

Illustratively, the telescopic structure 109 may be disposed on the support base 105, for example, one end of the telescopic structure 109, such as a fixed end, is connected to a fixed portion (disposed opposite to the fetching assembly 103) of the support base 105, and the other end may be a free end. Wherein the free end of the telescoping structure 109 is selectively extendable or retractable into the support base 105.

In an alternative example of an embodiment of the present application, the telescopic structure 109 may specifically be a telescopic rod (e.g. a telescopic cylinder, a hydraulic cylinder or an electric cylinder); in other possible examples, the telescoping structure 109 may also be a scissors fork structure (as shown). The specific type of the telescopic structure 109 is not limited in the embodiments of the present application.

In some examples of the present application, the fetching assembly 103 is disposed at a free end, and the fetching assembly 103 can move relative to the supporting base 105 under the driving of the free end. In some examples, the drive mechanism 10 may be coupled to the telescoping structure 109, with the drive mechanism 10 configured to drive the free end out of or back into the support base 105 to reciprocate the retrieval assembly 103 within the target cargo space and base 101 (e.g., the support base 105).

Taking the telescopic structure 109 as a scissor fork structure as an example, the driving mechanism 10 may specifically include a driving motor and a belt wheel structure, where the belt wheel structure may include a driving wheel and a driven wheel that are disposed at intervals, and a driving belt that is sleeved on the driving wheel and the driven wheel, and the driving motor is connected with the driving wheel to drive the driving wheel to rotate, so as to drive the driving belt and the driven wheel to move. It will be appreciated that the scissor fork structure may include a plurality of hinge positions disposed along a telescoping direction, wherein one hinge is connected by a belt to move along the telescoping direction under the drive of the belt, so that the free end of the scissor fork structure stretches along the x-direction, thereby driving the fetching assembly 103 to extend or retract into the support base 105.

Fig. 7 is a schematic structural diagram of the cooperation of the base, the translation assembly and the driving structure in the object taking device provided by the application.

Referring to fig. 5 and 7, in other examples, the access device 1 may include a telescoping structure 109 and a mobile seat 102.

Specifically, in the embodiment of the present application, a first end 1091 (i.e., a fixed end) of the telescopic structure 109 is disposed on the movable seat 102, and a second end 1092 (i.e., a free end) of the telescopic structure 109 is disposed on the fetching assembly 103; in other words, in the embodiment of the present application, the telescopic structure 109 is disposed between the movable base 102 and the fetching assembly 103, and the telescopic structure 109 stretches to push the fetching assembly 103 to move away from the movable base 102, and the telescopic structure 109 contracts to drive the fetching assembly 103 to move toward the movable base 102.

Referring to fig. 5 and 7, in the embodiment of the present application, one end of the driving mechanism 10 is connected to the telescopic structure 109, and the driving mechanism 10 is configured to drive the second end 1092 of the telescopic structure 109 to approach or depart from the first end 1091 of the telescopic structure 109 along the first direction, so that the fetching assembly 103 is driven by the second end 1092 of the telescopic structure 109 to reciprocate along the first direction.

It will be appreciated that in the present embodiment, the driving mechanism 10 is further connected to the movable base 102, and the driving mechanism 10 is configured to drive the movable base 102 to reciprocate along the first direction. When the target object 4 is retrieved, the driving mechanism 10 can selectively drive at least one of the moving base 102 and the telescopic structure 109 to move so as to drive the fetching assembly 103 to extend out of or retract into the base 101.

As one example, the driving mechanism 10 may simultaneously drive the moving base 102 and the telescopic structure 109 to move to drive the fetching assembly 103 to extend or retract to the supporting base 105.

For example, the driving mechanism 10 may include a driving component 11 and a transmission component 12, wherein the driving component 11 is connected to one of the moving seat 102 and the telescopic structure 109, the transmission component 12 is connected to the other of the moving seat 102 and the telescopic structure 109, and the transmission component 12 is connected to the driving component 11 to move under the driving of the driving component 11.

Referring to fig. 7, in the embodiment of the present application, the driving assembly 11 may include a driving motor 11a and a first pulley structure 11b, and the first pulley structure 11b may include two transmission rollers disposed on the supporting base 105 and disposed opposite to each other along the first direction, where the two transmission rollers are in transmission connection with each other through a transmission member such as a chain, a belt, a synchronous belt, or a timing belt; and a driving block is fixed on the chain, the belt, the synchronous belt or the timing belt, and the driving block is fixedly connected with the telescopic structure 109, so that when the driving motor drives one of the transmission rollers to rotate, the chain, the belt, the synchronous belt or the timing belt can rotate along with the rotation of the transmission roller, thereby driving the driving block to drive the telescopic structure 109 to stretch and retract, and further driving the fetching assembly 103 arranged on the second end 1092 of the telescopic structure 109 to move along the first direction.

In a specific example of an embodiment of the present application, the axial directions of the two driving rollers may be perpendicular to the surface of the base 101; alternatively, in some examples, referring to fig. 3 and 5, the axial directions of the two drive rollers may also be parallel to the surface of the base 101. In this application embodiment, guarantee that the direction of arranging of two driving rollers is arranged along first direction can, in other words, in this application embodiment, guarantee that the driving direction of two driving rollers to chain, belt, hold-in range or timing belt is along first direction can.

In addition, the transmission assembly 12 may be a second pulley structure, for example, the second pulley structure may include two transmission rollers, and the two transmission rollers are in transmission connection through a transmission component such as a chain, a belt, a synchronous belt or a timing belt; and a driving block is fixed on the chain, the belt, the synchronous belt or the timing belt, and the driving block is fixedly connected with the movable seat 102, wherein one of the transmission rollers of the second belt wheel structure is also connected with an output shaft of the driving motor, so that when the driving motor drives one of the transmission rollers of the second belt wheel structure to rotate, the chain, the belt, the synchronous belt or the timing belt can rotate along with the rotation of the one of the transmission rollers of the second belt wheel structure, thereby driving the driving block to drive the movable seat 102 to move, and further driving the telescopic structure 109 and the fetching assembly 103 arranged on the movable seat 102 to move along the first direction.

It will be appreciated that one of the drive rollers of the first pulley arrangement 11b and the drive roller of the second pulley arrangement are coaxially arranged side by side in the axial direction of the motor output shaft so that both pulley arrangements are driven in motion simultaneously by one drive motor. That is, in the embodiment of the present application, the moving seat 102 and the fetching assembly 103 can move synchronously.

It can be appreciated that in the embodiment of the present application, in the process of moving the moving seat 102 and the fetching assembly 103 synchronously, there may be a mutual interference between the moving seat 102 and the fetching assembly 103, and as shown in fig. 5 and fig. 7, in the embodiment of the present application, the diameters of the two transmission rollers of the first belt wheel structure and the two transmission rollers of the second belt wheel structure may be specifically set to be different.

Specifically, referring to fig. 5, when the first pulley structure 11b and the second pulley structure are powered by one driving motor 11a, the rotational angular speeds of the power pulleys of the first pulley structure 11b and the second pulley structure (i.e., one driving roller connected to the driving motor) are the same, and during the process of fetching or returning objects, the object fetching assembly 103 is located on the side of the movable seat 102 facing/facing the container, and it is generally required to ensure that the moving speed of the object fetching assembly 103 is greater than the moving speed of the movable seat 102; therefore, in the embodiment of the present application, the wheel diameters of the two transmission rollers of the first pulley structure 11b may be set to be larger than the wheel diameters of the two transmission rollers of the second pulley structure; in this way, under the driving of the same driving motor 11a, the two driving rollers of the first belt wheel structure 11b have a larger rotation linear speed relative to the two driving rollers of the second belt wheel structure, so that the chain, belt, synchronous belt or timing belt of the first belt wheel structure 11b has a larger transmission speed compared with the second belt wheel structure, that is, the fetching assembly 103 has a faster moving speed compared with the moving seat 102, and the mutual interference between the fetching assembly 103 and the moving seat 102 can be effectively avoided.

Fig. 8 is a schematic structural diagram of the cooperation between the base and the movable seat in the object taking device provided in the embodiment of the present application, fig. 9 is another schematic structural diagram of the cooperation between the base and the movable seat in the object taking device provided in the embodiment of the present application, and fig. 10 is a schematic structural diagram of the cooperation between the movable seat and the telescopic structure in the object taking device provided in the embodiment of the present application.

As another example, referring to fig. 8-10, the drive mechanism 10 may include a first drive structure 111 and a second drive structure 110, wherein the first drive structure 111 is coupled to the mobile seat 102 and the first drive structure 111 is configured to drive the mobile seat 102 (e.g., in a direction shown by an x-axis in fig. 9) to move such that the mobile seat 102 moves the retrieval assembly 103 in a first direction.

In some examples, the second driving structure 110 may be connected to the telescopic structure 109, where the second driving structure 110 is configured to drive the second end 1092 to move toward or away from the first end 1091 in the first direction, so that the fetching assembly 103 moves in the first direction under the driving of the second end 1092.

In a specific example of the embodiment of the present application, the telescopic structure 109 may be a telescopic rod structure, and the second driving structure 110 may be a screw, where the second end 1092 of the telescopic structure 109 may be a rod body of the telescopic rod connected to the object taking assembly 103, and the first end 1091 of the telescopic structure 109 may be a rod body of the telescopic rod connected to the moving seat 102; in a specific arrangement, a driving block 1043 may be fixed on the second end 1092, where a hole with internal threads is provided on the driving block 1043, and a screw rod passes through the hole and is screwed with the hole (which may also be referred to as a threaded connection in some examples); thus, when the screw rod rotates, the screw rod pushes the driving block 1043 through threads, and the driving block 1043 drives the telescopic rod to stretch out and draw back, so that the fetching assembly 103 is driven to move along the first direction.

It can be understood that, referring to fig. 6, in the embodiment of the present application, two transmission rollers may be disposed on the moving seat 102 along the first direction, and the two transmission rollers are in transmission connection with each other through a transmission member such as a chain, a belt, a synchronous belt or a timing belt; and a driving block 1043 is fixed on the chain, the belt, the synchronous belt or the timing belt, and the driving block 1043 is fixedly connected with the telescopic structure 109, so that when the two driving rollers are driven to rotate, the two driving rollers drive the chain, the belt, the synchronous belt or the timing belt to rotate, thereby driving the driving block 1043 to drive the telescopic structure 109 to stretch and retract, and further driving the fetching assembly 103 arranged on the second end 1092 of the telescopic structure 109 to move along the first direction.

In a specific example of an embodiment of the present application, the axial directions of the two driving rollers may be perpendicular to the surface of the base 101; alternatively, in some examples, the axial directions of the two drive rollers may also be parallel to the surface of the base 101. In this application embodiment, guarantee that the direction of arranging of two driving rollers is arranged along first direction can, in other words, in this application embodiment, guarantee that the driving direction of two driving rollers to chain, belt, hold-in range or timing belt is along first direction can.

It can be appreciated that in the embodiment of the present application, the first driving structure 111 is connected to the movable seat 102, and the first driving structure 111 is used to drive the movable seat 102 to reciprocate along the first direction.

In this embodiment, the specific arrangement manner of the first driving structure 111 may be the same as or similar to that of the second driving structure 110, and reference may be made specifically to the detailed description of the second driving structure 110 in the foregoing embodiment of the present application, which is not repeated in this embodiment of the present application.

In some examples, referring to fig. 8, the first driving structure 111 may be disposed on the support base 105; the second drive structure 110 may be movable in a first direction relative to the support base 105, for example, in some examples, the second drive structure 110 may be disposed on the mobile base 102 (shown with reference to fig. 8).

The working process of the object taking device 1 provided in the embodiment of the application when taking back the target object is as follows:

depending on the actual situation when the target object 4 is retrieved, the fetching component 103 may be driven by the first driving structure 111 and/or the second driving structure 110 to move along the first direction, so as to extend into the target cargo space of the target carrier 5 or retract into the supporting seat 105.

The first driving structure 111 is driven to move in a first direction. That is, the first driving structure 111 drives the moving seat 102 to move along the first direction, and when the moving seat 102 moves along the first direction, the telescopic structure 109 disposed on the moving seat 102 and the fetching assembly 103 are driven to move together for a working distance, so that the fetching assembly 103 finally reaches the target cargo space. It will be appreciated that the working distance is the distance that the pick up assembly 103 moves to the target cargo space when picking up a bin, i.e., the pick up distance or the bin return distance.

Alternatively, in some examples, the retrieval assembly 103 may be moved in the first direction only by the second drive structure 110. For example, the first driving structure 111 is not operated, i.e. the relative position of the movable seat 102 and the supporting seat 105 remains stationary; the second driving structure 110 drives the telescopic structure 109 to stretch along the first direction, and the second end 1092 of the telescopic structure 109 drives the fetching assembly 103 connected with the telescopic structure 109 to move a working distance along the first direction, so that the fetching assembly 103 finally reaches the target cargo space.

Alternatively, in other examples, the picker assembly 103 may be driven together by the first drive structure 111 and the second drive structure 110 and moved in the first direction.

For example, in some examples, the first driving structure 111 may drive the moving seat 102 to move to drive the telescopic structure 109 and the fetching assembly 103 to move a first preset distance toward the target cargo space, and the second driving structure 110 drives the telescopic structure 109 to extend to drive the fetching assembly 103 to move a second preset distance toward the target cargo space, so that the fetching assembly 103 moves to the target cargo space to transfer the target article 4 between the fetching assembly 103 and the target cargo space.

Wherein the first preset distance and the second preset distance are determined by the working distance, e.g. the sum of the first preset distance and the second preset distance is equal to the working distance. Of course, the sum of the first preset distance and the second preset distance may be smaller or larger than the working distance due to driving deviation, movement deviation, and the like.

For example, the first preset distance may be a suitable value of 1/4, 1/2, or 2/3 of the working distance, for example, the first driving structure 111 may move the pickup assembly 103 to the forefront end of the supporting seat 105 through the moving seat 102, and then drive the telescopic structure 109 to extend through the second driving structure 110, so as to extend the pickup assembly 103 to the target cargo space. Of course, in other examples, the first driving structure 111 may first drive the moving seat 102 to the forefront end of the supporting seat 105, and then drive the telescopic structure 109 to extend through the second driving structure 110, so as to extend the fetching assembly 103 to the target cargo space.

In other examples, the second driving structure 110 may drive the telescopic structure 109 to extend to drive the fetching assembly 103 to move a third predetermined distance toward the target cargo space, and then the first driving structure 111 drives the moving seat 102 to move to drive the telescopic structure 109 and the fetching assembly 103 to move a fourth predetermined distance toward the target cargo space, so that the fetching assembly 103 moves to the target cargo space.

Wherein the fourth preset distance and the fifth preset distance are determined by the working distance, for example, the sum of the fourth preset distance and the fifth preset distance is equal to the working distance. Of course, the sum of the third preset distance and the fourth preset distance may be smaller or larger than the working distance due to driving deviation, movement deviation, and the like.

For example, the fourth preset distance may be a suitable value of 1/4, 1/2, or 2/3 of the working distance, for example, the second driving structure 110 may move the picking assembly 103 to the forefront end of the supporting seat 105 through the telescopic structure 109, and then drive the moving seat 102 to move forward through the first driving structure 111 until the picking assembly 103 reaches the target cargo space. The specific proportion of the third preset distance and the fourth preset distance is not limited in the embodiment of the present application, so long as the object taking component 103 is guaranteed to be finally moved to the target cargo space.

Of course, in other examples, the first driving structure 111 and the second driving structure 110 may simultaneously drive the moving seat 102 and the telescopic structure 109 to move, in other words, the first driving structure 111 drives the moving seat 102 to move, and the second driving structure 110 simultaneously drives the telescopic structure 109 to telescope to drive the fetching assembly 103 to move a working distance toward the target cargo space, so that the fetching assembly 103 moves to the target cargo space to transfer the target object 4 between the fetching assembly 103 and the target cargo space.

It will be appreciated that in other examples, the first drive structure 111 may drive the mobile base 102 to move, the second drive structure 110 may drive the telescoping structure 109 to extend, and finally the first drive structure 111 may drive the mobile base 102 to move again until the retrieval assembly 103 is moved to the target cargo space.

Alternatively, the second driving structure 110 may drive the telescopic structure 109 to extend, the first driving structure 111 drives the moving seat 102 to move again, and finally, the second driving structure 110 drives the telescopic structure 109 to extend again until the fetching assembly 103 moves to the target cargo space. The working sequence and the number of times of the first driving structure 111 and the second driving structure 110 are not limited in this embodiment, so long as the object fetching assembly 103 can be guaranteed to finally reach the target cargo space.

According to the object taking device 1 provided by the embodiment of the application, the movable seat 102 is movably arranged on the supporting seat 105, and when the target object 4 is taken back, the movable seat 102 moves on the supporting seat 105 along the first direction; moreover, the telescopic structure 109 is disposed on the movable seat 102, the telescopic structure 109 has a first end 1091 and a second end 1092 along a first direction, the first end 1091 is disposed on the movable seat 102, the second end 1092 can be close to or far away from the first end 1091 along the first direction, and the object taking assembly 103 is disposed at the second end 1092, so that when the object taking assembly 103 is used for taking the object 4, the moving speed of the object taking assembly 103 can be improved, the efficiency of taking the object 4 can be effectively improved, the efficiency of carrying goods is improved, and the moving distance of the object taking assembly 103 facing one end of the object 4 can be effectively improved by jointly moving the movable seat 102 and the object taking assembly 103 (for example, the first driving structure 111 connected with the movable seat 102 moves the movable seat 102 along the first direction, and the second driving structure 110 drives the second end 1092 of the telescopic structure 109 along the first direction).

In addition, in the embodiment of the present application, the fetching assembly 103 is configured to carry the target article 4 by acting on the front end surface of the target article 4 (i.e., the side surface of the target article 4 facing the fetching assembly 103 when the target article 4 is to be fetched) when the target article 4 is to be fetched; thus, compared with the related art, the end of the fetching component 103, which faces away from the moving seat 102 (faces/faces the target object 4), is not required to be inserted into the gap between the two adjacent containers, that is, when the containers are stored, a certain gap between the two adjacent containers is not required to be reserved, that is, the gap between the two adjacent containers is reduced, and the storage density of the containers is effectively improved.

In addition, in the embodiment of the present application, the first driving structure 111 is connected to the movable seat 102, and drives the movable seat 102 to move along the first direction, so as to drive the fetching assembly 103 to move; and drives the telescopic structure 109 arranged between the movable seat 102 and the fetching assembly 103 through the second driving structure 110, so that the telescopic structure 109 stretches and contracts, and drives the fetching assembly 103 connected with the second end 1092 of the telescopic structure 109 to move.

In this way, in the first aspect, decoupling between the movement of the moving seat 102 and the movement of the telescopic structure 109 is achieved when the container is taken, that is, the movement of the moving seat 102 and the movement of the telescopic structure 109 become two independent moving processes, so that the moving speed of the moving seat 102 and the telescopic speed of the telescopic structure 109 are decoupled, and are independent of each other, so that when the object taking device 1 in the embodiment of the present application takes the object, one of the driving structures can be selected to drive according to the actual requirement, or the driving speeds of the two driving structures can be controlled freely, so that the moving displacement of the moving seat 102 and the telescopic amount of the telescopic structure 109 can be adjusted freely.

On the other hand, the arrangement mode ensures that the other one can still keep moving under the condition that any one of the movements fails, can ensure that the taking and returning of the target object 4 is carried out smoothly without causing interference to the taking and returning of the target object 4, can improve the maintenance and replacement efficiency, improves the operation efficiency of taking and returning of a container,

on the other hand, in the process of taking the target article 4, different moving modes of the article taking assembly 103 can be selected according to the actual working condition requirement, so that the flexibility of the movement of the article taking assembly 103 is improved, the condition that the container must be stopped for maintenance when any one of the movement of the movable seat 102 and the movement of the article taking assembly 103 fails can be avoided, and the operation efficiency of taking the container is improved.

In some examples of the embodiments of the present application, referring to fig. 9, the first driving structure 111 may include a first driving member 1111 and a first transmission member 1113, where the first driving member 1111 is fixedly disposed on the support base 105, one end of the first driving member 1111 is connected to the first transmission member 1113 to drive the first transmission member 1113 to move in a first direction, and the first transmission member 1113 is connected to a side of the movable base 102 facing the support base 105, so as to drive the movable base 102 to move in the first direction.

That is, in the embodiment of the present application, the first driving member 1113 may be disposed on the support base 105 along the first direction. In some examples, the first transmission 1113 may be a lead screw, a cylinder, an electric cylinder, or the like as described in the previous embodiments of the present application.

In this embodiment, the first transmission member 1113 is disposed on a side of the movable seat 102 facing the supporting seat 105, so that the telescopic structure 109 and the fetching assembly 103 are disposed on a side of the movable seat 102 facing away from the supporting seat 105, which improves space utilization.

Illustratively, first drive 1113 includes a first power wheel 1112, a first drive belt, and a first idler 1114.

In some examples, the output shaft of the first driving member 1111 (may also be referred to as the power output end of the first driving member 1111) is connected to the first power wheel 1112 so as to rotate the first power wheel 1112, and referring to fig. 5, in this embodiment of the present application, the first idle wheel 1114 and the first power wheel 1112 are disposed at intervals along a first direction, and when specifically disposed, the axial directions of the first idle wheel 1114 and the first power wheel 1112 may be parallel or approximately parallel to the surface of the support base 105, and in some alternative examples, the axial directions of the first idle wheel 1114 and the first power wheel 1112 may also be perpendicular or approximately perpendicular to the surface of the support base 105. The embodiments of the present application are illustrated in fig. 9 of the drawings with the axial direction of the first power wheel 1112 and the first idle wheel 1114 being perpendicular or approximately perpendicular to the surface of the support base 105 as specific examples.

Specifically, referring to fig. 9, in an embodiment of the present application, a first drive belt (e.g., a chain, belt, timing belt, or timing belt as described in the previous embodiments of the present application) is tensioned between a first power wheel 1112 and a first idler wheel 1114 (e.g., the first drive belt is looped over the first power wheel 1112 and the first idler wheel 1114); that is, when the first driving member 1111 drives the first power wheel 1112 to rotate, the first belt is driven by the first power wheel 1112 to rotate.

As a specific example of an embodiment of the present application, the movable seat 102 may be fixed on the first belt, for example, the movable seat 102 is fixed on the first body portion of the first belt. It will be appreciated that, with reference to fig. 7, the first body portion may be located between the first power wheel 1112 and the first idler wheel 1114.

In some examples, referring to fig. 9, in the embodiment of the present application, the moving seat 102 may be fixed to the first body portion of the first driving belt by the first driving block 1043, so as to move under the driving of the first driving belt. The first driving member 1111 may be any one of a servo motor, a synchronous motor, or a stepping motor.

It will be appreciated that in the embodiment of the present application, referring to fig. 10, the second driving structure 110 includes a second driving member 1101 and a second transmission member 1103, and one end of the second driving member 1101 is connected to the second transmission member 1103 to drive the second transmission member 1103 to move in the first direction.

In the embodiment of the present application, referring to fig. 10, both the second driving member 1101 and the second transmission member 1103 may be provided on the movable base 102, that is, in the embodiment of the present application, the second driving member 1101 and the second transmission member 1103 may move together with the movement of the movable base 102.

In some examples, referring to fig. 10, the mobile station 102 includes: the first moving part and the second moving part, the extending direction of the first moving part is consistent with the first direction, the second moving part is connected to the first moving part, the second moving part is opposite to the fetching assembly 103, and the first end 1091 of the telescopic structure 109 is arranged on the second moving part.

In some examples, the first moving portion may be a plate-like or sheet-like structure, and of course, the second moving portion may have the same or similar structural shape as the first moving portion. As an alternative example, after the first moving part and the second moving part construct the molded moving seat 102, the cross-sectional shape of the moving seat 102 may be "L", that is, the first moving part and the second moving part may be perpendicular or approximately perpendicular to each other.

For example, the first moving part may be disposed on the support base 105 and parallel or approximately parallel to the surface of the support base 105; the second moving part is disposed at an end of the first moving part facing away from the telescopic structure 109. Alternatively, in some examples, it is also understood that the retrieval assembly 103 is disposed on the first mobile portion.

In some examples, the retrieval assembly 103 may be disposed at an end opposite the second movement portion. Additionally, the telescoping structure 109 may be disposed on the first mobile portion, in some examples, the telescoping structure 109 is located between the second mobile portion and the retrieval assembly 103; that is, the first end 1091 of the telescoping structure 109 may be disposed on the second moving portion.

In some alternative examples of embodiments of the present application, referring to fig. 8, the second driving member 1101 may be disposed on a side of the second moving portion facing away from the telescopic structure 109, and the second transmission member 1103 may be disposed on a side of the first moving portion facing away from the telescopic structure 109.

It is to be understood that, in the embodiment of the present application, the side of the second transmission member 1103, which is opposite to the telescopic structure 109, of the first moving portion is illustrated as a specific example, and the specific arrangement position of the second transmission member 1103 is not limited. In some examples, the second transmission 1103 may also be disposed at other locations.

In other examples, it is also understood that the second transmission member 1103 is disposed on a side of the first mobile member facing the support base 105. Wherein at least a portion of the second drive member 1101 may extend beyond the second displacement portion and be in driving connection with the second transmission member 1103.

In the embodiment of the present application, by providing the moving seat 102 to include the first moving portion and the second moving portion, the second moving portion is provided at one end of the first moving portion; the first end 1091 of the telescopic structure 109 is disposed on the second moving portion, and the telescopic structure 109 is disposed between the second moving portion and the fetching assembly 103; then, the second driving part 1101 is disposed on a side of the second moving part facing away from the telescopic structure 109, and the second transmission part 1103 is disposed on a side of the first moving part facing away from the telescopic structure 109; in this way, the positions of the telescopic structure 109, the second driving member 1101 and the second driving member 1103 are conveniently distributed, and space utilization is effectively improved. Referring to FIG. 10, in embodiments of the present application, second driver 1101 may be the same type or similar to first driver 1111. In some examples, the second transmission 1103 includes: a second power wheel 1102, a second idler 1104, and a second drive belt.

In some examples, an output shaft of second drive 1101 (which may also be referred to as a power output in some examples) is coupled to second power wheel 1102 and drives rotation of second power wheel 1102. Is spaced from the second power wheel 1102 in a first direction, a second drive belt (e.g., a chain, belt, timing belt, or the like as described in the previous embodiments of the present application) may be tensioned between the second power wheel 1102 and the second idler wheel 1104 (e.g., the second drive belt is looped over the second power wheel 1102 and the second idler wheel 1104), and the second drive member 1101 moves the second drive belt between the second power wheel 1102 and the second idler wheel 1104 as the second power wheel 1102 is driven to rotate.

In some alternative examples, the telescoping structure 109 may be coupled to a second belt, for example, the telescoping structure 109 may be coupled to a second body portion of the second belt, the second body portion being positioned between the second power wheel 1102 and the second idler wheel 1104 such that movement of the second belt causes the telescoping structure 109 to telescope, thereby causing the access assembly 103 to move toward the cargo box, or alternatively, causing the access assembly 103 to move away from the cargo box.

It should be understood that, in the embodiment of the present application, the transmission manner of the first driving structure 111 by the first power wheel 1112, the first transmission belt and the first idle wheel 1114 is only shown as a specific example, and in some possible examples, the first driving structure 111 may also be the transmission manner of the screw rod and the power block described in the previous embodiment of the present application, that is, by disposing a rotatable screw rod on the support base 105 along the first direction, and sleeving a power block with an internal thread on the screw rod, where the power block is connected to the moving base 102; thus, when the first driving member 1111 drives the screw to rotate, the power block may drive the movable seat 102 to move along the first direction.

In some possible examples, the first driving structure 111 may also be a telescopic rod as described in the previous embodiments of the present application.

It is further understood that the second driving structure 110 may be the same as or similar to the first driving structure 111, and that the second driving structure 110 may be different from the first driving structure 111 in that the second driving structure 110 may be disposed on the movable base 102 and driven by the second driving member 1101 disposed on the movable base 102.

In this embodiment, by providing two different power sources, namely a first driving member 1111 and a second driving member 1101, wherein the first driving member 1111 drives the moving seat 102 to move through the first transmission member 1113, the second driving member 1101 is disposed on the moving seat 102 to move together with the movement of the moving seat 102, and the second driving member 1101 drives the telescopic structure 109 to stretch and retract through the second transmission member 1103 disposed on the moving seat 102, so as to drive the fetching assembly 103 to move; thus, when it is desired to carry a container, the pick-up assembly 103 can be moved in at least three ways so that the pick-up assembly 103 approaches or moves away from the container on the pallet.

The first moving mode is as follows:

the first driving member 1111 drives the movable base 102 through the first driving member 1113 to move in the first direction, so that the fetching assembly 103 disposed on the movable base 102 through the telescopic structure 109 moves and fetches the cargo box.

The second moving mode:

the second driving member 1101 drives the pickup assembly 103 provided on the traveling block 102 to move in the first direction through the second transmission member 1103, thereby picking up the cargo box.

Third movement mode:

the first driving member 1111 drives the mobile station 102 to move in a first direction through the first transmission member 1113, and simultaneously the second driving member 1101 drives the picking assembly 103 disposed on the mobile station 102 to move in the first direction through the second transmission member 1103, thereby picking up the cargo box.

It will be appreciated that in some possible examples, the movement of the retrieval assembly 103 may also be a combination of the three aforementioned movements of the embodiments of the present application; for example, the first driving member 1111 drives the movable base 102 to move a part of the distance in the first direction through the first transmission member 1113, then the second driving member 1101 drives the picking assembly 103 disposed on the movable base 102 to move a part of the distance through the second transmission member 1103, and then the first driving member 1111 drives the movable base 102 to move and simultaneously the second driving member 1101 drives the picking assembly to move.

It should be noted that, in the embodiment of the present application, the specific moving manner of the fetching assembly 103 may be set according to the actual working condition requirement, and in the embodiment of the present application, the specific moving manner of the fetching assembly 103 is not limited.

In the embodiment of the present application, the first transmission member 1113 and the second transmission member 1103 are driven by providing two different power sources, that is, the first driving member 1111 drives the first transmission member 1113, and the second driving member 1101 drives the second transmission member 1103; thus, in the first aspect, decoupling of the movement of the moving seat 102 and the movement of the object taking device 1 during the container taking and returning is realized, that is, the movement of the moving seat 102 and the movement of the object taking assembly 103 are referred to as two independent moving processes (although the movement of the moving seat 102 can drive the movement of the object taking assembly 103, the movement of the object taking assembly 103 is not dependent on the movement of the moving seat 102, and the second driving member 1101 can drive the telescopic structure 109 through the second driving member 1103), so that in the case that any one of the movements fails, the other can still keep moving, so that smooth progress of the container taking and returning of the object 4 can be ensured, interference on the object taking and returning article 4 can not be caused, maintenance and replacement efficiency can be improved, and the container taking and returning operation efficiency can be improved; in the second aspect, in the process of taking the container, different moving modes of the object taking assembly 103 can be selected according to the actual working condition requirement, so that the flexibility of movement of the object taking assembly 103 is improved, the situation that the container must be stopped for maintenance when any one of the movement of the movable seat 102 and the movement of the object taking assembly 103 fails can be avoided, and the operation efficiency of taking the container is improved.

In addition, by arranging the second driving member 1101 and the second transmission member 1103 on the moving seat 102, when the container is taken, the moving seat 102 can be driven to move by the first driving member 1111 at the same time, and the fetching assembly 103 is driven to move by the second driving member 1101, so that the moving speed of the fetching assembly 103 is improved, namely, the efficiency of taking the container is improved.

In an application scenario, when the target cargo space is the deep inside of the target carrier 5, in the object picking device 1 provided in the embodiment of the present application, when picking up the target object 4, the second driving structure 110 may first work, for example, the second driving part 1101 is started, and the second driving part 1103 is driven by the second power wheel 1102 to move along the first direction, and the second driving part 1103 drives the telescopic structure 109 to move along the first direction, so as to push the object picking assembly 103 to move along the first direction; in this way, as the length of the telescoping structure 109 in the first direction is elongated, the width of the telescoping structure 109 in the third direction (e.g., the y-direction in fig. 3) is reduced, thereby facilitating the telescoping structure 109 to push the retrieval assembly 103 into the target carrier 5. It will be appreciated that the third direction may intersect the first direction, i.e. the telescoping direction, e.g. perpendicular.

It can be appreciated that after the telescopic structure 109 drives the fetching assembly 103 to move by a predetermined distance, for example, the telescopic structure 109 drives the fetching assembly 103 to extend into the target carrier 5, the first driving structure 111 is operated again, for example, the first driving member 1111 is started, so as to drive the moving seat 102 connected to the first driving member 1113 and the telescopic structure 109 disposed on the moving seat 102 to move together in a direction close to the target cargo space until the fetching assembly 103 moves to the target cargo space, and at this time, the transfer of the target article 4 between the fetching assembly 103 and the target cargo space can be performed.

For example, the pick-up assembly 103 removes the target item 4 from the target cargo space, or the pick-up assembly 103 places the target item 4 on the target cargo space.

In this way, the object 4 with smaller width can be conveniently fetched, the telescopic structure 109 can conveniently extend into the object goods space positioned at the inner deep position to transfer the object, the adaptability of the object taking device 1 to different object 4 is improved, and the application range of the object taking device 1 is improved.

Fig. 11 is a schematic structural diagram of a telescopic structure and a supporting seat in the object taking device provided in the embodiment of the present application, fig. 12 is a schematic structural diagram of a moving seat, a telescopic structure and an object taking assembly in the object taking device provided in the embodiment of the present application, and fig. 13 is a schematic structural diagram of a telescopic structure in the object taking device provided in the embodiment of the present application.

In an alternative example of an embodiment of the present application, referring to fig. 11 to 13, the telescopic structure 109 includes: at least two crossing member units 1093 disposed in order in the first direction.

Specifically, referring to fig. 9-11, in the embodiment of the present application, each cross member unit 1093 may include two cross members 10931 disposed opposite to each other, for example, two cross members 10931 in each cross member unit 1093 are disposed opposite to each other along a third direction, where the third direction may be a direction shown by a z-axis in fig. 12, and an arrangement direction of two cross members 10931 may be a direction shown by a z-axis in fig. 12; as a specific example of the embodiment of the present application, after the telescopic structure 109 is disposed on the moving base 102, the two cross members 10931 may be specifically arranged in a direction perpendicular to the surface of the supporting base 105. In this embodiment, the setting up two relative crossbars 10931 through the third direction arrangement, like this, when extending and contracting structure 109, can guarantee the flexible stability of extending and contracting structure 109, promote and get thing subassembly 103 and get the stability of returning the packing box.

With continued reference to fig. 11-13, in this embodiment, each cross member 10931 includes two transmission rods 10931a intersecting each other, where the cross member 10931 corresponding to the cross member unit 1093 of the first end 1091 is a first cross member, and the cross member 10931 corresponding to the cross member unit 1093 of the second end 1092 is a second cross member, and referring to fig. 11-13, in this embodiment, the first cross member is slidably connected to the movable base 102, and the second cross member is slidably connected to the picking assembly 103.

In some examples, referring to fig. 13, a first slide 1021 may be provided at an end of the movable base 102 facing toward the picking assembly 103, and a third slider 1022 may be provided at ends of the two transmission bars 10931a of the first cross member, the third slider 1022 being slidably connected with the first slide 1021. It will be appreciated that in the embodiment of the present application, the two mutually intersecting transmission rods 10931a of the cross member 10931 are mutually moved closer to or further away from each other on the first slide rail 1021 when they are mutually rotated. In addition, to ensure that the two interdigitated drive bars 10931a can rotate normally interdigitated, in the present embodiment, the third slider 1022 is rotatably connected to the drive bar 10931a, where the rotational axes of the third slider 1022 and the drive bar 10931a are parallel or approximately parallel to the rotational axes of the interdigitated drive bars 10931 a.

It should be noted that, in the embodiment of the present application, the sliding connection manner of the second cross member and the fetching assembly 103 may be specifically the same or similar to the sliding connection manner of the first cross member and the moving seat 102, and reference may be specifically made to the detailed description of the sliding connection manner between the first cross member and the moving seat 102 in the foregoing embodiment of the present application, which is not repeated herein.

Wherein the cross member 10931 in each cross member unit 1093 has a hinge shaft 1094. It will be appreciated that the two drive rods 10931a of the cross member 10931 are hinged by a hinge shaft 1094. The second driving structure 110 is connected to the hinge shaft 1094 of one of the cross member units 1093, so as to drive the cross member 10931 to increase or decrease the included angle towards the object picking assembly 103, so as to enable the second end 1092 of the telescopic structure 109 to move correspondingly closer to or farther from the first end 1091.

In some examples (not shown), each cross member 10931 has a corresponding one of the hinge shafts 1094, i.e., two of the hinge shafts 1094 are provided in one cross member unit 1093, two of the transmission rods 10931a in one cross member 10931 are hinged by one of the hinge shafts 1094, two of the transmission rods 10931a in the other cross member 10931 are hinged by the other hinge shaft 1094, and the second driving structure 110 is connectable with one of the hinge shafts 1094 in one of the cross member units 1093 to drive the cross member 10931 connected with the hinge shaft 1094 to move in the first direction x.

Since the two opposite cross members 10931 along the third direction are further rotatably connected to a rotation shaft 1095 (refer to fig. 11) between the end portion of one cross member 10931 and the end portion of the other cross member 10931, the rotation shaft 1095 is used to connect the two adjacent cross members 10931 along the first direction, so when one cross member 10931 is driven by the second driving structure 110 to move, the rotation shaft 1095 can drive the other cross member 10931 of the one cross member unit 1093 to move, so as to implement the expansion and contraction of the scissors fork structure along the first direction.

In other examples, each of the cross member units 1093 is provided with one hinge shaft 1094, that is, in the embodiment of the present application, the number of hinge shafts 1094 corresponds to the number of cross member units 1093, and two cross members 10931 in each cross member unit 1093 share one hinge shaft 1094. For example, referring to fig. 11 to 13, in each of the crossing member units 1093, both ends of the hinge shaft 1094 are extended to two crossing members 10931, respectively, and two crossing members 10931 are hinged to the ends of the hinge shaft 1094, respectively, i.e., one of the crossing members 10931 is hinged to one end of the hinge shaft 1094 and the other crossing member 10931 is hinged to the other end of the hinge shaft 1094.

In this way, only one hinge shaft 1094 is needed for connection of the four transmission rods 10931a in each cross member unit 1093, the number of hinge shafts 1094 is saved, the mounting connection of the cross member units 1093 is facilitated, and the stability of the cross member units 1093 in telescopic transmission is improved.

It will be appreciated that in this example, the two cross members 10931 arranged along the third direction are connected by the hinge shaft 1094, and the second driving structure 110 is connected to one hinge shaft 1094 of the plurality of cross member units 1093, so as to drive the hinge shaft 1094 to move along the first direction, and the hinge shaft 1094 can simultaneously drive the two cross members 10931 arranged along the third direction z to move along the first direction x, so that the stable movement of the first whole scissors fork structure along the first direction x is ensured, and the driving precision of the second driving structure 110 on the scissors fork structure is improved.

Referring to fig. 12, when the second driving structure 110 drives the hinge shaft 1094 to move in the positive x-axis direction in fig. 12, the ends of the two driving rods 10931a in the cross member 10931 move toward each other (i.e., the angle between the two driving rods 10931a decreases in the first direction), so that the angle between the length direction of the driving rod 10931a and the direction shown in the x-axis decreases, i.e., the length component of the driving rod 10931a increases in the direction shown in the x-axis, and at this time, the telescopic structure 109 pushes the pickup assembly 103 to move in the first direction toward and away from the moving base 102; in some applications, it is also understood that the telescoping structure 109 urges the access assembly 103 to move in a first direction toward the container. That is, in the first direction, the distance between the both ends of the crossing unit 1093 increases.

It will be appreciated that at this time, the end of the first cross member slidably connected to the movable base 102 moves in a direction toward/approaching each other, and correspondingly, the end of the second cross member slidably connected to the picking assembly 103 also moves in a direction toward/approaching each other.

As will be appreciated, with continued reference to fig. 12, as the second drive structure 110 drives the articulation shaft 1094 to move in the negative x-axis direction of fig. 12, the ends of the two drive rods 10931a in the cross member 10931 move away from each other (i.e., the angle between the two drive rods 10931a increases in the first direction), such that the angle between the length of the drive rod 10931a and the direction shown in the x-axis increases, i.e., the length component of the drive rod 10931a decreases in the direction shown in the x-axis, and at this time the telescoping structure 109 pulls the pickup assembly 103 to move in the first direction toward/toward the mobile seat 102; in some applications, it may also be understood that the telescopic structure 109 pulls the pickup assembly 103 to move in the first direction toward the moving base 102.

That is, in the first direction, the distance between the two ends of the telescopic structure 109 decreases. It will be appreciated that at this time, the end of the first cross member slidably connected to the movable base 102 moves in a direction away from each other, and correspondingly, the end of the second cross member slidably connected to the picking assembly 103 also moves in a direction away from each other.

In this embodiment, by providing at least two intersecting member units 1093 disposed in sequence along the first direction, the intersecting member units 1093 include two intersecting members 10931 disposed opposite each other along a direction perpendicular to the first direction, and each of the intersecting members 10931 includes a transmission rod 10931a intersecting each other; each set of crossing member units 1093 is connected by a hinge shaft 1094 such that two transmission bars 10931a are rotatably connected by the hinge shaft 1094 and two crossing members 10931 are connected by the hinge shaft 1094 to construct a double-layered scissors fork structure; in this way, when the second driving structure 110 is connected with one of the hinge shafts 1094 and drives the telescopic structure 109 to stretch along the first direction, the stability of the telescopic structure 109 is ensured, that is, the stability and success rate of taking and returning the target article 4 are improved.

In addition, when the object taking device 1 provided in the embodiment of the present application is used to take up a container, the second driving member 1101 may be used to drive the second driving member 1103 so as to extend the telescopic structure 109, so that the length component of the driving rod 10931a in the cross member unit 1093 increases in the direction along the x axis shown in fig. 12, that is, the length component of the driving rod 10931a decreases in the direction perpendicular to the x axis and parallel to the surface of the supporting seat 105, so that the driving rod 10931a needs to occupy a smaller width space, and for some containers, the width of the container is narrower, and the container is in an inner deep position (which may be understood to be a position stored in some examples) may be used to insert the object taking assembly 103 into a channel formed after the container in the outer body position is taken up in the first direction, after the object taking assembly 103 provides a sufficient moving/carrying force for the container, the moving seat 102 is first driven by the first driving the moving seat 102 to move the telescopic structure 109 and the object taking assembly 103 to the container to the outer position, and then the container is moved to the deep position by the second driving member 1101; can effectively adapt to taking and carrying the packing box with narrower width.

It will be appreciated that when the box returning operation is performed on the container, the control may be opposite to the box taking operation in the foregoing embodiment of the application, for example, the telescopic structure 109 may be driven to be unfolded by the second driving member 1101, and the container to be returned may be placed in the deep position, where, due to the telescopic structure 109 being in the unfolded state, the length component of the transmission rod 10931a in the direction shown by the x axis in fig. 12 increases, and accordingly, the length component of the transmission rod 10931a in the direction perpendicular to the x axis in fig. 12 and parallel to the surface of the supporting seat 105 is smaller, and the occupied space is smaller; at this time, the first driving member 1111 drives the moving seat 102 to move in the first direction (i.e. the direction shown by the x-axis in fig. 12), so as to move the container to be returned to the deep position.

In some optional examples of the embodiments of the present application, with continued reference to fig. 11-13, the telescopic structure 109 includes multiple sets of intersecting member units 1093, specifically, 3 sets of intersecting member units 1093 are shown as specific examples in the drawings of the embodiments of the present application, it will be understood that in some examples, the intersecting member units 1093 may also be 4 sets, 5 sets, or more. In a specific setting, the specific number of the cross member units 1093 may be specifically determined according to the depth of the warehouse, and in the embodiment of the present application, the specific number of the cross member units 1093 is not limited.

It is also understood that when the cross-member units 1093 are plural, one ends of the adjacent two sets of cross-member units 1093 connected to each other are connected by the hinge shaft 1094. In some specific examples, the hinge shaft 1094 may be a rotation shaft 1095, that is, the transmission rods 10931a between two adjacent sets of cross-member units 1093 are rotatably connected by the rotation shaft 1095, thereby facilitating the overall telescoping of the entire telescoping structure 109.

In this embodiment of the application, through setting up multiunit cross-component unit 1093, like this, the telescopic range of extending telescopic structure 109 of being convenient for to be convenient for get still target article 4 to the storage demand of difference, promoted the adaptability to different storage demands.

In some alternative examples of embodiments of the present application, referring to fig. 12, the object taking device 1 further comprises a first stop 112. Specifically, in the embodiment of the present application, the first limiting member 112 is connected between the first cross member and the movable seat 102. That is, the first cross member may be connected to the movable base 102 by the first limiting member 112. Alternatively, in some examples, it is also understood that one end of the first stop 112 is connected to the movable seat 102, and the other end of the first stop 112 is connected to the first cross member, thereby limiting movement of the first cross member on the movable seat 102.

Here, it should be noted that, the end portions of the transmission rods 10931a of the first cross member may specifically be slidably connected between the first slide rail 1021 and the third slide blocks 1022 according to the foregoing embodiment of the present application, and since the two transmission rods 10931a of the first cross member are rotatably connected with each other, the sliding directions of the two third slide blocks 1022 are always opposite, specifically, the sliding directions are opposite (close to each other or close to each other), or the sliding directions are opposite (away from each other). In this embodiment, the first limiting member 112 specifically limits the sliding of the first cross member along the first sliding rail 1021, that is, the first limiting member 112 specifically shows that the two third sliding blocks 1022 slide along the same direction, so as to limit the translation of the first end 1091 of the telescopic structure 109 on the moving seat 102.

In a specific example, the first limiting member 112 may be a link 1121, one end of the link 1121 is rotatably connected to the movable seat 102, and the other end of the link 1121 is rotatably connected to the transmission rod 10931 a; thus, when the transmission rod 10931a rotates to extend and retract the telescopic structure 109, the connecting rod 1121 can rotate along with the transmission rod 10931a, and when the telescopic structure 109 translates, the connecting rod 1121 can limit the translation of the telescopic structure 109.

Here, a first rotation axis is provided between the link 1121 and the movable seat 102, and a second rotation axis is provided between the link 1121 and the transmission rod 10931a, wherein the first rotation axis is parallel or approximately parallel to the second rotation axis; in addition, the first rotational axis, the second rotational axis, and the rotational axis between the two transmission bars 10931a are parallel or approximately parallel.

In another example of an embodiment of the present application, with continued reference to fig. 12, the object retrieval device 1 further includes a second stop 113, the second stop 113 being coupled between the second cross member and the object retrieval assembly 103, thereby limiting translation of the second end 1092 of the telescoping structure 109 on the object retrieval assembly 103. That is, one end of the second limiting member 113 is connected to the picking assembly 103, and the other end of the second limiting member 113 is connected to the second cross member.

As a specific example of the embodiment of the present application, the structure and the specific arrangement manner of the second limiting member 113 may be the same as or similar to those of the first limiting member 112, and specific reference may be made to the detailed description about the first limiting member 112 in the foregoing embodiment of the present application, which is not repeated in the embodiment of the present application.

In this embodiment of the application, through set up first locating part 112 between first alternately spare and remove seat 102 and carry out spacingly to the translation between the first end 1091 of extending structure 109 and the removal seat 102, like this, guaranteed extending structure 109 when getting the thing subassembly 103 along the flexible removal of first direction, extending structure 109 and remove the position relatively fixed of seat 102, can guarantee to get the stability of returning the packing box process, avoided getting the condition emergence that returning the packing box that the translation takes place to result in the packing box can't be got by normal to take out to the extending structure 109 in-process of returning the case.

In addition, through setting up second locating part 113 between second alternately piece and getting the thing subassembly 103, carry out spacingly to the translation of getting between thing subassembly 103 and the extending structure 109 second end 1092 through second locating part 113, guaranteed to get the thing subassembly 103 and get and return the packing box in-process can not take place translation or skew for extending structure 109 second end 1092 to guaranteed the packing box and got the accuracy of returning.

In yet other alternative examples of embodiments of the present application, with continued reference to fig. 12, one of the first stop 112 and the second stop 113 includes two links 1121. Specifically, in the embodiment of the present application, a case where the first stopper 112 includes two links 1121 is shown as a specific example.

Specifically, one of the two links 1121 is rotatably connected to one of the transmission rods 10931a in the first cross member, and the other one of the two links 1121 is rotatably connected to the other one of the transmission rods 10931a in the first cross member; also, the two links 1121 are rotatably connected to the movable base 102, and when specifically provided, the two links 1121 and the movable base 102 may be rotated about the same rotation axis, that is, the two links 1121 rotate on the movable base 102 about the same rotation point. In this way, the two links 1121 and the two driving members of the first cross-piece form a parallelogram structure (or in some examples also a four-link 1121 structure), thus limiting the translation of the telescopic structure 109 on the mobile seat 102, since the rotation points of the two links 1121 on the mobile seat 102 are fixed.

It will be appreciated that in some alternative examples of embodiments of the present application, the specific structure of the second stop 113 may be the same as or similar to the first stop 112.

It will be further appreciated that, as described in detail in the foregoing embodiments of the present application, in the embodiments of the present application, the moving base 102, the telescopic structure 109 and the fetching assembly 103 are all disposed on the supporting base 105, that is, the telescopic structure 109 has a relative movement tendency with the supporting base 105 during the telescopic movement of the telescopic structure 109 along the first direction. In order to avoid structural interference between the first limiting member 112 and the supporting seat 105, referring to fig. 1, in the embodiment of the present application, the first limiting member 112 is disposed on a side of the telescopic structure 109 facing away from the supporting seat 105, so as to facilitate telescopic movement of the telescopic structure 109.

In other alternative examples of embodiments of the present application, with continued reference to fig. 12, the other of the first stop 112 and the second stop 113 may include two oppositely disposed extensions 1131. Specifically, in the embodiment of the present application, the second limiting member 113 includes two oppositely disposed extending portions 1131 as a specific example.

Specifically, in the embodiment of the present application, two extension portions 1131 are fixedly connected to a side of the fetching assembly 103 facing the moving seat 102, or in some examples, it is also understood that two extension portions 1131 are fixedly connected to a side of the fetching assembly 103 facing the telescopic structure 109. A limiting cavity 1132 or a limiting notch is formed between the two extending parts 1131, and when the device is specifically arranged, the hinge shaft 1094 between the two second cross pieces penetrates through the limiting cavity 1132 or the limiting notch, so that the hinge shaft 1094 moves along the limiting cavity 1132 or the limiting notch in the telescopic movement process along the first direction of the telescopic structure 109.

That is, in embodiments of the present application, the extending direction of the spacing cavity 1132 or the spacing slot may specifically coincide with the first direction, for example, the extending direction of the spacing cavity 1132 or the spacing slot is parallel or approximately parallel to the first direction.

In some alternative examples, the length of the limiting cavity 1132 or the limiting slot extending along the first direction may be greater than or equal to the distance that the hinge shaft 1094 between the two second cross members is movable along the first direction, so that the hinge shaft 1094 can be ensured to be always located in the limiting cavity 1132 or the limiting slot and limited, the situation that the hinge shaft 1094 is separated from the limiting cavity 1132 or the limiting slot can be avoided, and the stability of limiting the telescopic structure 109 and the fetching assembly 103 is improved.

It will be appreciated that in the embodiment of the present application, the second limiting member 113 may be specifically disposed between two second intersecting members, as shown in fig. 12. Therefore, the hinge shaft 1094 between the two second cross pieces can be directly utilized to penetrate the limiting cavity 1132, the hinge shaft 1094 does not need to be subjected to extension treatment, and the use materials of the hinge shaft 1094 can be effectively saved and the occupied space can be reduced.

It will also be appreciated that in alternative examples of embodiments of the present application, the first stop 112 may be provided in the form of two oppositely disposed extensions 1131.

As a specific example, in the embodiment of the present application, the first limiting member 112 specifically includes two connecting rods 1121, and the second limiting member 113 specifically includes two oppositely disposed extending portions 1131. That is, the specific structures of the first stopper 112 and the second stopper 113 may be different.

Referring to fig. 10, in an alternative example of the embodiment of the present application, one hinge shaft 1094 connected to the second driving structure 110 is configured as a power shaft. When specifically arranged, the second driving structure 110 further includes a second driving block 1043, where the second driving block 1043 is connected to one end of the power shaft. Specifically, the second driving block 1043 is fixedly connected to the power shaft. In some examples, referring to fig. 10, the second driving belt in the second driving structure 110 may be specifically one of a chain, a belt, a synchronous belt or a timing belt, where the second driving block 1043 may be fixed on the second driving belt, and the second driving piece 1101 drives the second driving block 1043 when driving the second driving belt to move, so as to drive the driving shaft to move along the first direction.

In the embodiment of the present application, one hinge shaft 1094 connected to the second driving structure 110 among the hinge shafts 1094 corresponding to the cross member units 1093 is configured as a power shaft, and the power shaft is connected to the second driving structure 110 through the second driving block 1043; in this way, the second driving structure 110 is convenient to drive the telescopic structure 109, and an additional power mechanism is not required to be arranged independently, so that the overall structure of the telescopic structure 109 is simplified.

It will be appreciated that, referring to fig. 10, in the embodiment of the present application, three sets of intersecting member units 1093 are provided along the first direction as a specific example, and in the embodiment of the present application, the hinge shaft 1094 corresponding to any one of the intersecting members 10931 of the three sets of intersecting members 10931 may be used as a power shaft and connected to the second driving structure 110 through the second driving block 1043.

In a specific example of the embodiment of the present application, the hinge shaft 1094 corresponding to one set of the cross member units 1093 of the three sets of the cross member units 1093 that is close to/toward the moving seat 102 is used as a power shaft, that is, the hinge shaft 1094 disposed between the two first cross members is connected with the second driving block 1043, so as to be connected with the second driving structure 110 through the second driving block 1043, so that the second driving structure 110 drives the telescopic structure 109 to telescope in the first direction.

In this embodiment of the application, the hinge shaft 1094 between the two first cross members is used as a power shaft, so that the length of the second driving belt required to be set along the first direction can be reduced, the space required to be occupied by the second driving belt can be effectively saved, and the material consumption of the second driving belt can be effectively saved.

In other alternative examples of the embodiment of the present application, referring to fig. 11, in the embodiment of the present application, a second guide rail 118 is disposed on the support base 105, and a second slider 1096 is disposed on the telescopic structure 109; the second rail 118 may specifically extend along the first direction, that is, the extending direction of the second rail 118 is consistent with the first direction, and the second slider 1096 specifically slides along the second rail 118.

It can be appreciated that, in the embodiment of the present application, the telescopic structure 109 is specifically a telescopic structure 109 formed by connecting multiple groups of cross member units 1093, and a parallelogram structure (may also be understood as a four-bar 1121 structure) is formed between two adjacent groups of transmission bars 10931a, in the process of specific telescoping, two transmission bars 10931a intersecting each other in each group of cross member units 1093, except for the intersecting point of intersecting rotation, all other positions of the transmission bars 10931a will change, so as to ensure normal telescoping of the telescopic structure 109, avoid occurrence of a situation that the second slider 1096 cannot slide due to stress between the second slider 1096 and the second slider 118, in the embodiment of the present application, the second slider 1096 may be specifically arranged on any one hinge shaft 1094 except a power shaft, thereby ensuring that a tendency of moving obliquely relative to the first direction will not occur when the second slider 1096 slides along the second slider 118, and ensuring smoothness of sliding of the second slider 1096 along the second slider 118.

In the embodiment of the present application, the second guide rail 118 extending along the first direction is disposed on the supporting seat 105, the second slider 1096 is disposed on the telescopic structure 109, and when the telescopic structure 109 moves telescopically along the first direction, the second slider 1096 slides on the second guide rail 118; like this, the cooperation of second slider 1096 and second guide rail 118 can play certain direction spacing effect to the flexible direction of extending structure 109, has guaranteed the flexible stability of extending structure 109.

Fig. 14 is a schematic view of a part of the structure of an object taking device according to an embodiment of the present application.

Referring to fig. 3 and 14, in other alternative examples of the embodiment of the present application, the object taking device 1 further includes: the follower tray 114, specifically, the follower tray 114 may be movably disposed on the support base 105; it is understood that in the embodiment of the present application, the moving direction of the follower tray 114 may be consistent with the first direction, that is, the moving direction of the follower tray 114 on the support base 105 may be parallel or approximately parallel to the first direction. In a specific application scenario, when the object taking assembly 103 takes back the target object 4, the following tray 114 abuts against the front end surface of the target carrier 5, so that a gap between the supporting seat 105 and the target carrier 5 is filled; thus, when the fetching assembly 103 fetches and returns the target object 4, the follow-up tray 114 can support and bear the target object 4 carried on the fetching assembly 103, and the situation that the target object 4 falls from the gap between the supporting seat 105 and the target carrier 5 can be effectively avoided.

It will be appreciated that, as described in detail in the foregoing embodiments of the present application, the telescopic structure 109 and/or the movable base 102 of the object taking device 1 are provided with a force application member, and the following tray 114 is provided with a force receiving portion, so that the force application member can apply a force to the force receiving portion at least during the retraction process of the object taking assembly 103, so as to drive the following tray 114 to retract into the supporting base 105.

When the fetching component 103 fetches and returns the target object 4, the fetching component 103 is driven to move by the movement of the moving seat 102; alternatively, in some examples, the movement of the fetching assembly 103 may be driven by the movement of the telescopic structure 109; alternatively, in other examples, it may be that the movable base 102 cooperates with the telescopic structure 109 to move the fetching assembly 103. Thus, in embodiments of the present application, movement of the follower tray 114 may move with at least one of the travel base 102 and the picker assembly 103.

In an alternative example of an embodiment of the present application, the follower tray 114 may be specifically fixedly connected with the movable base 102; in the process of taking and returning the target object 4 by the object taking component 103, it can be specifically determined whether a gap exists between the supporting seat 105 and the target carrier 5; when a gap exists between the support base 105 and the target carrier 5, the first driving member 1111 can drive the moving base 102 to move, so that the following tray 114 abuts against the front end surface of the target carrier 5, and at this time, the driving of the moving base 102 can be stopped, and the telescopic structure 109 is driven by the second driving member 1101, so that the fetching assembly 103 continues to move.

With continued reference to fig. 12, in other alternative examples of embodiments of the present application, two follower trays 114 may be provided, with the two follower trays 114 being arranged in the direction of the second direction; when specifically configured, a gap is provided between the two follower trays 114, which facilitates the sliding connection of the second rail 118 to the second slider 1096 provided on the telescopic structure 109.

Fig. 15 is a schematic view of a part of a structure of a follower tray in an object taking device according to an embodiment of the present application, and fig. 16 is a schematic view of a structure of a movable seat and a follower tray in an object taking device according to an embodiment of the present application. Fig. 17 is a schematic structural diagram of a state in which a follower tray extends out of a supporting seat in the object taking device according to the embodiment of the present application, and fig. 18 is a schematic structural diagram of a state in which the follower tray retracts back into the supporting seat in the object taking device according to the embodiment of the present application.

In other alternative examples of embodiments of the present application, referring to fig. 15, the object taking device 1 further includes: and an elastic member 140. Specifically, the elastic component 140 has a third end and a fourth end opposite to each other along the elastic direction, wherein the third end is connected to the follower tray 114, and the fourth end is connected to the supporting base 105. In a specific arrangement, referring to fig. 16, the force application member may include a bending portion 1023 disposed at one end of the movable seat 102, and the force receiving portion may include an extension portion 1141 disposed at one end of the follower tray 114; when the follower tray 114 is in the initial position (here, the initial position may be a position when the follower tray 114 does not protrude from the support base 105, for example, a position shown with reference to fig. 18), the bending portion 1023 abuts on a side of the protruding portion 1141 toward the front end surface of the follower tray 114 as shown with reference to fig. 16, and at this time, the elastic member 140 has the first deformation amount as shown with reference to fig. 18.

In this embodiment, the initial position may specifically refer to a position when either of the moving seat 102 and the picking assembly 103 is not moved, that is, the following tray 114 is located on the supporting seat 105 and no position movement occurs. In a specific example, the elastic component 140 may be a compression spring, and when the follower tray 114 is in the initial position, the third end may be a specific end of the elastic component 140 facing away from the movable seat 102, and the fourth end may be a specific end of the elastic component 140 facing toward the movable seat 102, where the elastic component 140 may be in a compressed state, i.e. the first deformation of the elastic component 140 is a compression deformation.

In addition, referring to fig. 17, the resilient assembly 140 has a second amount of deformation when the follower tray 114 is in the end position. Referring to fig. 17, in the embodiment of the present application, the end position may specifically be a position where the follower tray 114 is located on the support base 105 when the follower tray 114 abuts on the front end surface of the target carrier 5 (in some examples, at least part of the follower tray 114 extends out of the support base 105). At this time, the following tray 114 moves relative to the supporting seat 105, so that the compression state of the elastic component 140 is gradually released, and the compression amount (or deformation amount) of the elastic component 140 is gradually reduced, that is, the second deformation amount is smaller than the first deformation amount.

As a specific example, the compression set of the resilient assembly 140 may be fully released when the follower tray 114 is in the end state, i.e., the second amount of deformation of the resilient assembly 140 may be specifically zero.

In other optional examples of the embodiments of the present application, the elastic component 140 may further include a tension spring, where the third end and the fourth end are both provided with a tension spring hook (not numbered in the figure), and when specifically provided, the third end may be specifically an end of the tension spring facing the movable seat 102, and the fourth end may be specifically an end of the tension spring facing away from the movable seat 102; that is, the third end of the tension spring is hooked on the following tray 114 through the tension spring hook, and the fourth end of the tension spring is hooked on the supporting base 105 through the tension spring hook. When the follower tray 114 is in the initial position, the tension spring has a first deformation amount, and at this time, the tension spring may be in a stretched state, that is, the first deformation of the tension spring is changed into a stretching deformation; when the follower tray 114 is in the end position, the tension state of the tension spring is gradually released, so that the state gradually returns from the tension state to the natural extension state.

It can be appreciated that, in the embodiment of the present application, in order to ensure that the follower tray 114 can abut against the front end of the target carrier 5 when the follower tray 114 is in the end position, the elastic component 140 may still be kept to have a certain deformation (i.e., the second deformation) when the follower tray 114 is in the end position, so that the follower tray 114 still receives a certain elastic force provided by the elastic component 140 when it is in the end position, so that the tightness and stability of the abutment between the follower tray 114 and the front end of the target carrier 5 can be ensured.

15, 17 and 18, in some alternative examples of embodiments of the present application, a third rail 1144 and a fourth slider 1145 are disposed between the follower tray 114 and the support base 105; specifically, in the embodiment of the present application, one of the third guide rail 1144 and the fourth slider 1145 may be disposed on a side of the follower tray 114 facing the support base 105 (which may be understood as being below the follower tray 114 when in specific use), for example, the third guide rail 1144 may be fixedly connected with the follower tray 114; in addition, the other of the third rail 1144 and the fourth slider 1145 may be specifically disposed on the support base 105, the fourth slider 1145 being slidably connected to the third rail 1144, and in one specific example, the fourth slider 1145 may be fixed on the support base 105, and the third rail 1144 slides relative to the fourth slider 1145 moving together with the follower tray 114. It will be appreciated that in some alternative examples, the third rail 1144 may be fixed to the support base 105, and the fourth slider 1145 may be disposed on the follower tray 114, so that the follower tray 114 moves along the direction of the third rail 1144. In this way, the stability of the following tray 114 moving under the driving of the elastic component 140 can be effectively improved.

In a specific example of the embodiment of the present application, referring to fig. 15, two fourth sliders 1145 may be specifically provided, and the two fourth sliders 1145 are arranged side by side along the first direction. In this way, the stability of the movement of the follower tray 114 can be effectively improved. Of course, it is understood that, referring to fig. 14, when there are two follower trays 114, each of the follower trays 114 may be correspondingly provided with two fourth sliders 1145.

The following describes the specific movement process of the follower tray 114 in the embodiment of the present application in detail:

referring to fig. 14 and 16, when the follower tray 114 is in the initial position, the bending portion 1023 abuts against a side of the protruding portion 1141 facing the target carrier 5, or the bending portion 1023 provides a force in a negative x-axis direction in fig. 12 to the follower tray 114 through the protruding portion 1141, so that the elastic member 140 is deformed and has a first deformation amount; when the container needs to be taken or returned, the first driving member 1111 drives the moving seat 102 to move along the positive x-axis direction in fig. 14, at this time, along with the movement of the moving seat 102, the acting force of the bending portion 1023 on the protruding portion 1141 changes, the elastic component 140 provides the elastic force to the follower tray 114 to enable the follower tray 114 to move along the positive x-axis direction in fig. 14, and the deformation amount of the elastic component 140 gradually decreases until the follower tray 114 abuts against the front end of the target carrier 5, at this time, the follower tray 114 cannot move continuously, and the elastic component 140 has the second deformation amount.

It can be appreciated that, in the embodiment of the present application, after the follower tray 114 abuts against the front end of the target carrier 5, since the movable seat 102 and the follower tray 114 interact through the bending portion 1023 and the protruding portion 1141, that is, the movable seat 102 and the follower tray 114 are not fixedly connected; therefore, the movable seat 102 can further move continuously under the drive of the first driving structure 111, and the following tray 114 does not affect the movement of the movable seat 102, so that the container in the deep position can be taken out conveniently.

It may be further appreciated that in this embodiment, after the return of the container by the fetching assembly 103 or the fetching of the container is completed, the first driving structure 111 may drive the moving seat 102 to move until the bending portion 1023 contacts the extending portion 1131, and the telescopic structure 109 contracts along the first direction, so as to drive the fetching assembly 103 and the container on the fetching assembly 103 to move, and move the container onto the follow-up tray 114, where the follow-up tray 114 supports and holds the container, and then the first driving structure 111 continues to drive the moving seat 102 to move, where the bending portion 1023 applies a force along the negative x-axis direction in fig. 14 to the extending portion 1131, and drives the follow-up tray 114 and the container on the follow-up tray 114 to move together, so as to take out the container, deform and store energy, until the follow-up tray 114 moves to the initial position.

In this embodiment, the third end of the elastic component 140 is connected to the following tray 114, and the fourth end of the elastic component 140 is connected to the supporting seat 105; in this way, when the fetching component 103 fetches and returns the target object 4, the following tray 114 can move under the deformation change of the elastic component 140, so that the following tray 114 does not need to be moved separately with the driving mechanism 10, and the structure of the fetching device 1 can be effectively simplified; in addition, the following tray 114 moves synchronously with the movement of the moving seat 102, so that the following tray 114 can fill the gap between the supporting seat 105 and the target carrier 5 in the process of taking and returning the target article 4, and the falling of the target article 4 can be effectively avoided.

Fig. 19 is a schematic structural view of the third limiting member and the following tray in the object taking device provided in the embodiment of the present application, and fig. 20 is a schematic structural view of the third limiting member and the following tray in the object taking device provided in the embodiment of the present application.

In further alternative examples of embodiments of the present application, referring to fig. 14, 19 and 20, the object handling device 1 further comprises a third stop 115. Specifically, in the embodiment of the present application, the third limiting member 115 may be specifically disposed on the supporting seat 105, and the third limiting member 115 is located at the front end of the following tray 114.

It should be noted that, referring to fig. 14, in the embodiment of the present application, the third limiting member 115 may be specifically disposed at the edge of the front end of the supporting seat 105; the front end of the support base 105 may specifically be the end of the support base 105 facing the target carrier 5 when the object taking device 1 takes the target object 4.

Specifically, in the embodiment of the present application, referring to fig. 19, the third limiting member 115 has a first state in which at least a portion of the third limiting member 115 extends out of the supporting surface 1142 of the follower tray 114. It will be appreciated that referring to fig. 12, the support surface 1142 of the follow-up tray 114 may specifically refer to a surface of the follow-up tray 114 that supports the target object 4. In some specific examples, the support surface 1142 may also refer to a surface of the follower tray 114 facing away from the support base 105. That is, in the embodiment of the present application, at least part of the third limiting member 115 extends along a surface perpendicular to the supporting seat 105, and at least part of the third limiting member 115 protrudes from the supporting surface 1142 of the following tray 114. Thus, when the target object 4 or the container is present on the follow-up pallet 114, the portion of the third limiting member 115 protruding from the supporting surface 1142 can limit or block the target object 4 on the follow-up pallet 114.

Referring to fig. 20, the third limiting member 115 further has a second state, in which the third limiting member 115 is integrally located between the following tray 114 and the supporting seat 105, that is, in a specific application, when the following tray 114 extends out of the supporting seat 105 under the action of the elastic component 140, the third limiting member 115 is switched from the first state to the second state, so that the third limiting member 115 can be effectively prevented from affecting or blocking the movement of the following tray 114, and the movement of the following tray 114 is facilitated.

In an alternative example of the embodiment of the present application, the third limiting member 115 may be specifically rotatably connected to the supporting seat 105, and when the third limiting member 115 is switched from the first state to the second state, the third limiting member 115 rotates from being perpendicular to the surface of the supporting seat 105 to being parallel to the surface of the supporting seat 105; when the third limiting member 115 is switched from the second state to the first state, the third limiting member 115 may rotate from being parallel to the surface of the supporting seat 105 to being perpendicular to the surface of the supporting seat 105.

In some possible examples, the third limiting member 115 may be rotated by a motor, for example, when the following tray 114 needs to be extended, it may be determined that the following tray 114 does not support the target object 4 or the container, at this time, the third limiting member 115 may be driven by the motor to switch to the second state (that is, the third limiting member 115 is parallel to the supporting seat 105), and then the first driving structure 111 drives the moving seat 102 to move, so that the following tray 114 extends out of the supporting seat 105. When the follow-up tray 114 returns to the initial position, the motor drives the third limiting member 115 to switch to the first state.

In yet other alternative examples of embodiments of the present application, with continued reference to fig. 19 and 20, the third stop 115 includes a first portion 1151 and a second portion 1152 that are angled. It should be noted that, in the embodiment of the present application, the first portion 1151 and the second portion 1152 may be specifically formed as an integrally formed structure; of course, in some examples, the first portion 1151 and the second portion 1152 may also be integrally connected by welding. Wherein the first portion 1151 and the second portion 1152 are at an angle, which means that the first portion 1151 and the second portion 1152 are not parallel; in some specific examples, the included angle between the first portion 1151 and the second portion 1152 may be an acute angle, a right angle, or an obtuse angle. As a specific example of an embodiment of the present application, referring to fig. 17 and 18, the angle between the first portion 1151 and the second portion 1152 may be a right angle or approximately a right angle.

In a specific arrangement, the connection between the first portion 1151 and the second portion 1152 is rotatably connected to the supporting seat 105, so that a space occupied by a side of the third limiting member 115 facing the supporting seat 105 during rotation can be effectively reduced, and rotation of the third limiting member 115 is facilitated. Referring to fig. 19 and 20, in the embodiment of the present application, the second portion 1152 is located between the first portion 1151 and a front end of the support base 105, that is, the second portion 1152 is connected to a side of the first portion 1151 facing the front end of the support base 105, and the first portion 1151 is located between the follower tray 114 and the support base 105, in other words, the first portion 1151 is located at a bottom of the follower tray 114.

It will be appreciated that, referring to fig. 19, when the third stopper 115 is in the first state (i.e., when the follower tray 114 is in the initial position), the second portion 1152 is located at the front end of the follower tray 114, and the first portion 1151 is located at the bottom of the follower tray 114; in addition, referring to fig. 19, the front end of the follower tray 114 is provided with an abutting member 1143, the abutting member 1143 is located between the follower tray 114 and the supporting base 105, and the abutting member 1143 is disposed between the first portion 1151 and the second portion 1152; referring to fig. 19, when the third limiting member 115 is in the first state, the abutting member 1143 may contact (e.g., directly contact or indirectly contact) the first portion 1151, so as to lock the third limiting member 115 in the first state, that is, when the target object 4 or the container is supported on the follower tray 114, the position of the follower tray 114 remains unchanged, and at this time, the abutting member 1143 abuts against the first portion 1151, so that the third limiting member 115 cannot rotate with the supporting seat 105, thereby ensuring that the second portion 1152 limits the target object 4 or the container on the follower tray 114.

It will be further appreciated that, in the embodiment of the present application, when the front end of the follower tray 114 extends out of the supporting seat 105 (i.e. when the position of the follower tray 114 is switched from the initial position to the end position), the abutting member 1143 pushes the second portion 1152 (the abutting member 1143 may directly contact the second portion 1152 to push the second portion 1152, or indirectly contact the second portion 1152 to push the second portion 1152), so that the third limiting member 115 rotates relative to the supporting seat 105, i.e. the third limiting member 115 is switched from the first state to the second state.

With continued reference to fig. 20, in the embodiment of the present application, when the third limiting member 115 is in the second state, the distance between the second portion 1152 and the supporting surface 1142 of the follower tray 114 may be greater than or equal to the length of the first portion 1151, so as to ensure smooth rotation of the first portion 1151 when the third limiting member 115 is switched from the first state to the second state.

In this embodiment, the third limiting member 115 is configured to include a first portion 1151 and a second portion 1152 that form a certain included angle, and an abutting member 1143 is disposed at a front end of the follower tray 114, where the abutting member 1143 is disposed between the first portion 1151 and the second portion 1152; in this way, during the process of switching the following tray 114 from the initial position to the final position, the abutting member 1143 may push the second portion 1152, so that the third limiting member 115 rotates on the supporting base 105 around the connection between the first portion 1151 and the second portion 1152, so as to facilitate the switching of the third limiting member 115 from the first state to the second state. In addition, when the follower tray 114 is switched from the end position to the initial position, the abutting member 1143 pushes the first portion 1151, so that the third limiting member 115 is switched from the second state to the first state, so as to facilitate limiting the target article 4 or the container supported on the follower tray 114, and avoid the falling of the target article 4.

It will be appreciated that with reference to fig. 19, when the target object 4 or container is supported on the follower tray 114, as the target object 4 applies a force to the second portion 1152, the third stop member 115 is maintained in the first state and acts as a stop for the target object 4 or container due to the interference force applied by the interference member 1143 to the first portion 1151.

In some alternative examples of embodiments of the present application, the rotational connection of the third stop 115 to the support base 105 may be a damped rotational connection; that is, when the position of the follower tray 114 is switched from the initial position to the end position, after the third stopper 115 is switched from the first state (see fig. 19) to the second state (see fig. 20), the position of the follower tray 114 may not yet reach the end position, that is, the follower tray 114 may continue to move, in which case the rotation of the third stopper 115 and the support base 105 is set to a damped rotation, so that the state of the third stopper 115 may be maintained at the angle of the second state shown in fig. 20, that is, the second portion 1152 may be maintained parallel to the surface of the support base 105; in this way, when the follower push plate is switched from the end position to the initial position, the influence of the second portion 1152 on the abutting member 1143 can be effectively avoided, so that the position switching of the follower push plate and the state switching of the third limiting member 115 are facilitated.

It will also be appreciated that referring to fig. 20, a reinforcing rib is generally disposed at the bottom of the follower tray 114, and in this embodiment, when the third limiting member 115 is in the second state, a gap is formed between the first portion 1151 and the bottom of the follower tray 114, where the gap is greater than or equal to a distance that the reinforcing rib protrudes from the bottom of the follower tray 114; in addition, it is also appreciated that the gap between the first portion 1151 and the bottom of the follower tray 114 is less than the distance that the interference 1143 protrudes from the bottom of the follower tray 114.

In other alternative examples of the embodiment of the present application, with continued reference to fig. 19 and 20, the first portion 1151 is provided with a first roller 11511 that is rotatable about its own axis, and a circumferential surface of the first roller 11511 is disposed toward the abutting member 1143; in some specific examples, the first roller 11511 may be disposed at an end of the first portion 1151 opposite the second portion 1152, or the first roller 11511 may be understood to be disposed at an end of the first portion 1151. In this way, in the process of switching the following tray 114 from the end position to the initial position, the abutting member 1143 pushes the first portion 1151 through the first roller 11511, so that the third limiting member 115 rotates, that is, the surface-to-surface contact between the abutting member 1143 and the first portion 1151 is converted into the surface-to-line contact between the abutting member 1143 and the first roller 11511, so that the friction force received by the abutting member 1143 can be effectively reduced, and the position of the following tray 114 is convenient to switch.

It will be appreciated that in some specific examples of embodiments of the present application, referring to fig. 19 and 20, the side of the interference member 1143 facing the first portion 1151 has a guiding inclined surface 11432, and the guiding inclined surface 11432 is inclined toward the supporting seat 105; thus, during the process of switching the follower tray 114 from the end position to the initial position (for example, when moving in the direction shown by the x-axis in fig. 20), the guiding slope 11432 may provide a component force perpendicular to the follower tray 114 (for example, a component force in the direction shown by the z-axis in fig. 20) to the first portion 1151 by the first roller 11511, or it may be understood that the pushing force of the guiding slope 11432 to the first roller 11511 causes the first portion 1151 to form a rotation moment at the rotation connection with the supporting base 105, so that the third stopper 115 rotates in the direction shown by the arc arrow a in fig. 20, that is, the third stopper 115 is switched from the second state to the first state.

In addition, it is further understood that in the embodiment of the present application, the first roller 11511 and the first portion 1151 may be specifically rotatably connected, so that the surface-line sliding friction between the guiding inclined plane 11432 and the first roller 11511 is converted into rolling friction, thereby reducing the friction force between the guiding inclined plane 11432 and the first roller 11511 and improving the smoothness of the position switching of the follow-up tray 114.

In alternative examples of embodiments of the present application, with continued reference to fig. 19 and 20, the interference member 1143 is provided with a second roller 11431 rotatable about its own axis; in a particular arrangement, the circumferential surface of the second roller 11431 faces the second portion 1152. Referring to fig. 19, when the position of the follower tray 114 is switched from the initial position to the final position (for example, when the follower tray 114 moves in the direction indicated by the x-axis in fig. 20), the second roller 11431 abuts against the second portion 1152 and applies a pushing force to the second portion 1152, so that the second portion 1152 forms a rotational moment at the rotational connection with the support base 105, and the third stopper 115 rotates in the direction indicated by the arc arrow b in fig. 19 (i.e., the third stopper 115 is switched from the first state to the second state).

In this embodiment, the second portion 1152 is pushed by the second roller 11431, so that friction between the abutting member 1143 and the second portion 1152 can be effectively reduced, and smoothness of position switching of the follow-up tray 114 is improved. It is also understood that the second roller 11431 may be rotatably coupled to the interference member 1143.

In other alternative examples of embodiments of the present application, referring to fig. 14, the object taking device 1 further includes: two guide strips 116. In this embodiment, the two guide strips 116 may be disposed on two sides of the follower tray 114, for example, in an arrangement direction (also referred to as a third direction) of the two guide strips 116, where the third direction is parallel to the surface of the support base 105 and intersects with a moving direction of the fetching assembly 103, for example, a first direction, and the third direction is perpendicular to the first direction. That is, one of the guide bars 116 may be provided on one side of the follower tray 114 and the other guide bar 116 may be provided on the other side of the follower tray 114 in the third direction (which may be specifically the direction shown by the y-axis in fig. 14).

In some specific examples of embodiments of the present application, the guide bar 116 may be specifically fixedly disposed on the support base 105, and of course, in other alternative examples of embodiments of the present application, the guide bar 116 may be disposed on the follower tray 114 and move with the follower tray 114. Wherein, one side of the guiding strip 116 facing away from the supporting seat 105 protrudes out of the surface of the follow-up tray 114; in this way, when the following tray 114 carries the target article 4 or the container, the guide strip 116 can limit the target article 4 or the container to the following tray 114, that is, can avoid the target article 4 on the following tray 114 from moving along the third direction, so that the stability of the target article 4 on the article taking device 1 is improved when the article taking device 1 takes and transfers the target article 4.

With continued reference to fig. 14, in other alternative examples of the embodiment of the present application, the front ends of the opposite sides of the two guide bars 116 are formed with inclined planes, that is, in the embodiment of the present application, the inlet and outlet (or may also be referred to as the inlet and outlet ends of the target article 4) of the article taking device 1 are formed into a flared shape (or may be understood as a flared structure) along the first direction, so that the guide bars 116 can be prevented from obstructing the movement of the target article 4, so that the taking of the target article 4 is facilitated, and the taking efficiency of the article taking device 1 on the target article 4 is improved.

In other alternative examples of the embodiment of the present application, referring to fig. 14, a first rail 117 is further provided on the support base 105, the first rail 117 extending in the first direction, and a first slider (not shown) is provided on the movable base 102, and the first slider is slidably connected to the first rail 117.

It can be appreciated that, in the embodiment of the present application, the arrangement manner of the first rail 117 may be specifically the same as or similar to the arrangement manner of the second rail 118 in the previous embodiment of the present application, and specific reference may be made to the detailed description of the second rail 118 in the previous embodiment of the present application, which is not repeated herein.

It is further understood that in the embodiment of the present application, two first guide rails 117 may be provided, and the two first guide rails 117 are arranged at intervals along the second direction; thus, the stability of the movable seat 102 during movement can be effectively improved.

Referring to fig. 21, in other examples of embodiments of the present application, the retrieval assembly 103 includes a mounting plate 1031 and a suction cup 1032, i.e., the force providing member may be the suction cup 1032.

Specifically, in the embodiment of the present application, the mounting plate 1031 is connected to the second end 1092 of the telescopic structure 109, where it is understood that in the embodiment of the present application, the mounting plate 1031 may be specifically connected to the movable base 102 through the telescopic structure 109. In a specific arrangement, referring to fig. 21, in the embodiment of the present application, the suction cup 1032 is disposed on the mounting plate 1031, a channel is formed on the mounting plate 1031, one end of the channel is communicated with the cavity of the suction cup 1032, and the other end of the channel is used for being communicated with the air source device 1033. As a specific example, in an embodiment of the present application, the gas source device 1033 may be a vacuum pump. Referring to fig. 1, the gas source apparatus 1033 may be specifically disposed on the support base 105.

Specifically, the channel on the mounting board 1031 may be formed by punching or slotting the mounting board 1031, and the other end of the channel may specifically be communicated with the air source device 1033 through a vacuum tube, so that when the air source device 1033 operates, the air source device 1033 reduces the pressure in the channel and the inner cavity of the suction cup 1032 through the vacuum tube, so that the external atmospheric pressure presses and adsorbs the target object 4 to be transferred on the suction cup 1032.

In some possible examples, the air source device 1033 may specifically be an air source device 1033 capable of rotating in a forward direction and in a reverse direction, for example, when the air source device 1033 rotates in a forward direction, the vacuum tube is used for sucking the channel and the cavity of the suction cup 1032, so as to reduce the pressure in the cavity of the suction cup 1032, and facilitate the suction of the target object 4 to be transferred; when the air supply device 1033 is reversed, the air supply device 1033 inflates the channel and the cavity of the suction cup 1032 through the vacuum tube, thereby releasing the suction of the suction cup 1032 against the target object 4 and facilitating the removal of the target object 4 from the suction cup 1032.

It will be further appreciated that in some alternative examples of embodiments of the present application, the vacuum tube may be further provided with a solenoid valve, a vacuum pressure gauge, etc., where the solenoid valve is used to switch off the vacuum tube through the solenoid valve when the suction cup 1032 provides sufficient suction to the target object 4 (for example, when the pressure gauge detects that the pressure in the channel or the vacuum tube reaches a preset negative pressure value), so that the negative pressure in the cavity of the suction cup 1032 is maintained, avoiding long-term operation of the vacuum pump, and effectively saving energy consumption.

In other examples, the retrieval assembly 103 may include a claw structure, i.e., the force providing member may be a claw structure for hooking the target article 4.

In some examples, the hook structure may be a hook, while a slot into which the hook is inserted may be provided on the front face of the target article, such as a container, and when the container is retrieved, the hook may be inserted into the slot to connect with the front face of the container and provide a force to carry the container.

In other examples, the finger structure may be a double-axis or multi-axis jaw, and a through hole is provided in the front end of the container for the jaw to insert; when the container is taken back, the clamping jaw is controlled to be in a clamping state and is inserted into the through hole; and then the clamping jaw is opened, so that the outer side wall of the clamping jaw is contacted with the inner wall of the through hole, and the container is carried by friction force between the outer side wall of the clamping jaw and the inner wall of the through hole. It will be appreciated that in some possible examples barbs may also be provided on the outer side walls of the jaws so that they may be hooked over the edges of the inner walls of the container to ensure that the jaw mechanism provides adequate transport capacity when the container is being transported.

With continued reference to fig. 21, in some alternative examples of embodiments of the present application, the bottom of the pick up assembly 103 is provided with a support 1034, such as the bottom of the mounting plate 1031 is provided with a support 1034. Specifically, the support 1034 is fixedly coupled to the mounting plate 1031. The bottom of the mounting plate 1031 may specifically refer to a side of the mounting plate 1031 facing the support base 105. Thus, as shown in fig. 8, in the process that the second driving structure 110 drives the fetching assembly 103 to move through the telescopic structure 109 (for example, in the process that the fetching assembly 103 moves the target object 4), the supporting member 1034 may be supported on the surface of the target carrier 5, so as to perform a better supporting function on the telescopic structure 109 and the fetching assembly 103, so that the situation that damage is possibly caused to the telescopic structure 109 under the condition that the weight of the target object 4 is heavy is avoided, and the telescopic structure 109 can be effectively protected.

It is understood that the supporting member 1034 may be disposed at other positions of the fetching assembly 103, such as the bottom of the suction cup 1032 or the hook structure, and the embodiment of the present application does not limit the disposed position of the supporting member 1034, as long as the supporting member 1034 can be supported on the surface of the target carrier 5 when the fetching assembly 103 moves into the target carrier 5.

As a specific example of the embodiment of the present application, referring to fig. 21, the support 1034 may be specifically a third roller or turning roller rotatably connected with the bottom of the support 1034. In this way, the friction force applied to the support 1034 during the surface movement of the target carrier 5 can be effectively reduced, and the surface of the target carrier 5 can be well protected.

In this embodiment of the present application, through setting up support member 1034 in the bottom of mounting panel 1031, when getting article subassembly 103 stretches out and moves to on the target carrier 5, support member 1034 and the surface contact of target carrier 5 to play the supporting role to getting article subassembly 103, like this, can prevent to get article subassembly 103 because the condition that takes place the sagging (also called the low head in some examples) takes place when the telescopic link 109 flexible distance is longer takes place, guaranteed to get article subassembly 103 and got the accuracy of contact position when taking to target article 4.

In some optional examples of the embodiments of the present application, referring to fig. 1, the object taking device 1 may further include a two-dimensional code camera, where the two-dimensional code camera may be specifically configured to identify a two-dimensional code of the target carrier 5, so as to accurately determine a specific object taking operation object of the current object taking device 1.

It can be appreciated that in the embodiment of the present application, the two-dimensional code camera may be specifically disposed at the front end of the supporting seat 105 and located below the moving seat 102. In some possible examples, the two-dimensional code camera may also be disposed above the pick-up assembly 103, such as above the mounting plate 1031 in the previous embodiments of the application.

It may be further understood that, referring to fig. 1, in this embodiment of the present application, a controller may be further disposed on the support base 105, where the controller may be a central processing unit (Central Processing Unit, abbreviated as CPU), a micro control unit (Microcontroller Unit, abbreviated as MCU), a field programmable gate array (Field Programmable Gate Array, abbreviated as FPGA), or a programmable logic controller (Programmable Logic Controller, abbreviated as PLC), etc. It will be appreciated that in the embodiments of the present application, the types of controllers are only shown as some specific examples, and in some possible examples, the controllers may also be other types of controllers, which are not listed in the embodiments of the present application. The controller may be specifically configured to control the two-dimensional code camera, and of course, the controller may also control the first driving member 1111 and the second driving member 1101 in the foregoing embodiments of the present application.

For example, the target carrier 5 may have a multi-layered target cargo space, wherein the two-dimensional code may be provided on a front end beam of each layered target cargo space, for example, in the middle of the beam.

In the embodiment of the application, in the process that the object taking device 1 moves to the target carrier 5 according to the target position information issued by the upper computer and moves to the target position, the two-dimensional code corresponding to the target cargo space can be identified through the two-dimensional code camera; thereby determining whether the target carrier 5 reaches the cargo space height corresponding to the target cargo space.

Generally, the object taking device 1 may be disposed on a gantry 3 of the handling robot, when the handling robot moves to a designated position, a driving structure on the gantry 3 adjusts the height of the object taking device 1 through, for example, a transmission chain, it may be understood that a certain fit clearance exists between a driving wheel and the chain, that is, the actual driving height of the driving structure to the object taking device 1 may be smaller than the cargo space height of the target cargo space, after the two-dimensional code camera scans the two-dimensional code of the corresponding target cargo space, the controller may determine the actual cargo space height of the target cargo space according to the corresponding two-dimensional code, and then compare the actual cargo space height with the recording height (that is, the running height of the object taking device 1) rotated by a motor encoder of the driving structure on the gantry 3, so as to adjust the height of the object taking device 1, so that the height of the object taking device 1 is aligned with the height of the target cargo space (herein may be within a preset range).

In some examples, the object retrieval device 1 may further comprise a depth camera, which may be provided on the support base 105 or the mobile base 102. In this embodiment of the present application, the controller may further determine an offset distance between the fetching component 103 and the target cargo space according to a captured image of the target cargo space by the depth camera.

In the embodiment of the application, the controller can compare the image shot by the depth camera with the standard image so as to determine the offset distance; in this way, the offset distance between the fetching component 103 and the target cargo space is conveniently kept within the preset distance range, the fetching component 103 is conveniently aligned with the target cargo space, and the stability of fetching the target object 4 on the target cargo space can be improved. For example, the controller may control the translation assembly 104 to operate based on the offset distance such that the translation assembly 104 drives the pick up assembly 103 to translate, for example, in a second direction to reduce the offset distance of the pick up assembly 103 relative to the target cargo space to move the pick up assembly 103 to a designated position of the target carrier 5.

In other alternative examples of embodiments of the present application, the support base 105 is further provided with a first sensor 120 (shown with reference to fig. 8), and the first sensor 120 may be specifically configured to detect the position of the mobile base 102 and the pickup assembly 103. That is, in the embodiment of the present application, when the mobile seat 102 and the fetching assembly 103 are at the initial positions, the first sensor 120 triggers and generates a first trigger signal; the controller may determine that the mobile station 102 and the retrieval assembly 103 are in an initial position based on the first trigger signal. As a specific example, the first sensor 120 may be a contact switch or a magnetic switch.

It should be understood that, in the embodiment of the present application, only the first sensor 120 is disposed on the supporting seat 105 as a specific example, and in some examples, the first sensor 120 may also be disposed on, for example, the moving seat 102, or may also be disposed at another position, which is not described herein in detail.

In this embodiment, whether the movable seat 102 and the fetching assembly 103 are at the initial positions or not is detected by the first sensor 120, so that whether the movable seat 102 and the fetching assembly 103 move in place or not can be accurately determined when the movable seat is reset, and the controller is convenient to accurately control the stopping operation of the first driving member 1111 and the second driving member 1101. In addition, the first sensor 120 detects whether the movable seat 102 and the fetching assembly 103 are at the initial position, so as to determine the distance that the fetching assembly 103 needs to move towards the target cargo space during the process of fetching and returning the target object 4.

For example, in some examples, the distance between the retrieval assembly 103 and the front end of the support base 105, generally, the distance between the retrieval assembly 103 and the front end of the support base 105 when the retrieval assembly 103 and the mobile base 102 are in the initial position, may be a determined distance (which may be referred to as a second distance in some examples).

In other examples, it may be convenient to determine the distance between the pickup assembly 103 and the front end of the support base 105 by determining whether the pickup assembly 103 is in the initial position based on the first zero signal of the motor encoder of the first drive structure 111 and the second zero signal of the motor encoder of the second drive structure 110.

In another alternative example of the embodiment of the present application, with continued reference to fig. 8, the object picking device 1 further includes a second sensor 130, where the second sensor 130 may be disposed on the support base 105, and the second sensor 130 is configured to detect whether the object picking assembly 103 in the initial position has the target object 4 thereon.

For example, in the fetching process of the fetching device 1, when the fetching component 103 fetches the target article 4 from the target cargo space, and in the process of backing up onto the supporting seat 105 under the driving of the moving seat 102 and/or the telescopic structure 109, the situation that the target article 4 is separated from the fetching component 103 may occur due to unstable acting force of the fetching component 103, so that when the fetching component 103 finally backs up to the initial position, the target article 4 is not backing up to the position, thus the target article 4 is very easy to fall from the front end of the supporting seat 105 in the process of moving the handling robot in the warehouse system, or the problem that the action time between the fetching component 103 and the target article 4 is uncontrollable when the handling robot unloads at the workstation may occur.

Based on this, by providing the second sensor 130, when the picking assembly 103 is retracted to the initial position, and when the picking assembly 103 has the target object 4 thereon, the second sensor 130 may send a second trigger signal to the controller, and the controller determines that the picking assembly 103 has the target object 4 when it is in the initial position according to the second trigger signal of the second sensor 130. On the contrary, when the fetching component 103 is retracted to the initial position, the controller does not receive the second trigger signal of the second sensor 130, and determines that the fetching component 103 is at the initial position, the fetching component 103 does not carry the target article 4, so that it can be timely found that the target article 4 is not retracted to the initial position.

When the picking assembly 103 is retracted to the initial position, the controller may control the first driving structure 111 and/or the second driving structure 110 to operate (e.g. forward driving) again when the picking assembly 103 does not carry the target object 4 on the picking assembly 103, i.e. the controller does not receive the second trigger signal, so that the picking assembly 103 is driven by the moving base 102 and/or the telescopic structure 109 to move forward along the first direction (e.g. forward direction in the x direction in fig. 3), until the controller receives the second trigger signal, and controls the picking assembly 103 to act on the front end surface of the target object 4, and then the controller controls the first driving structure 111 and/or the second driving structure 110 to operate (e.g. reverse driving) again, so that the picking assembly 103 is driven by the moving base 102 and/or the telescopic structure 109 to move backward along the first direction (e.g. reverse direction in the x direction in fig. 3), until the picking assembly 103 carries the target object 4 to the initial position.

Through the arrangement of the second sensor 130, the situation that the target object 4 does not fall back to the initial position can be timely found, so that the first driving structure 111 and/or the second driving structure 110 can timely control the object taking assembly 103 to move to the target object 4 again, the target object 4 is brought back to the initial position, the problem that the target object 4 is very easy to fall from the front end of the supporting seat 105 in the moving process of the transfer robot in the warehouse system, or the problem that the action time between the object taking assembly 103 and the target object 4 is uncontrollable when the transfer robot unloads at a workstation can be caused.

As a specific example, in the embodiment of the present application, the second sensor 130 may also be a contact switch or a magnetic switch. Specifically, in the embodiment of the present application, the second sensor 130 operates in the same or similar manner to the first sensor 120, and reference may be made specifically to the detailed description of the previous embodiment of the present application with respect to the first sensor 120.

It will be appreciated that in the embodiment of the present application, the second sensor 130 may be disposed at other positions, and in the embodiment of the present application, only the second sensor 130 is disposed on the support base 105 is illustrated as an example.

In another alternative example of the embodiment of the present application, the object picking device 1 may further include a third sensor (not shown in the figure), in some examples, the third sensor may be disposed on the support base 105, specifically, the third sensor may be an infrared sensor or an ultrasonic sensor, and the third sensor is used to detect the target object 4 on the target carrier 5, for example, the controller determines whether the target object 4 exists on the cargo space of the target carrier 5 to be picked according to the third trigger signal of the third sensor.

In other optional examples of embodiments of the present application, referring to fig. 14, the object picking apparatus 1 may further include a fourth sensor 1035, referring to fig. 21, the fourth sensor 1035 may be disposed on the object picking assembly 103, and the fourth sensor 1035 may be used to detect a position state between the target object 4 and the object picking assembly 103. For example, the controller determines a positional state between the target item 4 and the retrieval assembly 103 based on a fourth trigger signal from a fourth sensor 1035.

Wherein, the position state may include that the distance between the fetching component 103 and the target object 4 is smaller than or equal to the fifth preset distance in the process of moving towards the target cargo space. In addition, the position state may further include that the distance between the picking assembly 103 and the target object 4 is smaller than or equal to the sixth preset distance during the retracting process of the picking assembly into the supporting seat 105.

For example, the controller may control the pickup assembly 103 to approach the target item 4 at the first predetermined speed when the distance from the target item 4 during the movement of the pickup assembly 103 to the target cargo space is less than or equal to the fifth predetermined distance. In some examples, the first preset speed is smaller than the second preset speed, and the second preset speed is the movement speed of the fetching assembly 103 when the distance between the fetching assembly and the target object 4 is larger than the fifth preset distance, so that the fetching assembly 103 can be ensured to slowly approach the target object 4 until contacting the target object 4 when moving near the target object 4, the target object 4 is prevented from backing, and even falling from the target goods space, and the safety of fetching is ensured.

For another example, when the distance between the object taking component 103 and the target object 4 is smaller than or equal to the sixth preset distance in the process of retracting the object taking component 103 into the supporting seat 105, it is determined that the object taking component 103 has the target object 4, that is, the object taking component 103 is not separated from the target object 4, so that the object taking component 103 is ensured to smoothly reach the initial position with the target object 4. In some examples, the fifth preset distance is greater than the sixth preset distance. It is appreciated that the fourth sensor 1035 may trigger the fourth trigger signal when the distance between the picking assembly 103 and the target object 4 is less than or equal to the fifth preset distance or the sixth preset distance, whereas the fourth sensor 1035 may not trigger the fourth trigger signal when the distance between the picking assembly 103 and the target object 4 is greater than the fifth preset distance or the sixth preset distance. Thus, when the controller receives the fourth trigger signal of the fourth sensor 1035, it is determined that the distance between the fetching assembly 103 and the target object 4 is smaller than or equal to the fifth preset distance or the sixth preset distance, and when the controller does not receive the fourth trigger signal of the fourth sensor 1035, it is determined that the distance between the fetching assembly 103 and the target object 4 is larger than the fifth preset distance or the sixth preset distance.

For example, when the controller does not receive the fourth trigger signal of the fourth sensor 1035 during the retraction of the object picking assembly 103 into the supporting seat 105, and determines that the distance between the object picking assembly 103 and the object picking assembly 4 is greater than the sixth preset distance, and determines that the object picking assembly 103 is separated from the object picking assembly 4, the driving mechanism 10, such as the first driving structure 111 and/or the second driving structure 110, may drive the object picking assembly 103 to move toward the object picking assembly 4 until the object picking assembly 103 contacts the object picking assembly 4, and then control the object picking assembly 103 to retract with the object picking assembly 4 again until the initial position is reached.

In some specific examples, the fourth sensor 1035 may specifically be any one of a contact switch, an infrared sensor, or an ultrasonic sensor, and the fourth sensor 1035 may also be a magnetic sensor (e.g., a hall switch).

In some examples, during fetching or returning of the fetching assembly 103, in order to determine the moving distance of the fetching assembly 103 towards the target cargo space, the moving distance of the fetching assembly 103 towards the target cargo space may be determined by a motor encoder of the driving structure, such as the first driving structure 111, and a motor encoder of the second driving structure 110, wherein a gear in the motor encoder is determined by a motor rotation speed and a rotation time, and the gear of the motor encoder determines the moving distance of the motor driving the telescopic structure 109 and/or the moving seat 102. For example, the motor encoder of the first driving structure 111 may detect the moving distance of the moving seat 102, and the second driving structure 110 may detect the moving distance of the power shaft of the telescopic structure 109, so as to determine the moving distance of the fetching assembly 103.

In still other examples, the retrieval device 1 may further include a detection structure configured to detect a distance traveled by the retrieval assembly 103 toward the target cargo space to determine the location of the retrieval assembly 103 in real-time. For example, the position of the pickup assembly 103 relative to the base 101 may be determined based on the distance the pickup assembly 103 moves toward the target cargo space, the initial position of the pickup assembly 103 relative to the base 101. For example, the controller is configured to determine the position of the pickup assembly 103 based on the distance of movement of the pickup assembly 103 toward the target cargo space as detected by the detection structure. It will be appreciated that this distance of movement refers to the distance that the pick up assembly 103 extends relative to the initial position on the base 101, i.e., the distance between the current position of the pick up assembly 103 and the initial position. The initial position is a position of the picking assembly 103 on the base 101 when the picking device 1 has not picked up a return object.

The detection structure may include, but is not limited to, any one of a wire-drawing encoder, a laser ranging sensor, an ultrasonic sensor, and a millimeter wave sensor.

Taking the detection structure as an example of a pull wire encoder, when the pull wire encoder is installed, one end of a pull wire of the pull wire encoder can be fixed on the base 101 (for example, can be directly fixed on the base 101 or can be fixed on the supporting seat 105, namely, can be fixed on the base 101 through the supporting seat 105), for example, one end of a pull wire of the pull wire encoder can be arranged at the rear end (one end facing away from a target cargo space) of the base 101, and the other end of the pull wire encoder is fixed on the fetching assembly 103, so when the fetching assembly 103 stretches out or withdraws, the pull wire of the pull wire encoder stretches out or withdraws along with the pull wire, and the moving distance of the fetching assembly 103 towards the target cargo space can be accurately fed back through the length of the pull wire, so that the stretching precision is controlled.

The following describes a process of picking up the target article 4 of the object picking apparatus 1 provided in the embodiment of the present application, respectively.

The material taking process comprises the following steps:

firstly, the object taking device 1 can be driven by a transfer robot to move, for example, an upper computer can send order information to the transfer robot, and the transfer robot moves to a corresponding target carrier 5 according to the order information; or, the upper computer may determine the position of the corresponding target carrier 5 according to the order information, send the corresponding position information to the transfer robot, and move the transfer robot according to the corresponding position information to drive the object taking device 1 to move to the corresponding position.

Generally, referring to fig. 1, the target carrier 5 has multiple levels of cargo space, each of which may store a plurality of target items 4 (e.g., a container or bin as shown in fig. 20). The object taking device 1 is usually arranged on a portal 3 of the transfer robot and can move up and down along the portal 3; after the transfer robot moves to the target carrier 5, the object pickup device 1 moves up and down along the portal 3, thereby reaching the corresponding cargo space height of the target object 4.

Illustratively, the end face of each layer of cargo space is provided with a two-dimensional code, and the two-dimensional code can record the actual height of the current cargo space. When the driving structure on the gantry 3 drives the object taking device 1 to move up and down, the ascending height of the object taking device 1 can be detected and recorded by, for example, a motor encoder, etc., and in this embodiment, the controller compares the ascending height of the object taking device 1 with the cargo space height corresponding to the two-dimensional code, so as to determine a possible deviation (mainly from the fit clearance of the driving structure) between the object taking device 1 and the target cargo space in the height direction. At this time, the height of the object taking device 1 may be adjusted according to the comparison result, so that the height of the object taking device 1 is the same as the height of the target cargo space.

In some examples, the image corresponding to the target carrier 5 may be captured by the depth camera, and the image captured by the depth camera is analyzed by the controller, so as to determine the deflection condition of the supporting seat 105 or the fetching assembly 103 relative to the target cargo space, so that the fetching assembly 103 is convenient to face the target cargo space, and the effectiveness and accuracy of fetching are ensured. For example, the controller may control the translation assembly 104 to operate based on the offset distance such that the translation assembly 104 drives the pick up assembly 103 to translate, for example, in a second direction to reduce the offset distance of the pick up assembly 103 relative to the target cargo space to move the pick up assembly 103 to a designated position of the target carrier 5.

Generally, in the process that the object taking device 1 walks under the drive of the carrying robot, the carrying robot walks along a planned path of the ground according to the position information issued by the upper computer and recognizes the ground mark; thereby determining the position of the target carrier 5 by means of the ground identification. After the transfer robot moves to the designated position according to the position information issued by the upper computer, a first distance is provided between the front end of the support base 105 of the object taking device 1 and the front end surface of the target carrier 5.

Subsequently, the controller may issue a first trigger signal to the first sensor 120 to determine whether the pickup assembly 103 and the mobile station 102 are in the initial position; for example, when the first sensor 120 sends a first trigger signal, it is determined that the pickup assembly 103 and the movable base 102 are in the initial positions, so that it is convenient to determine a second distance between the pickup assembly 103 and the front end of the support base 105.

Alternatively, in some examples, it may also be determined whether the mobile seat 102 and the telescoping structure 14 are in the initial position based on a first zero signal of the drive mechanism 10, such as the first drive structure 111 motor encoder, and a second zero signal of the second drive structure 110 motor encoder, thereby determining whether the retrieval assembly 103 is in the initial position. Alternatively, the displacement of the pickup assembly 103 toward the target cargo space may be detected by a detection structure, such as a pull wire encoder, and when the displacement is zero, it may be determined that the pickup assembly 103 is in the initial position. That is, where neither the first drive 1111 nor the second drive 1101 is rotated, it may be determined that the picker assembly 103 is in the initial position. In this way, a second distance between the retrieval assembly 103 and the front end of the base 101 is readily determined.

In addition, in some examples, the controller may also determine, through the third sensor, whether the target object 4 is present on the target carrier 5, e.g., in a case where the third sensor sends a third trigger signal, the controller may determine that the target object 4 is present on the target cargo space, and may perform the fetching operation; under the condition that the third sensor does not send out a third trigger signal, proving that the target goods 4 are not present on the target goods position, or that the target goods 4 on the target goods position have certain deflection; at this time, the controller can send out alarm prompt information or report to the upper computer for timely processing.

The detection signal from the third sensor may be transmitted to the target object 4, and the target object 4 gives a feedback signal, which may be a reflected signal to the detection signal, for example.

It can be understood that, during the process of moving and extending the moving seat 102, the following tray 114 extends out of the supporting seat 105 under the action of the elastic component, and the front end abutting member 1143 of the following tray 114 pushes the third limiting member 115 to switch from the first state to the second state along with the movement of the moving seat 102; until the front end of the following tray 114 abuts against the target carrier 5, the following tray 114 stops moving, and the moving seat 102 may continue to move under the driving of the first driving member 1111.

In the process that the sucker 1032 of the fetching assembly 103 is contacted with or approaches to the bin, the fourth sensor 1035 sends out a fourth trigger signal, and the controller determines that the distance between the sucker 1032 and the target object 4 is smaller than or equal to a preset distance according to the fourth trigger signal of the fourth sensor 1035; at this time, the controller may control the first driving structure 111 and the second driving structure 110 to drive the pickup assembly 103 in a decelerating manner, so as to avoid the pickup assembly 103 from causing collision damage to the target object 4.

In some examples, the first distance, the second distance, and the third distance (the third distance may be a distance between the target cargo space and the front end of the target carrier 5, and is generally a fixed value) may determine a working distance that the pickup assembly 103 needs to move from the initial position to the target cargo space. After the pick up assembly 103 has moved a working distance towards the target cargo space, it may be determined that the pick up assembly 103 has reached the target cargo space and the suction cup 1032 is in contact with the target article 4, at which point the controller controls the air source device 1033 to activate and aspirate the interior cavity of the suction cup 1032 so that the suction cup 1032 is tightly adhered to the surface of the target article 4. For example, when the detection structure detects that the distance of movement of the pick device 103 toward the target cargo space is the working distance, it may be determined that the pick device 103 arrives at the target cargo space.

When the vacuum degree in the suction cup 1032 or the channel reaches a preset vacuum degree (the preset vacuum degree can also be a preset negative pressure, and can be determined according to the weight of the target object 4 to be carried and taken), the controller controls the first driving member 1111 and the second driving member 1101 to operate, and the object taking assembly 103 drives the target object 4 to move towards the supporting seat 105; when the target article 4 moves onto the follow-up tray 114, the target article 4 can be supported by the follow-up tray 114 (see fig. 19), and falling of the target article 4 can be effectively prevented. Along with the continuous movement of the movable seat 102, the bending part 1023 on the movable seat 102 contacts with the protruding part 1141 of the follow-up tray 114 and drives the follow-up tray 114 to move towards the supporting seat 105, and the movement of the follow-up tray 114 deforms the elastic component, so that the elastic component stores energy, and the follow-up tray 114 is driven when the following-up tray extends next time.

When the first sensor 120 detects that the movable seat 102 and the fetching assembly 103 are at the initial positions (i.e. the movable seat 102 and the fetching assembly 103 retract to the initial positions after fetching), the controller controls the first driving member 1111 to stop, and the movable seat 102 stops; and, when the second sensor 130 detects the target object 4, the object picking assembly 103 is also in the initial position, the target object 4 moves to the position, the controller controls the second driving piece 1101 to stop, and the telescopic structure 109 stops moving.

Finally, the controller controls the air source device 1033 to supply air to the suction cup 1032 in the reverse direction, thereby releasing the negative pressure between the suction cup 1032 and the target object 4 and releasing the target object 4 from the picking assembly 103. During the process that the following tray 114 returns along with the moving seat 102, the abutting piece 1143 at the front end of the following tray 114 pushes the first portion 1151 of the third limiting piece 115, so that the third limiting piece 115 switches from the second state to the first state, and limits the target object 4.

Then, the transfer robot can transfer the target article 4 to another position according to the transfer instruction issued by the host computer.

And (3) the following process:

it will be appreciated that in the embodiment of the present application, the process of returning is similar to the process of extending the movable base 102 and the picking assembly 103 out of the base 101 in the process of returning, except that the movable base 102 and the picking assembly 103 carry the target object 4 on the picking assembly 103 in the process of extending. Reference may be made specifically to the detailed description of the picking process in the foregoing embodiments of the present application, which is not repeated herein.

The embodiment of the application also provides an article handling method, which is applied to the article taking device 1 provided by any optional example of the previous embodiment of the application;

The article handling method comprises the following steps:

s1, determining the offset distance of the fetching component 103 relative to a target cargo space;

for example, the controller may determine an offset distance (i.e., a horizontal offset distance) from a captured image of the target cargo space by the depth camera. It will be appreciated that the offset distance refers to the deviation of the pick device 103 from the target cargo space in the second direction.

In other examples, the controller may also determine an offset distance (i.e., a vertical offset distance) of the pickup assembly 103 from the target cargo space based on the identification status of the two-dimensional code camera to the target cargo space two-dimensional code. It is understood that the vertical offset distance refers to the deviation of the pickup assembly 103 from the target cargo space in the height direction.

S2, the translation assembly 104 drives the fetching assembly 103 to move an offset distance relative to the target cargo space so as to enable the fetching assembly 103 to move to a specified position.

Illustratively, based on the offset distance, the controller may control the translation assembly 104 to operate, such that the translation assembly 104 drives the pick up assembly 103, such as the support base 105, to move the offset distance in the second direction, such that the deviation of the pick up assembly 103 from the target cargo space in the second direction is controlled within the allowable range, such as by the translation assembly 104 driving the pick up assembly 103, such as the support base 105, to move the offset distance in the second direction, such that the pick up assembly 103 is aligned with the target cargo space, thereby ensuring that the pick up assembly 103 can accurately reach the target cargo space when picking up the target item 4, and performing transfer docking of the target item 4.

In addition, the controller may further control the lifting device on the gantry 3 to drive the object taking device 1 to lift up and down along the gantry 3 according to the determined vertical offset distance, so as to reduce the deviation between the object taking assembly 103 and the target cargo space in the height direction until the deviation between the object taking assembly 103 and the target cargo space in the height direction is within the allowable deviation range, for example, the object taking assembly 103 may be directly moved up and down to be aligned with the target cargo space.

S3, the driving mechanism 10 drives the fetching assembly 103 to move towards the target cargo space until reaching the target cargo space.

For example, the controller may obtain a distance of movement of the pick device 103 toward the target cargo space, where the pick device 103 reaches the target cargo space with the distance of movement equal to the working distance. For example, during the process that the driving mechanism 10 drives the fetching assembly 103 to move towards the target cargo space along the first direction, the detection structure can detect the moving distance of the fetching assembly 103 towards the target cargo space in real time, when the controller obtains that the moving distance detected by the detection structure is equal to the working distance, the controller indicates that the fetching assembly 103 reaches the target cargo space, and then the controller controls the driving mechanism 10 to stop working, so that the fetching assembly 103 stops moving forwards.

In some examples, the two actions of the drive mechanism 10 driving the pick assembly 103 toward the target cargo space and the translation assembly 104 driving the pick assembly 103 relative to the target cargo space have a variety of execution sequences.

As one example, the translation assembly 104 may be used to drive the pick device 103 to move an offset distance with respect to the target cargo space, so that the pick device 103 moves to a specified position, and then the drive mechanism 10 may be used to drive the pick device 103 to move toward the target cargo space, in other words, before the drive mechanism 10 drives the pick device 103 to move toward the target cargo space, the translation assembly 104 may be used to drive the pick device 103 to a specified position of the target carrier 5, that is, the offset distance between the pick device 103 and the target cargo space in the second direction is within an allowable deviation range. In this way, the driving mechanism 10 can drive the picking assembly 103 to move along the first direction until reaching the target cargo space, without repeatedly switching the working mode of the picking assembly 103, thereby improving the working efficiency.

As another example, after determining the offset distance of the fetching assembly 103 relative to the target cargo space according to the depth camera, the controller may first control the driving mechanism 10 to operate so as to drive the fetching assembly 103 to move a preset distance towards the target cargo space, where the fetching assembly 103 is at least located outside the target carrier 5. For example, the driving mechanism 10 may move the picking assembly 103 to the front end surface of the target carrier 5, for example, a certain gap may be formed between the picking assembly 103 and the front end surface of the target carrier 5, so as to ensure that the picking assembly 103 may move along the second direction.

Next, the translation assembly 104 drives the fetching assembly 103 to move to the designated position.

When the driving mechanism 10 drives the fetching assembly 103 to move along the first direction by a preset distance, the controller can control the translation assembly 104 to work, so that the translation assembly 104 drives the fetching assembly 103 to move along the second direction, and the fetching assembly 103 reaches the designated position. For example, when the fetching assembly 103 moves to the front end face of the target carrier 5 along the first direction, the fetching assembly 103 is controlled to translate to a designated position along the second direction, so that collision with the target carrier 5 when the fetching assembly 103 deflects or interference with containers on other cargo positions after entering the target carrier 5 can be avoided.

Finally, the drive mechanism 10 drives the pick up assembly 103 toward the target cargo space until the pick up assembly 103 reaches the target cargo space.

For example, after the translation assembly 104 drives the picking assembly 103 to translate to the designated position along the second direction, the driving mechanism 10 then controls the picking assembly 103 to move along the first direction until the picking assembly 103 reaches the target cargo space, interfaces with the target object 4 on the target cargo space, or returns the target object 4 on the picking assembly 103 to the target cargo space.

As yet another example, the translation assembly 104 drives the pickup assembly 103 to move toward the target cargo space while driving the pickup assembly 103 to translate in the second direction until the pickup assembly 103 reaches the target cargo space, and the pickup assembly 103 translates to the specified position. Of course, the translation speed of the translation assembly 104 may also be controlled such that the pick device 103 is translated to a designated location before the pick device 103 reaches the target cargo space.

As can be seen from the foregoing, the execution sequence of the translation assembly 104 and the driving mechanism 10 is not limited in the embodiments of the present application, as long as the displacement distance between the object taking assembly 103 and the target cargo space is ensured to be within the allowable range before the transfer of the target object 4 with the target cargo space.

In some examples, the controller may first determine the working distance between the pickup assembly 103 and the target cargo space before the drive mechanism 10 drives the pickup assembly 103 toward the target cargo space.

In some examples, the object handling device 1 may be arranged on a chassis of the transfer robot. After receiving the carrying instruction or the designated position information issued by the upper computer, the carrying robot may move to the designated position of the target carrier 5 along the path identifier set on the ground in the warehouse system.

Here, the controller determining the working distance between the pickup assembly 103 and the target cargo space may include:

a first distance between the front end of the base 101 and the front end of the target carrier 5 is acquired. Generally, after the object picking robot moves to the target position, the mobile robot moves along the marking path of the ground, so the first distance between the front end of the base 101 and the front end of the target carrier 5 is usually a certain value, and in some examples, the first distance may be set according to the actual requirement of the storage target object.

The controller confirms the initial position of the fetching assembly 103 according to the first trigger signal of the first sensor 120 and/or the zero signal of the motor encoder of the first driving structure 111 and the zero signal of the motor encoder of the second driving structure 110, and a second distance is arranged between the initial position and the front end of the base 101.

The controller obtains a third distance between the target cargo space and the front end of the base 101. In this embodiment of the present application, the determination manners of the second distance and the third distance may refer to the detailed descriptions of the foregoing embodiments of the present application, which are not repeated herein.

The working distance is determined based on the first distance, the second distance, and the third distance. It is understood that the working distance may be the distance that the pick device 103 moves from the initial position to the target cargo space. In some examples, the working distance may be a sum of the first distance, the second distance, and the third distance.

The drive mechanism 10, for example, the first drive structure 111 and/or the second drive structure 110, then drives the pick device 103 a working distance in a first direction toward the target cargo space to reach the target cargo space.

That is, in this embodiment, the first driving structure 111 may operate to drive the fetching assembly 103; alternatively, the second driving structure 110 may be operated to drive the fetching assembly 103; in other examples, it is also possible that both the first drive structure 111 and the second drive structure 110 are operational. Reference should be made in detail to the embodiments of the present application.

It will be appreciated that in some examples the target cargo space may be deep within the target carrier 5, at which time the second drive structure 110 may advance the telescoping structure 109, e.g., the controller may first control the operation of the second drive structure 110 to move the second end 1092 of the telescoping structure 109, e.g., in a first direction, toward the target cargo space to reduce the width of the telescoping structure 109, e.g., in a second direction.

After the telescopic structure 109 drives the fetching assembly 103 to move by a preset distance, the first driving structure 111 drives the moving seat 102 to move, for example, the controller controls the first driving structure 111 to work, so that the moving seat 102 drives the telescopic structure 109 to move toward the target cargo space until the moving distance of the fetching assembly 103 is the working distance.

In this way, for the case that the width of some target objects 4 is smaller, that is, the interval between adjacent target objects on two sides of the target cargo space is narrower, the telescopic structure 109 can be moved by a first preset distance, so that the width of the telescopic structure 109 along the second direction is smaller than or equal to the width of the target cargo space, and the telescopic structure 109 is ensured to drive the fetching assembly 103 to extend into the target carrier 5, and then the moving seat 102 is moved; the size space occupied by the telescopic structure 109 in the width direction of the target object 4 can be reduced, and the accuracy of the positions of the target objects on the two adjacent sides of the target cargo space can be ensured.

For example, the telescopic structure 109 may drive the fetching assembly 103 to extend into the target carrier 5, and then the first driving structure 111 drives the moving seat 102 to move forward until the fetching assembly 103 moves to the target cargo space to dock with the target object.

S4: the transfer of the target item 4 is performed between the pick-up assembly 103 and the target cargo space.

Here, the transferring of the target object 4 may be that the fetching component 103 applies a force to the target object 4 on the target cargo space, that is, fetches the target object 4 from the target cargo space (for example, the vacuum pump may be controlled to vacuum the suction cup 1032); in some examples, it may also be that the picking assembly 103 releases the force on the target item 4, i.e. the picking assembly 103 places the target item 4 on the target cargo space.

In other examples of embodiments of the present application, the article handling method may further include:

s5: the drive mechanism 10 drives the pick up assembly 103 away from the target cargo space until an initial position of the base 101 is reached.

For example, when the controller may acquire detection information of the detection structure, and when the moving distance of the pickup assembly 103 detected by the detection structure toward the target cargo space is equal to zero, it is determined that the pickup assembly 103 is at the initial position of the base 101, the controller may control the driving mechanism 10 to stop working, so that the pickup assembly 103 stops retracting.

Illustratively, the first drive structure 111 and/or the second drive structure 110 drive the pick device 103, for example, in a first direction, a working distance away from the target cargo space to reach the initial position.

In some examples, the first driving structure 111 drives the moving seat 102 to move backward, for example, the controller may control the first driving structure 111 to operate first, so that the moving seat 102 drives the telescopic structure 109 to move away from the target cargo space until the telescopic structure 109 exits the target carrier 5.

The second driving structure 110 then drives the telescopic structure 109 to retract, for example, the controller may control the second driving structure 110 to operate, so that the second end 1092 of the telescopic structure 109 moves away from the target cargo space, for example, in the first direction until the fetching assembly 103 reaches the initial position.

It will be appreciated that, in general, the object picking apparatus 1 has an object picking operation state, in which in the embodiment of the present application, S3, that is, before the driving mechanism 10 drives the object picking assembly 103 to move toward the target cargo space, the object handling method further includes:

step S3a: based on the third trigger signal of the third sensor, it is confirmed that the target cargo space has the target article 4 thereon.

That is, in the embodiment of the present application, before the pickup assembly 103 is driven to move, whether the target object 4 is located on the target cargo space may be determined by whether the third sensor sends the third trigger signal. In the case of a target object 4 on the target cargo space, the pick-up assembly 103 is again driven to move. Under the condition that the target goods position does not exist on the target goods position, the possible reasons are that the position information sent by the upper computer is wrong or the target goods 4 on the target goods position is lost or moves, and at the moment, the controller can send alarm prompt information to the upper computer so as to be processed in time.

In other examples of the embodiment of the present application, in the fetching operation state, S3, that is, the driving mechanism 10 drives the fetching assembly 103 to move toward the target cargo space, including:

s3b: according to the fourth trigger signal of the fourth sensor 1035, reducing the driving speed of the driving mechanism 10, for example, the first driving structure 111 and/or the second driving structure 110, so that the object picking assembly 103 approaches the target object 4 at the first preset speed when the distance between the object picking assembly and the target object 4 is smaller than or equal to the fifth preset distance; the first preset speed is smaller than the second preset speed, and the second preset speed is the moving speed of the fetching assembly 103 when the distance between the fetching assembly and the target object 4 is larger than the fifth preset distance.

For example, the rotational speed of first drive member 1111 may be reduced, or the rotational speed of second drive member 1101 may be reduced; alternatively, in other examples, the rotational speeds of first drive member 1111 and second drive member 1101 may be reduced simultaneously.

In this way, the object taking assembly 103 can be in contact with the target object 4 at a lower speed, so that the impact force of the object taking assembly 103 on the target object 4 can be reduced, and the target object 4 can be effectively protected.

It will be appreciated that in other examples, the object picking apparatus 1 further has an object returning working state, in which in the embodiment of the present application, S3, the driving mechanism 10 drives the object picking assembly 103 to move toward the target cargo space, including:

the drive mechanism 10, e.g., the first drive structure 111 and/or the second drive structure 110, drives the pick assembly 103, e.g., in a first direction, a working distance toward the target cargo space to move the target item 4 to the target cargo space. Wherein the picking assembly 103 carries the target object 4.

In the embodiment of the present application, the object taking device 1 has a returning operation state substantially similar to the object taking operation state, except that the object taking assembly 103 carries the target object 4 in the returning operation state.

In addition, it may be appreciated that, in some examples, before step S3 in the article returning operation state, it may also be determined whether the target cargo space has the target article by the third trigger signal of the third sensor. At this time, under the condition that the third sensor sends out a third trigger signal, the controller sends out alarm prompt information to the upper computer.

In other examples of embodiments of the present application, in the fetching operation state, the first driving structure 111 and/or the second driving structure 110 drive the fetching assembly 103 to move, for example, in the first direction away from the target cargo space, including:

the object 4 is determined to be on the pick-up assembly 103 based on the fourth trigger signal from the fourth sensor 1035 and/or the vacuum level of the interior cavity of the suction cup 1032 being at the preset vacuum level.

When the fetching component 103, for example, the suction cup 1032, is within a sixth preset distance L (for example, within 50 mm) from the target object 4, the fourth sensor 1035 sends a fourth trigger signal to the controller, otherwise, if the controller does not receive the fourth trigger signal, the distance between the suction cup 1032 and the target object 4 is larger than the sixth preset distance. In this manner, during the process that the suction cup 1032 withdraws the target article 4 from the target cargo space and retreats in a direction away from the target cargo space (i.e., in a direction toward the base 101), the suction cup 1032 may be characterized as having the target article 4 thereon when the controller receives the fourth trigger signal, and the suction cup 1032 may be characterized as being separated from the target article 4 when the controller does not receive the fourth trigger signal.

In addition, the vacuum pressure gauge can monitor the vacuum degree in the inner cavity of the suction cup 1032 and the vacuum tube communicated with the inner cavity in real time, when the suction cup 1032 adsorbs the target object 4, the value on the vacuum pressure gauge is the preset vacuum degree, in other words, the preset vacuum degree is that the suction cup 1032 adsorbs the target object 4, and when the target object 4 falls off from the suction cup 1032, the vacuum degree is destroyed, and the value on the vacuum pressure gauge is smaller than the preset vacuum degree. Thus, when the vacuum level on the vacuum gauge (i.e. the vacuum level of the inner cavity of the suction cup 1032) is smaller than the preset vacuum level during the process that the suction cup 1032 takes out the target article 4 from the target cargo space and retreats in the direction away from the target cargo space (i.e. the direction toward the base 101), the suction cup 1032 can be characterized as being separated from the target article 4.

It will be appreciated that in some examples, the object 4 may be determined to be on the picking assembly 103 based on the fourth trigger signal from the fourth sensor 1035, or alternatively, the vacuum level of the interior cavity of the suction cup 1032 is at a preset vacuum level.

In order to improve the accuracy of judging whether the suction cup 1032 is separated from the target object 4, in other examples, the object 4 on the object taking assembly 103 can be determined according to the fourth trigger signal of the fourth sensor 1035 and that the vacuum degree of the inner cavity of the suction cup 1032 is at the preset vacuum degree, so that the judging result is more accurate. In addition, when any one of the fourth sensor 1035 and the vacuum pressure gauge fails, the smooth progress of the judgment process or the accuracy of the judgment result is prevented from being affected.

With the target item 4 on the pick device 103, the first drive structure 111 and/or the second drive structure 110 drive the pick device 103 in a first direction away from the target cargo space.

It will be appreciated that the retrieval assembly 103 may disengage from the target article 4 during retraction due to insufficient force, etc. When the target object 4 is separated from the picking assembly 103, if the picking assembly 103 continues to retract under the driving of the moving seat 102 or the telescopic structure 109, the carrying robot can move to the next link position, such as the picking workstation, without load, thereby affecting the smooth progress of the whole picking operation and causing waste of resources.

For example, during the retraction of the picking assembly 103, when the picking assembly 103 has the target object 4, the fourth sensor 1035 may send a fourth trigger signal to the controller, and the controller determines that the picking assembly 103 has the target object 4 based on the fourth trigger signal, and/or when the controller determines that the vacuum degree of the inner cavity of the suction cup 1032 is the preset vacuum degree, determines that the picking assembly 103 has the target object 4, and then controls the first driving structure 111 and/or the second driving structure 110 to operate (i.e. reverse driving operation) so as to move the picking assembly 103 along the negative direction of the x direction (i.e. back to the target cargo space) under the driving of the telescopic structure 109 and/or the moving seat 102.

When the controller does not receive the fourth trigger signal and/or the controller determines that the vacuum degree of the inner cavity of the suction cup 1032 is lower than the preset vacuum degree, and the controller characterizes that the object taking component 103 has no target object 4, the first driving structure 111 and/or the second driving structure 110 can be controlled to stop the back driving operation, so that the object taking component 103 stops moving towards the base 101, and when the object taking component 103 acquires the target object 4 again, the controller receives the fourth trigger signal, and then continues to control the back driving operation of the first driving structure 111 and/or the second driving structure 110, so that the object taking component 103 continues to move towards the initial position.

For example, when the fetching assembly 103 includes the suction cup 1032, when the controller does not receive the fourth trigger signal, the controller controls the first driving structure 111 and/or the second driving structure 110 to stop the reverse driving operation, and controls the first driving structure 111 and/or the second driving structure 110 to perform the forward driving operation, so that the fetching assembly 103 moves forward along the forward direction of the x direction, and controls the inner cavity of the suction cup 1032 to be in a vacuum state, so as to adsorb the target article 4 again, and when the suction cup 1032 adsorbs the target article 4, the fourth sensor 1035 sends the fourth trigger signal to the controller again, and the controller controls the first driving structure 111 and/or the second driving structure 110 to operate (i.e., the reverse driving operation) based on the fourth trigger signal, so that the fetching assembly 103 continues to retract until retracting to the initial position.

The embodiments of the present application have the same or corresponding technical features as the foregoing embodiments, so the embodiments of the present application have the same or similar technical effects as the foregoing embodiments of the present application, and specific reference may be made to the detailed description of the foregoing embodiments of the present application, which is not repeated herein.

The foregoing detailed description of the embodiments of the present application has further described the objects, technical solutions and advantageous effects thereof, and it should be understood that the foregoing is merely a specific implementation of the embodiments of the present application, and is not intended to limit the scope of the embodiments of the present application, and any modifications, equivalent substitutions, improvements, etc. made on the basis of the technical solutions of the embodiments of the present application should be included in the scope of the embodiments of the present application.

Claims

1. An object taking device, characterized by comprising:

a base (101);

a pick-up assembly (103) selectively extendable and retractable from the base (101); the fetching assembly (103) is configured to carry a target object by acting on a front end surface of the target object when the target object is fetched, wherein the front end surface of the target object is a side surface of the target object facing the fetching assembly (103) when the target object is to be fetched;

a drive mechanism (10) configured to drive the pick up assembly (103) in motion relative to the base (101) to reciprocate the pick up assembly within a target cargo space and the base (101);

-a translation assembly (104) configured to drive the pick-up assembly (103) to move on the base (101) to adjust an offset distance of the pick-up assembly (103) relative to the target cargo space.

2. The object taking device according to claim 1, characterized in that it further comprises a support seat (105);

the fetching component (103) and at least part of the driving mechanism (10) are both located on the supporting seat (105), and the translation component (104) is connected with the supporting seat (105) and is configured to drive the supporting seat (105) to move so as to drive the fetching component (103) to move relative to the base (101).

3. The object handling device according to claim 2, wherein the translation assembly (104) comprises:

a translational drive (1041);

a translation transmission member (1042) having one end connected to the translation driving member (1041), the translation transmission member (1042) being configured to reciprocate under the drive of the translation driving member (1041);

the support base (105) is connected to the translation transmission member (1042).

4. A pick-up device according to claim 3, wherein the translation transmission member (1042) comprises a translation driving wheel (10423), a translation driven wheel (10421) and a translation transmission belt (10422), the translation driving member (1041) being connected to the translation driving wheel (10423) to drive the translation driving wheel (10423) to rotate;

the translation driving wheel (10423) and the translation driven wheel (10421) are arranged at intervals, two ends of the translation driving belt (10422) are sleeved on the translation driving wheel (10423) and the translation driven wheel (10421), and the translation driving belt (10422) is configured to reciprocate under the driving of the translation driving wheel (10423) and is configured to drive the translation driven wheel (10421) to rotate;

the support base (105) is connected to the same side section of the translation driving belt (10422).

5. The object taking device according to claim 4, wherein a driving block (1043) is arranged on the translation driving belt (10422), and the driving block (1043) moves synchronously with the translation driving belt (10422);

the supporting seat (105) is connected to the driving block (1043).

6. A pick-up device according to claim 3, wherein the two ends of the translation transmission member (1042) extend outside the support seat (105) respectively.

7. The object taking device according to claim 2, characterized in that it further comprises a translation rail (106) and a translation slider (107);

one of the translation guide rail (106) and the translation slide block (107) is arranged on the base (101), and the other of the translation guide rail (106) and the translation slide block (107) is arranged on the supporting seat (105);

the translation slider (107) is configured to slide along the translation rail (106) when the support (105) moves.

8. The object taking device according to claim 7, characterized in that there are at least two translation rails (106), and correspondingly there are at least two translation sliders (107);

at least two translation guide rails (106) are respectively positioned at two sides of the translation assembly (104), and each translation guide rail (106) is provided with a corresponding translation sliding block (107) in a sliding way.

9. The object extraction device of claim 2, wherein the object extraction device further comprises:

the telescopic structure (109) is arranged on the supporting seat (105), the free end of the telescopic structure (109) can selectively extend out of or retract back into the base (101), and the object taking assembly (103) is arranged at the free end;

the driving mechanism (10) is connected with the telescopic structure (109) so as to drive the free end to extend out of or retract back into the base (101), and therefore the object taking assembly (103) is driven to move relative to the base (101).

10. The object extraction device of claim 2, wherein the object extraction device further comprises:

a movable seat (102) movably arranged on the support seat (105) and capable of moving relative to the support seat (105);

the telescopic structure (109) is connected with the movable seat (102), and the free end of the telescopic structure (109) is connected with the fetching assembly (103) and can drive the fetching assembly (103) to selectively extend out of or retract into the base (101);

the driving mechanism (10) is respectively connected with the movable seat (102) and the telescopic structure (109), and when the target object is fetched, the driving mechanism (10) can selectively drive at least one of the movable seat (102) and the telescopic structure (109) to move so as to drive the object fetching assembly (103) to extend out or retract back to the base (101).

11. The object taking device according to claim 10, characterized in that the driving mechanism (10) comprises:

a first driving structure (111) connected with the movable seat (102) and configured to drive the movable seat (102) to move relative to the supporting seat (105), so that the fetching assembly (103) moves relative to the supporting seat (105) under the drive of the movable seat (102);

a second driving structure (110) connected with the telescopic structure (109), wherein the second driving structure (110) is configured to drive the free end to move close to or far away from the movable seat (102) so as to enable the fetching assembly (103) to move relative to the movable seat (102) under the drive of the free end;

upon retrieval of a target item, the retrieval assembly (103) is configured to move relative to the base (101) under the drive of the first drive structure (111) and/or the second drive structure (110) to reciprocate within the base (101) at a target cargo space.

12. The object handling device according to claim 11, wherein the object handling device (1) is configured to perform one of the following actions when picking up a target object:

the first driving structure (111) drives the moving seat (102) to move so as to drive the fetching assembly (103) to move a first preset distance towards the target goods space, the second driving structure (110) drives the telescopic structure (109) to extend out again so as to drive the fetching assembly (103) to move a second preset distance towards the target goods space, and the fetching assembly (103) is enabled to move to the target goods space to transfer target articles between the fetching assembly (103) and the target goods space;

The second driving structure (110) drives the telescopic structure (109) to extend so as to drive the fetching assembly (103) to move a third preset distance towards the target cargo space, and the first driving structure (111) drives the moving seat (102) to move so as to drive the fetching assembly (103) to move a fourth preset distance towards the target cargo space, so that the fetching assembly (103) moves to the target cargo space to transfer a target object between the fetching assembly (103) and the target cargo space;

the first driving structure (111) and the second driving structure (110) simultaneously drive the moving seat (102) and the telescopic structure (109) to move so as to drive the fetching assembly (103) to move to the target goods space for a working distance, so that the fetching assembly (103) moves to the target goods space for transferring the target goods between the fetching assembly (103) and the target goods space.

13. The object taking device according to claim 12, wherein when a target cargo space is an inner deep position of a target carrier, the second driving structure (110) drives the telescopic structure (109) to extend to drive the object taking component (103) to move towards the target cargo space, so that the width of the telescopic structure (109) is reduced, and the first driving structure (111) drives the moving seat (102) to move again to drive the object taking component (103) to move towards the target cargo space until the object taking component (103) moves to the target cargo space, so that a target object transfer between the object taking component (103) and the target cargo space is performed;

The width direction of the telescopic structure (109) intersects with the telescopic direction.

14. The object extraction device of any one of claims 2-13, wherein the object extraction device further comprises:

the follow-up tray (114) is movably arranged on the supporting seat (105) so that the follow-up tray (114) can extend out of or retract into the supporting seat (105);

the follow-up tray (114) is configured to abut against a front end surface of a target carrier to fill a gap between the base (101) and the target carrier when the fetching assembly (103) fetches back a target article; the follower tray (114) is further configured to support the target item when carried on the pick-up assembly (103).

15. The object taking device according to claim 14, wherein a force application member is arranged on the telescopic structure (109) and/or the movable seat (102) in the object taking device, a force receiving portion is arranged on the follow-up tray (114), and the force application member can apply a force to the force receiving portion at least in the retracting process of the object taking assembly (103) so as to drive the follow-up tray (114) to retract into the supporting seat (105).

16. The object extraction device of claim 15, wherein the object extraction device further comprises:

The elastic component (140) is provided with a third end and a fourth end which are oppositely arranged along the elastic direction, the third end of the elastic component (140) is connected with the follow-up tray (114), and the fourth end of the elastic component (140) is connected with the supporting seat (105);

the force application piece comprises a bending part (1023) arranged at one end of the movable seat (102), and the force receiving part comprises an extending part (1141) arranged at one end of the follow-up tray (114); when the follow-up tray (114) is at the initial position, the bending part (1023) is abutted against one surface of the protruding part (1141) facing the front end of the follow-up tray (114);

the follow-up tray (114) is configured to pop up under the elastic action of the elastic component (140) when the moving seat (102) moves forwards and prop against the front end of the target carrier, and when the moving seat (102) retreats, the bending part (1023) drives the protruding part (1141) to retract to an initial position.

17. The object extraction device of claim 14, wherein the object extraction device further comprises:

the third limiting piece (115) is arranged on the supporting seat (105) and is positioned at the front end of the follow-up tray (114);

the third limiting piece (115) comprises a first state and a second state, at least part of the third limiting piece (115) extends out of the supporting surface (1142) of the follow-up tray (114) in the first state, and the third limiting piece (115) is lower than the supporting surface (1142) of the follow-up tray (114) in the second state;

The third limiting member (115) is configured to be in a second state when the follow-up tray (114) at least partially extends outside the supporting seat (105), and to be in a first state when the follow-up tray (114) is positioned in the supporting seat (105), so as to limit target objects on the follow-up tray (114) when the object picking device moves.

18. The object taking device as defined in any one of claims 1-13, wherein,

the fetching assembly (103) comprises a mounting plate (1031) and a sucker (1032), wherein the driving mechanism (10) is configured to drive the mounting plate (1031) to move relative to the base (101), and the sucker (1032) is arranged on the mounting plate (1031) and is configured to adsorb a target object;

alternatively, the retrieval assembly includes a finger structure configured to hook a target item.

19. The object-handling device according to any one of claims 1-13, wherein the object-handling device (1) further comprises: a depth camera and a controller;

wherein the controller is configured to determine an offset distance from a captured image of the target cargo space by the depth camera; and controlling the translation assembly (105) to work based on the offset distance so as to reduce the offset distance of the fetching assembly (103) relative to the target cargo space, so that the fetching assembly (103) moves to a designated position of a target carrier.

20. A transfer robot, comprising:

a chassis (2);

the portal frame (3) is arranged on the chassis (2);

the object handling device (1) according to any one of claims 1-19, said object handling device (1) being arranged on said mast (3) and being capable of being lifted along said mast (3).

21. The transfer robot of claim 20, further comprising:

the temporary storage plate is arranged on the portal (3);

and the rotating mechanism is connected with the object taking device (1) and is configured to drive the object taking device (1) to rotate so that the object taking device (1) stores a target object on the temporary storage plate or takes out the target object from the temporary storage plate through the object taking device (1).

22. An article handling method, applied to the article handling device (1) of any one of claims 1-19, comprising:

determining an offset distance of the pick-up assembly (103) relative to the target cargo space;

a translation assembly (104) drives the fetching assembly (103) to move the offset distance relative to the target cargo space so as to enable the fetching assembly (103) to move to a designated position;

a driving mechanism (10) drives the fetching assembly (103) to move towards the target cargo space until reaching the target cargo space;

The object taking assembly (103) and the object goods place are used for transferring object goods.

23. The method of item handling according to claim 22, wherein determining the offset distance of the pick up assembly (103) relative to the target cargo space comprises: