CN218143657U

CN218143657U - Pick-and-place equipment and carrying system

Info

Publication number: CN218143657U
Application number: CN202221917585.XU
Authority: CN
Inventors: 徐丹
Original assignee: Beijing Kuangshi Robot Technology Co Ltd
Current assignee: Beijing Kuangshi Robot Technology Co Ltd
Priority date: 2022-04-22
Filing date: 2022-07-22
Publication date: 2022-12-27
Anticipated expiration: 2032-07-22
Also published as: CN115352780A

Abstract

An embodiment of the utility model provides a get and put equipment and handling system. Get and put equipment includes: the equipment body and install the goods device of getting on the equipment body, get the goods device be arranged in with range upon range of a plurality of workbins of placing wait to get the first adjacent workbin of workbin top lift with wait to get the separation of workbin, and take out wait to get the workbin, the utility model provides a get and put equipment has solved and has been difficult to get the problem of goods in the workbin that directly piles up or the goods among the correlation technique.

Description

Pick-and-place equipment and carrying system

Technical Field

The utility model relates to a storage technical field, concretely relates to get and put equipment and handling system.

Background

At present, when a warehouse stores goods, a goods shelf is generally used, the goods shelf can be set into a multi-layer form, and the goods or a bin loaded with the goods and the like are stored in each layer of the goods shelf; however, the use of the shelf has the problems of long shelf installation implementation period and high cost; however, if the goods or the bins are directly stacked without using the racks, there is a problem that it is difficult to take the goods, and it is often difficult to take the goods from the directly stacked bins or goods.

SUMMERY OF THE UTILITY MODEL

An embodiment of the utility model provides a get and put equipment and handling system to it is difficult to get the problem of goods from the workbin that directly piles up or goods in the correlation technique to solve.

In order to solve the technical problem, the utility model discloses a so realize:

in a first aspect, an embodiment of the present invention provides a taking and placing device, the taking and placing device includes: the goods taking device is used for lifting first adjacent material boxes positioned above the material boxes to be taken out in the plurality of stacked material boxes to be separated from the material boxes to be taken out, and taking out the material boxes to be taken out.

Optionally, the goods taking device comprises a goods taking mechanism and an auxiliary mechanism, the auxiliary mechanism is used for separating a first adjacent material box located above the material box to be taken from a plurality of material boxes placed in a stacked mode from the material box to be taken, and the goods taking mechanism is used for taking out the material box to be taken.

Optionally, the auxiliary mechanism is located above the goods taking mechanism, and the distance between the auxiliary mechanism and the goods taking mechanism is larger than the height of the material box to be taken.

Optionally, the goods taking device further comprises a lifting mechanism and a telescopic mechanism, and the auxiliary mechanism and the goods taking mechanism are respectively connected with the telescopic mechanism;

the telescopic mechanism is used for driving the goods taking mechanism and the auxiliary mechanism to reach the storage position where the box to be taken is located, or driving the goods taking mechanism and the auxiliary mechanism to retract into the equipment body;

the lifting mechanism is used for driving the auxiliary mechanism to lift the first adjacent material box upwards so as to separate the material box to be taken from the first adjacent material box.

Optionally, the outer sides of the first adjacent material box and the material box to be taken are respectively provided with a protruding hanging table, the auxiliary mechanism is provided with a first supporting piece for supporting the material box to be taken, and the goods taking mechanism is provided with a second supporting piece for supporting the material box to be taken;

the first supporting piece extends into the lower part of the hanging platform of the first adjacent material box, the second supporting piece extends into the lower part of the hanging platform of the material box to be taken,

the lifting mechanism drives the auxiliary mechanism to lift upwards, and the first supporting piece lifts the first adjacent material box to be separated from the material box to be taken; the lifting mechanism drives the goods taking mechanism to lift upwards, and the second supporting piece lifts the material box to be taken, so that the material box to be taken is separated from a second adjacent material box below the material box to be taken.

Optionally, the first supporting piece and the second supporting piece are elastic pieces respectively;

when the auxiliary mechanism reaches the storage position of the first adjacent material box, the elastic sheet is controlled to pop up, and the elastic sheet is abutted against the hanging table of the first adjacent material box;

when the goods taking mechanism reaches the storage position where the material taking box is located, the elastic sheet is controlled to pop up and is abutted against the hanging platform of the material taking box.

Optionally, the device further comprises a supporting mechanism, wherein the supporting mechanism is arranged at the bottom end of the goods taking device;

the supporting mechanism comprises a jacking piece and a supporting plate, one end of the jacking piece is connected to the bottom end of the goods taking device, and the other end of the jacking piece is connected with the supporting plate;

the supporting plate is abutted against a hanging platform arranged on the outer side of a second adjacent material box, so that the goods taking device is supported; the second adjacent material box is any one material box which is positioned below the material box to be taken and is formed by stacking a plurality of material boxes.

Optionally, a passage for the passage of the transport vehicle is arranged below the equipment body.

Optionally, a distance sensor is arranged on a target side of the apparatus body, the target side is one side of the apparatus body where the telescopic mechanism can extend outward, and the distance sensor is used for detecting a distance between a first adjacent material box and the material box to be taken.

Optionally, a tray is further arranged on the device body;

the tray is arranged below the goods taking device, is used for bearing a box to be taken by the goods taking device, and is arranged on the equipment body in a sliding manner;

and a bar scanner is arranged on the goods taking device, and the position of the bin is determined by scanning the graphic code on the bin through the bar scanner.

In a second aspect, an embodiment of the present invention provides a handling system, which includes a handling vehicle and the above-mentioned pick-and-place apparatus;

wherein the transport vehicle is used for transferring the article between the pick-and-place device and the designated position.

Optionally, the pick-and-place device comprises a fork-type tray for placing the bins;

and a fork tooth type goods taking device matched with the tray is arranged at the top end of the carrier, and the fork tooth type goods taking device is used for carrying the material box to be taken, which is placed on the fork tooth type tray.

Optionally, the tine type goods taking device comprises a plurality of spaced second tines, and the spacing between adjacent second tines can accommodate the first tines of the tine type pallet;

the tine type goods taking device further comprises baffles, and each baffle extends upwards along the second tine;

when the truck passes through the taking and placing equipment, the second fork tooth passes through the gap of the adjacent first fork tooth, and the baffle pushes the material box to be taken to move along with the truck.

Optionally, a surface of a top end of the truck is provided with a lifting member on which the tine type pickup device is provided;

the fork-type goods taking device comprises a plurality of second fork teeth arranged at intervals, and the intervals between the adjacent second fork teeth can accommodate the first fork teeth of the fork-type tray;

when the carrier passes through the picking and placing equipment, the second fork tooth is located in a gap between the adjacent first fork teeth, and the lifting piece drives the second fork tooth to ascend, so that the second fork tooth bears the material box to be picked.

When the material box to be taken is taken from the plurality of material boxes which are stacked and arranged oppositely, the goods taking device lifts a first adjacent material box which is positioned above the material box to be taken out among the plurality of material boxes which are stacked and arranged, so that the material box to be taken can be taken out from the plurality of material boxes which are stacked and arranged, and the material box to be taken can be taken out from the plurality of material boxes which are stacked and arranged conveniently.

Drawings

Fig. 1 is a schematic view illustrating a pick-and-place apparatus according to an embodiment of the present invention;

fig. 2 is a schematic view illustrating the retraction of a pickup device according to an embodiment of the present invention;

fig. 3 is a schematic view illustrating the expansion of a pickup device according to an embodiment of the present invention;

fig. 4 is a schematic view illustrating a cargo taking device according to an embodiment of the present invention extracting a material box to be taken;

fig. 5 is a second schematic view of the goods taking device according to the embodiment of the present invention for extracting the material box to be taken;

fig. 6 is a schematic view illustrating a connection telescopic structure of a pickup device according to an embodiment of the present invention;

fig. 7 shows a second schematic view of a cargo-taking device connection telescopic structure according to an embodiment of the present invention;

fig. 8 is a third schematic view illustrating a connection telescopic structure of a pickup device according to an embodiment of the present invention;

fig. 9 is a schematic view illustrating a second supporting member of a pickup mechanism in a closed state according to an embodiment of the present invention;

fig. 10 is a schematic view illustrating an opened state of a second supporting member of a pickup mechanism according to an embodiment of the present invention;

FIG. 11 shows a schematic view of a first adjacent bin provided by an embodiment of the invention;

fig. 12 is a schematic view of a first adjacent bin, a pending material bin, and a second adjacent bin stack according to an embodiment of the present invention;

fig. 13 is a schematic view illustrating a distance between a first supporting member and a second supporting member according to an embodiment of the present invention;

fig. 14 is a schematic view of a handling system according to an embodiment of the present invention;

fig. 15 is a second schematic view of a handling system according to an embodiment of the present invention;

figure 16 shows one of the illustrative views of a material waiting bin on a carrier handling tray of the present invention;

fig. 17 shows a second schematic view of a material waiting bin on a carrying tray of a transporting vehicle according to an embodiment of the present invention;

fig. 18 is a third schematic view illustrating a material waiting box on a transporting tray of a transporting vehicle according to an embodiment of the present invention.

Icon: 001-a first adjacent bin; 002-a material box to be taken; 003-a second adjacent bin; 10-a device body; 20-a goods taking device; 30-a support mechanism; 40-a tray; 50-a roller; 11-upright post; 12-a connecting plate; 21-a lifting mechanism; 22-a telescoping mechanism; 23-a goods taking mechanism; 24-a fastener; 221-a first support; 31-a jacking piece; 32-a support plate; 41-sliding rod; 42-a first tine; 231-a second support; 321-a third support; 100-a truck; 110-tine type pick-up devices; 111-a secondary tine; 112-baffle.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, of the embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

With the development of Intelligent technologies such as internet of things, artificial intelligence and big data, the requirement of transforming and upgrading the traditional Logistics industry by using the Intelligent technologies is stronger, and Intelligent Logistics (ILS) becomes a research hotspot in the Logistics field. The intelligent logistics utilizes artificial intelligence, big data, various information sensors, radio frequency identification technology, global Positioning System (GPS) and other Internet of things devices and technologies, is widely applied to basic activity links of material transportation, storage, delivery, packaging, loading and unloading, information service and the like, and realizes intelligent analysis and decision, automatic operation and high-efficiency optimization management in the material management process. The technology of the internet of things comprises sensing equipment, radio Frequency Identification (RFID) technology, laser infrared scanning, infrared induction Identification and the like, the internet of things can effectively connect materials in logistics with a network, the materials can be monitored in real time, environmental data such as humidity and temperature of a warehouse can be sensed, and the storage environment of the materials is guaranteed. All data in logistics can be sensed and collected through a big data technology, the data are uploaded to an information platform data layer, operations such as filtering, mining and analyzing are carried out on the data, and finally accurate data support is provided for business processes (such as links of transportation, warehousing, storing and taking, sorting, packaging, sorting, ex-warehouse, checking, distribution and the like). The application direction of artificial intelligence in logistics can be roughly divided into two types: 1) The method is characterized in that the artificial intelligence technology is used for endowing intelligent equipment such as an unmanned truck, an Automatic Guided Vehicle (AGV), an Autonomous Mobile Robot (AMR), a forklift, a shuttle car, a stacker, an unmanned distribution Vehicle, an unmanned aerial Vehicle, a service Robot, a mechanical arm, an intelligent terminal and the like to replace part of manpower; 2) The manual efficiency is improved through a software system such as a transportation equipment management system, a storage management system, an equipment scheduling system, an order distribution system and the like driven by technologies or algorithms such as computer vision, machine learning, operation and research optimization and the like. With the research and progress of intelligent logistics, the technology is applied to a plurality of fields, such as retail and electric commerce, electronic products, tobacco, medicine, industrial manufacturing, shoes and clothes, textile, food and the like.

The embodiment of the utility model provides a get and put equipment is provided, the embodiment of the utility model provides a get and put equipment includes: the material taking device 20 is used for lifting a first adjacent material box 001 located above the material taking box 002 from a plurality of material boxes which are stacked in a stacking mode to be separated from the material taking box 002, and taking out the material taking box 002.

When taking the material box 002 to be taken out from a plurality of material boxes stacked and arranged in pairs, the goods taking device 20 lifts the first adjacent material box 001 located above the material box 002 to be taken out from the plurality of material boxes stacked and arranged, so as to separate the material box 002 to be taken out, and takes out the material box 002 to be taken out from the plurality of material boxes stacked and arranged in layers, thereby facilitating taking out the material box 002 to be taken out from the plurality of material boxes stacked and arranged in layers.

The goods taking device 20 comprises a goods taking mechanism 23 and an auxiliary mechanism, the auxiliary mechanism is used for separating a first adjacent material box 001 located above the material box 002 to be taken from a plurality of material boxes which are stacked, and the goods taking mechanism 23 is used for taking out the material box 002 to be taken. The auxiliary mechanism cooperates with the picking mechanism 23 to pick up the material box 002 from a plurality of stacked material boxes.

As shown in fig. 1 to 13, the pick-and-place apparatus includes: the device comprises an equipment body 10 and a goods taking device 20 installed on the equipment body 10, wherein the goods taking device 20 further comprises a lifting mechanism 21 and a telescopic mechanism 22, a first supporting piece 221 used for supporting a first adjacent material box 001 above a material box 002 to be taken is arranged on an auxiliary mechanism, and the auxiliary mechanism and the goods taking mechanism 23 are connected to the telescopic mechanism 22.

The goods taking mechanism 23 and the first supporting piece 221 are driven to reach the storage position of the box 002 to be taken by stretching of the stretching mechanism 22, or the goods taking mechanism 23 and the auxiliary mechanism are driven to retract into the equipment body 10; the lifting mechanism 21 drives the telescopic mechanism 22 to drive the auxiliary mechanism provided with the first supporting piece 221 to lift the first adjacent material box 001 upwards, so that the material box 002 to be taken is separated from the first adjacent material box 001; the goods taking mechanism 23 is driven by the telescopic mechanism 22 to slide along the direction far away from the storage position, so that the material taking box 002 is to be extracted.

Specifically, the lifting mechanism 21 may be a structure installed on the device body 10, the telescopic mechanism 22 is connected to the lifting mechanism 21, and the lifting mechanism 21 may slide up and down along the device body 10 under the driving of power, so as to drive the telescopic mechanism 22 to lift; in some embodiments, the telescopic mechanism 22 is directly slidably disposed on the apparatus body 10, and the lifting mechanism 21 drives the telescopic mechanism 22 to slide up and down along the apparatus body, so as to lift or lower the telescopic mechanism 22 upwards, in which case, the lifting mechanism 21 may be a driving motor or other device capable of providing a driving force.

The embodiment of the utility model provides an in, elevating system 21 can drive telescopic machanism 22 and go up and down, gets goods mechanism 23 and connect in telescopic machanism 22, is provided with the first support piece 221 that supports the first adjacent workbin 001 above waiting to get workbin 002 on telescopic machanism 22, consequently, when elevating system 21 drive telescopic machanism 22 goes up and down, first support piece 221 and get goods mechanism 23 alright with along with telescopic machanism 22 go up and down and go up and down. In addition, the telescopic mechanism 22 can extend out of the apparatus body 10, the lifting mechanism 21 can drive the telescopic mechanism 22 to move to the height of the material box 002 to be taken out of the multiple material boxes which are stacked, then the telescopic mechanism 22 extends out of the apparatus body 10, that is, the telescopic mechanism 22 can drive the goods taking mechanism 23 and the first supporting piece 221 to reach the storage position of the material box 002 to be taken out, so that the first supporting piece 221 can be in contact with the first adjacent material box 001, thereby supporting the first adjacent material box 001, then the lifting mechanism 21 can move upwards, the telescopic mechanism 22 is driven upwards by the lifting mechanism 21, so that the telescopic mechanism 22 drives the first supporting piece 221 to ascend, the first adjacent material box 001 ascends to separate the first adjacent material box 001 from the material box 002 to be taken out, the goods taking mechanism 23 slides along the direction away from the storage position, the goods taking mechanism 23 drives the material box 002 to be taken out to move, and the material box 002 to be taken out is extracted.

That is, in the embodiment of the utility model provides an, through setting up elevating system 21, telescopic machanism 22 and get goods mechanism 23, elevating system 21 can drive telescopic machanism 22 and get goods mechanism 23 and remove to waiting to get the height of material case 002, later telescopic machanism 22 is overhanging in equipment body 10, and telescopic machanism 22 removes to waiting to get the storage bit of material case 002, first support piece 221 and the contact of first adjacent workbin 001 on the telescopic machanism 22, elevating system 21 drives telescopic machanism 22 and rises, make telescopic machanism 22 drive first adjacent workbin 001 through first support piece 221 and rise, thereby first adjacent workbin 001 with wait to get the separation of material case 002, thereby get goods mechanism 23 alright treat material case 002 with the extraction, make can take out in a plurality of workbin of range upon range of setting and wait to get material case 002, thereby be convenient for taking out waiting to get the material case 002 in a plurality of workbin range upon range of setting.

It should be noted that, as shown in fig. 3, the number of the first supporting members 221 may be multiple, and the multiple first supporting members 221 may be disposed on the telescoping mechanism 22 at intervals along the telescoping direction of the telescoping mechanism 22, so that when the telescoping mechanism 22 moves to the to-be-taken material box 002, the multiple first supporting members 221 may all contact with the to-be-taken material box 002, thereby facilitating the telescoping mechanism 22 to drive the first adjacent material box 001 to ascend through the first supporting members 221. In addition, because the range upon range of setting of a plurality of workbins, when telescopic machanism 22 drives first adjacent workbin 001 through first support piece 221 and rises, it is simultaneously ascending to be equivalent to telescopic machanism 22 drives first adjacent workbin 001 and piles up other workbins on first adjacent workbin 001, after first adjacent workbin 001 is driven by telescopic machanism 22 and rises, first adjacent workbin 001 with wait to get the separation of workbin 002, thereby be equivalent to wait to get the weight that no longer bears other workbins on the workbin 002, thereby get goods mechanism 23 alright with the extraction and wait to get workbin 002.

Additionally, in the embodiment of the utility model provides an in, the workbin adopts the mode of directly piling up to avoid using goods shelves, can reduce the area of workbin. When the workbin adopted the mode of piling up, adopt the embodiment of the utility model provides a get the equipment of putting alright lie in the workbin at middle part in the workbin that piles up with the extraction, be convenient for extract lie in the workbin at middle part in the workbin that piles up.

In addition, in the embodiment of the present invention, the lifting mechanism 21 may be integrated with a first power component, and the lifting mechanism 21 may drive the telescopic mechanism 22 and the goods taking mechanism 23 to lift under the action of the first power component. In addition, the telescopic mechanism 22 may be integrated with a second power component, and under the action of the second power component, the telescopic mechanism 22 may be extended, so that the telescopic mechanism 22 extends outside the apparatus body 10, and under the action of the second power component, the telescopic mechanism 22 is contracted, so that the telescopic mechanism 22 is retracted inside the apparatus body 10. In addition, the goods taking mechanism 23 may be integrated with a third power component, and the third power component may drive the goods taking mechanism 23 to move relative to the telescopic mechanism 22, so that the goods taking mechanism 23 may drive the to-be-taken box 002 to move.

Wherein, get goods mechanism 23 with wait to get after the contact of workbin 002, the third power piece can drive and get goods mechanism 23 and remove for telescopic machanism 22, thereby get goods mechanism 23 can contract inside equipment body 10 in the effect of third power piece, get goods mechanism 23 promptly along the orientation keep away from the direction of waiting to get the storage bit of workbin 002 and slide, thereby get goods mechanism 23 and drive to wait to get inside the workbin 002 removes to equipment body 10, thereby wait to get workbin 002 and can be transported by carrier 100.

The picking mechanism in the embodiment of the present application may have various implementation forms, which is not limited in this application. For example, the goods taking mechanism can comprise a clamping type fork, and the goods can be taken and placed by clamping two sides of the goods; the goods taking mechanism can also be a fork-taking type goods fork, a fork hole is formed in the corresponding goods, and the goods are taken and placed by extending fork teeth of the goods fork into the fork hole. The picking mechanism may also be in other implementation forms that can be adapted to the article to be picked and placed, for example, the outer side (e.g., the upper edge and/or the edge) of the article to be picked and placed (e.g., the bin) is provided with a plurality of protrusions extending outward for a certain width, and the picking mechanism may include a support member that can extend below the protrusions, and the support member may extend below the protrusions at the edge of the article to be picked and placed, and then the article to be picked and placed may be lifted to achieve picking and placing of the bin.

In addition, in some embodiments, the first support 221 is disposed at a top end of the telescoping mechanism 22.

When first support piece 221 sets up in telescopic machanism 22's top, at this moment, when telescopic machanism 22 drives first support piece 221 and moves to the storage bit of waiting to get workbin 002, first support piece 221 alright with direct and first adjacent workbin 001 contact to drive telescopic machanism 22 at elevating system 21 and rise, when making first support piece 221 rise, first lift piece alright with direct drive first adjacent workbin 001 rises, thereby with wait to get workbin 002 separation.

When the first supporting member 221 is disposed at the top end of the telescopic mechanism 22, the goods taking mechanism 23 is disposed on the telescopic mechanism 22 along the lifting direction of the lifting mechanism 21, and the goods taking mechanism 23 is located below the first supporting member 221.

In addition, in some embodiments, as shown in fig. 4, the apparatus body 10 may include a plurality of columns 11 and a plurality of connecting plates 12, a part of the columns 11 in the plurality of columns 11 is located on one side, at least one connecting plate 12 is connected between two adjacent columns 11 in the part of the columns 11, another part of the columns 11 in the plurality of columns 11 is located on the other side, and at least one connecting plate 12 is connected between two adjacent columns 11 in the another part of the columns 11. The lifting mechanism 21 is slidably connected to any one of the columns 11 in a part of the columns 11 and any one of the columns 11 in another part of the columns, and the lifting mechanism 21 can lift along the circumferential direction of the columns 11. That is, the plurality of columns 11 form the apparatus body 10, the elevating mechanism 21 is equivalently located in the apparatus body 10, and the elevating mechanism 21 is elevatable along the apparatus body 10.

For example, as shown in fig. 4, the apparatus body 10 includes four columns 11 and a plurality of connecting plates 12, two columns 11 of the four columns 11 are located on one side, at least one connecting plate 12 is connected between the two columns 11, the other two columns 11 are located on the other side, and at least one connecting plate 12 is connected between the two columns 11. The two ends of the lifting mechanism 21 are respectively connected with one upright post 11 of the two upright posts 11 and one upright post 11 of the other two upright posts 11 in a sliding manner, and the lifting mechanism 21 can lift along the axial direction of the upright posts 11.

Of course, in the embodiment of the present invention, the apparatus body 10 may be a box structure, and one side of the apparatus body 10 is a non-closed side, so that the telescopic mechanism 22 may extend outside the apparatus body through the closed side. The embodiment of the present invention is not limited herein with respect to the specific structure of the device body 10.

In addition, in some embodiments, for one pick-and-place device, the goods may be picked from two sides of the pick-and-place device, that is, two sets of goods picking devices are disposed on the pick-and-place device, and the goods are picked from two sides of the pick-and-place device respectively. That is, the number of the elevating mechanisms 21, the number of the telescopic mechanisms 22, and the number of the pickup mechanisms 23 may be two. Two elevating system 21 install in the relative both sides of equipment body 10, and two telescopic machanism 22 are connected with two elevating system 21 respectively, and two goods mechanisms 23 of getting are connected with two telescopic machanism 22 respectively, and two goods mechanisms 23 of getting are used for pressing from both sides of waiting to get the material case 002 and get and wait to get the material case 002.

When the number of elevating system 21, the quantity of telescopic machanism 22 and the quantity of picking up goods mechanism 23 are two, at this moment, a telescopic machanism 22 is connected in an elevating system 21, or, two telescopic machanisms 22 connect in an elevating system 21 jointly, one picks up goods mechanism 23 and connects on a telescopic machanism 22, thereby when two telescopic machanism 22 are overhanging in the outside of equipment body 10, two telescopic machanism 22 drive two respectively and pick up goods mechanism 23 and stretch out in the outside of equipment body 10, and two pick up goods mechanism 23 can be located the both sides of waiting to pick up the material case 002, thereby two pick up goods mechanism 23 alright with waiting to pick up the material case 002 application of force simultaneously, make it balanced to wait to pick up the material case 002 atress, be convenient for waiting to pick up the material case 002 and be extracted. That is, by setting the number of the lifting mechanism 21, the telescopic mechanism 22, and the pickup mechanism 23 to two, the to-be-picked-up material box 002 can be extracted conveniently.

Alternatively, in one possible embodiment, the telescoping mechanisms 22 may be configured to telescope toward and away from the pick-and-place device, respectively, in order to allow access to the device from both sides.

Additionally, in some embodiments, the telescoping mechanism 22 is a one-stage telescoping mechanism or a multi-stage telescoping mechanism.

When the telescoping mechanism 22 is a primary telescoping mechanism, the telescoping mechanism 22 may include a telescoping member. The telescopic member is slidably connected to the lifting mechanism 21, the goods taking mechanism 23 is slidably connected to the telescopic member, and the first support member 221 is connected to the telescopic member. When the telescopic mechanism 22 includes a telescopic member, in this case, the top end of the telescopic member has a first supporting member 221, the goods taking mechanism 23 is connected to the telescopic member in the lifting direction of the lifting mechanism 21, and the goods taking mechanism 23 is located below the first supporting member 221. And this extensible member sliding connection is in elevating system 21 to when elevating system 21 goes up and down, elevating system 21 can drive this extensible member and go up and down, and elevating system 21 can drive this extensible member promptly and remove to the height of waiting to get material case 002. This extensible member can stretch out in the outside of equipment body 10, and first support piece 221 on this extensible member is fixed with first adjacent workbin 001, and elevating system 21 drives this extensible member and rises to this extensible member can drive first adjacent workbin 001 and rise, and first adjacent workbin 001 with wait to get the separation of workbin 002, thereby get goods mechanism 23 alright with extract and wait to get workbin 002.

When the telescopic mechanism 22 is a multi-stage telescopic mechanism, the telescopic mechanism 22 may include a plurality of telescopic pieces, the plurality of telescopic pieces are sequentially connected in a sliding manner along the telescopic direction of the telescopic mechanism 22, and along the telescopic direction of the telescopic mechanism 22, the telescopic piece closest to the lifting mechanism 21 is connected in a sliding manner with the lifting mechanism 21, the top end of the telescopic piece farthest from the lifting mechanism 21 is connected with the first support piece 221, the goods taking mechanism 23 is connected to the telescopic piece in the lifting direction of the lifting mechanism 21, and the goods taking mechanism 23 is located below the first support piece 221. Therefore, when the lifting mechanism 21 is lifted, the lifting mechanism 21 can drive the telescopic mechanism 22 to lift, that is, the lifting mechanism 21 can drive the telescopic mechanism 22 to move to the height of the material taking box 002. Then, the multiple telescopic members in the telescopic mechanism 22 may be extended in sequence, that is, the telescopic member closest to the lifting mechanism 21 slides along the lifting mechanism 21, then the telescopic member slidably connected to the telescopic member slides, and so on, the telescopic member farthest from the lifting mechanism 21 at least partially extends outside the device body 10, and the other telescopic members are located outside the device body 10. First support piece 221 on the extensible member of furthest from elevating system 21 alright with fixed with first adjacent workbin 001, elevating system 21 drives extensible mechanism 22 and rises, elevating system 21 rises through the extensible member that drives closest to elevating system promptly, make a plurality of extensible members rise, thereby the extensible member furthest from elevating system 21 drives first adjacent workbin 001 through first support piece 221 and rises, first adjacent workbin 001 with wait to get the workbin 002 separation of material, thereby get 23 alright in order to extract and wait to get workbin 002.

For example, the telescopic mechanism 22 includes 3 telescopic members, a first telescopic member is slidably connected to the lifting mechanism 21, a second telescopic member is slidably connected to the first telescopic member, a third telescopic member is slidably connected to the second telescopic member, a goods taking mechanism 23 is slidably connected to the third telescopic member, and a first supporting member 221 is connected to the top end of the third telescopic member. When the lifting mechanism 21 drives the telescopic mechanism 22 to move to the height of the material box 002 to be taken, the first telescopic piece, the second telescopic piece and the third telescopic piece sequentially slide, so that the second telescopic piece and the third telescopic piece are located outside the equipment body 10, and at least part of the first telescopic piece is located outside the equipment body 10. The first telescopic part is the one closest to the lifting mechanism 21, and the third telescopic part is the one farthest from the lifting mechanism 21.

It should be noted that, when the telescopic mechanism 22 includes a telescopic member, the structure of the pick-and-place device can be simplified; when telescopic machanism 22 includes a plurality of extensible members, a plurality of extensible members are overhanging in proper order, can make the length increase after telescopic machanism 22 extends for equipment body 10 is different with the distance between the workbin of range upon range of setting, and the extensible member of the farthest away elevating system 21 still can move to first adjacent workbin 001 department in telescopic machanism 22, makes the application of getting and putting equipment more extensive.

In addition, the manner of providing the first support 221 on the telescopic mechanism 22 may have different manners, and the following examples are specifically taken as examples:

mode (1): as shown in fig. 3, a fixing member 24 is installed on the telescopic mechanism 22, a plurality of first supporting members 221 are installed on the fixing member 24 along the telescopic direction of the telescopic mechanism 22, and the first supporting members 221 may be sequentially installed on the fixing member 24 at equal intervals or at unequal intervals.

When the plurality of first supporting members 221 are disposed on the fixing member 24 along the extending and retracting direction of the retractable mechanism 22, at this time, after the retractable mechanism 22 extends out of the apparatus body 10, that is, when the retractable mechanism 22 extends out of the storage position of the material box 002 to be taken, the plurality of first supporting members 221 may simultaneously contact with the first adjacent material box 001.

In addition, the fixing member 24 may be mounted on the telescopic mechanism 22 in two ways:

in the mode (a), the fixing member 24 is fixed to the telescopic mechanism 22, that is, the fixing member 24 is fixed to the telescopic mechanism 22. When the fixing member 24 is fixed on the telescopic mechanism 22, and the plurality of first supporting members 221 are disposed on the fixing member 24 along the telescopic direction of the telescopic mechanism 22, at this time, after the telescopic mechanism 22 extends outside the apparatus body 10, the fixing member 24 can move to the first adjacent bin 001 along with the telescopic mechanism 22, so that the first supporting members 221 can contact with the first adjacent bin 001. When telescopic machanism 22 ascends along with elevating system 21, mounting 24 alright rise along with telescopic machanism 22 to mounting 24 subassembly alright with drive first support piece 221, make first support piece 221 drive first adjacent workbin 001 and rise, and then first adjacent workbin 001 with wait to get the separation of workbin 002.

Mode (b): a fixing member 24 is slidably connected to the telescoping mechanism 22, and the sliding direction of the second fixing member 24 is the same as the sliding direction of the telescoping mechanism 22.

When the fixing member 24 is slidably connected to the telescoping mechanism 22, and the sliding direction of the fixing member 24 is the same as that of the telescoping mechanism 22, at this time, after the telescoping mechanism 22 extends outside the apparatus body 10, if the telescoping mechanism 22 does not reach the first adjacent material box 001, the fixing member 24 can slide relative to the telescoping mechanism 22, so that the fixing member 24 can reach the first adjacent material box 001 due to its own sliding, thereby facilitating the contact between the first support member 221 and the first adjacent material box 001, thereby lifting the first adjacent material box 001, and separating the first adjacent material box 001 from the material box 002 to be taken; if telescopic mechanism 22 reaches first adjacent workbin 001, mounting 24 can remain motionless, and first support member 221 on mounting 24 can contact first adjacent workbin 001 to promote first adjacent workbin 001, make first adjacent workbin 001 separate with waiting to get material case 002.

It should be noted that, when the fixing element 24 is slidably connected to the telescoping mechanism 22, a fourth power element may be integrated on the fixing element 24, and the fourth power element may drive the fixing element 24 to slide relative to the telescoping mechanism 22.

Alternatively, the mount 24 may be disposed at the top end of the telescopic mechanism 22, with the pickup mechanism 23 located below the mount 24.

Additionally, in the embodiment of the present invention, when the telescoping mechanism 22 comprises a telescoping member, the fixing member 24 can be fixed or slidably connected to the telescoping member. When the telescoping mechanism 22 includes a plurality of telescoping members, the mount 24 may be fixed or slidably connected to the telescoping member furthest from the elevator mechanism 21.

Mode (2): the first end of the telescopic mechanism 22 is directly connected to the first support 221. That is, the first support 221 may be directly disposed at the first end of the telescoping mechanism 22 without disposing the first support 221 at the first end of the telescoping mechanism 22 via the fixing member 24.

In addition, when the telescopic mechanism 22 includes a telescopic member, the first support member 221 may be directly connected to the top end of the telescopic member. When the telescoping mechanism 22 includes a plurality of telescoping members, the first support member 221 may be directly connected to the top end of the telescoping member farthest from the elevator mechanism 21.

In addition, in some embodiments, the first support 221 may be an elastic sheet. When the telescopic mechanism 22 reaches the storage position where the material waiting box 002 is located, the elastic sheet is controlled to pop up, and the elastic sheet abuts against the material waiting box.

When the first support 221 is a spring, the spring may have different states. Specifically, when telescopic machanism 22 removed the storage bit of waiting to get workbin 002 place, can control the shell fragment to pop out, control the shell fragment promptly and be in the open mode, the shell fragment supports first adjacent workbin 001 with first adjacent workbin 001 butt, is equivalent to the shell fragment. When the telescopic mechanism 22 ascends along with the lifting mechanism 21, the telescopic mechanism 22 can apply force to the first adjacent material box 001 through the elastic sheet, so that the first adjacent material box 001 ascends, and the first adjacent material box 001 is separated from the material box 002 to be taken. When telescopic machanism 22 did not move the storage bit of waiting to get the material case 002 place, at this moment, need not the first adjacent workbin 001 of shell fragment butt, consequently, can control the shell fragment shrink, control the shell fragment promptly and be in the closed condition. In addition, when the telescopic mechanism 22 is inside the apparatus body 10, the elastic piece may be in a closed state.

It should be noted that the elastic sheet can be connected to the controller, so that the elastic sheet is controlled by the controller, and the elastic sheet can be ejected or retracted. In addition, the first supporting member 221 may be another type of supporting member, for example, the first supporting member 221 may be an electromagnetic member, and at this time, the material box may be made of a metal material, so that when the telescoping mechanism 22 moves to the storage position where the material box 002 to be taken is located, the electromagnetic member is energized to generate a magnetic force to attract the first adjacent material box 001, so that when the telescoping mechanism 22 moves, the first adjacent material box 001 may be driven by the first supporting member 221 to move. The specific type of the first support 221 is not limited herein.

In addition, in some embodiments, as shown in fig. 6, a second support 231 for supporting the material box 002 to be taken may be disposed on the material taking mechanism 23, and the material taking mechanism 23 is driven by the lifting mechanism 21 to lift upwards, so as to separate the material box 002 to be taken from the second adjacent bin below.

When getting to be connected with second support piece 231 on the goods mechanism 23, this moment, when getting goods mechanism 23 extraction and waiting to get material case 002, second support piece 231 supports and waits to get material case 002 to get goods mechanism 23 and can wait to get material case 002 through second support piece 231 extraction, wait to get material case 002 just can separate with the adjacent workbin of below second. That is, by providing the second supporting member 231 on the article taking mechanism 23, the article taking mechanism 23 can be conveniently extracted to have the material taking box 002 to be taken.

It should be noted that the type of the second support 231 may be the same as the type of the first support 221, for example, when the first support 221 is an elastic sheet, the second support 231 is also an elastic sheet.

In addition, when the goods taking mechanism 23 is connected with the second support 231, at this time, after the telescopic mechanism 22 extends out of the external space of the device body 10, the first support 221 supports the first adjacent material box 001, and the lifting mechanism 21 drives the telescopic mechanism 22 to ascend, so that the telescopic mechanism 22 drives the first adjacent material box 001 to ascend through the first support 221, and the first adjacent material box 001 is separated from the to-be-taken material box 002, then the second support 231 supports the to-be-taken material box 002, the goods taking mechanism 23 retracts into the device body 10, and the goods taking mechanism 23 extracts the to-be-taken material box 002 through the second support 231.

In addition, the quantity of second support piece 231 can be a plurality of, and a plurality of second support piece 231 sets up on getting goods mechanism 23 along the slip direction interval of getting goods mechanism 23 to when getting goods mechanism 23 extraction and waiting to get workbin 002, a plurality of second support piece 231 all can support and wait to get workbin 002, thereby be convenient for get goods mechanism 23 extraction and wait to get workbin 002.

The auxiliary mechanism is located above the goods taking mechanism 23, and the distance between the auxiliary mechanism and the goods taking mechanism 23 is larger than the height of the material taking box 002. When taking the workbin 002 of waiting to get, because the auxiliary mechanism with get the interval between the goods mechanism 23 and be greater than the height of waiting to get the workbin 002, the auxiliary mechanism takes first adjacent workbin 001 and rises the back, gets goods mechanism 23 and just can take and wait to get workbin 002 to enable first adjacent workbin 001 and wait to get workbin 002 separation.

In addition, in some embodiments, the distance between the first support 221 and the second support 231 is greater than the height of the to-be-extracted bin 002.

When the telescopic mechanism 22 moves to the first adjacent bin 001, the first supporting member 221 supports the first adjacent bin 001, and the goods taking mechanism 23 moves to the to-be-taken bin 002 along with the telescopic mechanism 22, and then the lifting mechanism 21 drives the telescopic mechanism 22 and the goods taking mechanism 23 to ascend. Because the distance between first support piece 221 and the second support piece 231 is greater than the height of workbin, thereby when telescopic machanism 22 rose, telescopic machanism 22 at first can drive first adjacent workbin 001 through first support piece 221 and rise, and after first adjacent workbin 001 rose, second support piece 231 on the goods taking mechanism 23 just can support and wait to get workbin 002, thereby the goods taking mechanism 23 just can drive and wait to get workbin 002 and rise, later the goods taking mechanism 23 extracts and waits to get workbin 002. That is, by setting the distance between the first support 221 and the second support 231 to be greater than the height of the to-be-taken material box 002, it is possible to facilitate the separation of the first adjacent material box 001 from the to-be-taken material box 002 when the telescoping mechanism 22 is driven to ascend by the elevating mechanism 21.

In addition, get goods mechanism 23 when elevating system 21's drive is ascending down, second support piece 231 also can rise along with getting goods mechanism 23, thereby can drive through second support piece 231 and wait to get material case 002 and rise, make and wait to get material case 002 and second adjacent workbin separation, be equivalent to promptly to wait to get workbin 002 neither with being located and wait to get the workbin contact of material case 002 top, also with being located and waiting to get the workbin contact of material case 002 below, thereby when getting goods mechanism 23 and removing to equipment body 10 inside, avoid when getting goods mechanism 23 extraction and waiting to get material case 002, the workbin influence that is located and waits to get material case 002 below appears treating the problem of getting workbin 002 extraction.

It should be noted that, the material box is usually provided with a hanging platform, when the first supporting member 221 and the second supporting member 231 are elastic sheets, and the distance between the first supporting member 221 and the second supporting member 231 is greater than the height of the material box to be taken, so that when the telescoping mechanism 22 moves to the first adjacent material box 001, the first supporting member 221 is in an open state, that is, the elastic sheet pops out, the first supporting member 221 contacts with the hanging platform on the first adjacent material box 001, so that the first supporting member 221 is hung on the hanging platform, and then the telescoping mechanism 22 ascends along with the lifting mechanism 21, so that the telescoping mechanism 22 drives the first adjacent material box 001 to ascend. Because the distance between first support piece 221 and the second support piece 231 is greater than the height of waiting to get workbin 002, thereby telescopic machanism 22 drives after first adjacent workbin 001 rises the certain distance, second support piece 231 just articulates the platform that connects of hanging on waiting to get workbin 002, thereby get goods mechanism 23 and drive under elevating system 21 and wait to get workbin 002 and rise, make and wait to get workbin 002 and be located the workbin separation of waiting to get workbin 002 below, even if it separates with the second adjacent workbin to wait to get workbin 002, later get and contract in equipment body 10 in goods mechanism 23, will wait to get in the workbin 002 mobile device body 10.

As shown in fig. 12, after the first adjacent bin 001 ascends along with the telescopic mechanism 22 and is separated from the to-be-taken bin 002, the distance between the first adjacent bin 001 and the to-be-taken bin 002 may be a set distance, for example, 15 mm or 20 mm. In addition, after the material box 002 to be taken is separated from the material box located below the material box 002 to be taken, that is, after the material box 002 to be taken is separated from the second adjacent material box, the distance between the material box 002 to be taken and the material box located below the material box 002 to be taken may also be a set distance, for example, 15 mm or 20 mm.

In addition, in some embodiments, as shown in fig. 1, the pick-and-place apparatus may further include a supporting mechanism 30, the supporting mechanism 30 is disposed at a bottom end of the goods taking device 20, and specifically, the supporting mechanism 30 is disposed at a bottom end of the telescopic mechanism 22 in the goods taking device 20. The supporting mechanism 30 comprises a jacking piece 31 and a supporting plate 32, one end of the jacking piece 31 is connected to the bottom end of the goods taking device 20, specifically to the bottom end of the telescopic mechanism 22 in the goods taking device 20, the other end of the jacking piece 31 is connected with the supporting plate 32, and the supporting mechanism supports the goods taking device 20 by the fact that the supporting plate 32 is abutted to the second adjacent bin 003; the second adjacent bin 003 is any one of the stacked bins located below the material taking bin 002.

When telescopic machanism 22's bottom was provided with supporting mechanism 30, when supporting mechanism 30 includes jacking piece 31 and backup pad 32, this moment, when telescopic machanism 22 removed first adjacent workbin 001 department, jacking piece 31 can the downwardly extending to jacking piece 31 drives backup pad 32 and descends, thereby backup pad 32 can remove to second adjacent workbin 003 department, thereby backup pad 32 and second adjacent workbin 003 butt, specifically with the platform butt that articulates of locating the outside setting of second adjacent workbin 003. Telescopic machanism 22 rises under elevating system 21's drive, make telescopic machanism 22 drive the in-process that first adjacent workbin 001 removed, jacking piece 31 can continue to extend, and backup pad 32 is fixed with second adjacent workbin 003, thereby be equivalent to that jacking piece 31 is fixed with the one end that backup pad 32 is connected, thereby at the in-process that jacking piece 31 extends, jacking piece 31 can provide ascending power to telescopic machanism 22, thereby telescopic machanism 22 not only receives elevating system 21 power of driving, still receive the power that jacking piece 31 provided, be equivalent to and form supporting role to get goods device 20, thereby be favorable to telescopic machanism 22 to drive first adjacent 001 workbin and rise, and can also reduce elevating system 21's power. That is, by providing the supporting mechanism 30, the telescoping mechanism 22 can be used to drive the first adjacent material box 001 to ascend, and the power of the elevating mechanism 21 can be reduced.

It should be noted that, as shown in fig. 1, the number of the jacking pieces 31 may be multiple, and the multiple jacking pieces 31 may be arranged at intervals along the sliding direction of the telescopic mechanism 22, so that when the multiple jacking pieces 31 extend, the multiple jacking pieces 31 may provide more stress points for the telescopic mechanism 22, thereby facilitating the lifting of the telescopic mechanism 22.

Additionally, in some embodiments, as shown in FIG. 6, third support 321 may be disposed on support plate 32, third support 321 being configured to contact second adjacent bin 003.

When third support 321 is disposed on supporting plate 32, at this time, when supporting plate 32 moves to second adjacent bin 003, third support 321 can contact second adjacent bin 003, which is equivalent to directly abutting supporting plate 32 on second adjacent bin 003, so that supporting plate 32 supports lifting member 31, and finally supports pickup device 20. That is, by providing third support 321, it may be facilitated that support plate 32 abuts second adjacent bin 003.

It should be noted that the type of the third supporting member 321 may be the same as the type of the first supporting member 221, for example, when the first supporting member 221 is an elastic sheet, the third supporting member 321 is also an elastic sheet, and when the first supporting member 221 is an electromagnetic member, the third supporting member 321 is an electromagnetic member.

In addition, the number of the third supporting pieces 321 may be plural, and a plurality of the third supporting pieces 321 may be provided at intervals on the supporting plate 32 in the sliding direction of the telescopic mechanism 22.

In addition, in the embodiment of the present invention, the supporting mechanism 30 may also be other types of structures, for example, the supporting mechanism 30 may include a lifting rail and a supporting plate 32, and for another example, the supporting mechanism 30 may further include a scissors lift and a supporting plate 32, that is, one end of the scissors lift is connected to the telescoping mechanism 22, and the other end of the scissors lift is connected to the supporting plate 32. The specific type of the supporting mechanism 30 is not limited herein.

In addition, in some embodiments, a distance sensor may be disposed on a target side of the apparatus body 10, where the target side is a side of the apparatus body 10 from which the telescopic mechanism 22 may extend, and the distance sensor is used to detect a distance between the first adjacent material bin 001 and the material bin 002 to be taken.

Through set up distance sensor on the target side at equipment body 10, it rises to drive first adjacent workbin 001 at telescopic machanism 22, make first adjacent workbin 001 with wait to get when material case 002 separates, distance sensor alright with detect first adjacent workbin 001 and wait to get the distance between the material case 002, and when first adjacent workbin 001 and wait to get the distance between the material case 002 for the distance of settlement, get goods mechanism 23 and just extract and wait to get material case 002, thereby avoid waiting to get the in-process of material case 002 in the extraction, first adjacent workbin 001 is treated and is got the problem appearance that material case 002 caused the influence.

In addition, the distance sensor may also be used to detect the distance between the material box 002 to be taken and the material box located below the material box 002 to be taken and adjacent to the material box 002 to be taken, that is, the distance between the material box 002 to be taken and the second adjacent material box when the material box 002 to be taken ascends along with the goods taking mechanism 23.

In addition, in some embodiments, as shown in fig. 5, a tray 40 may be further disposed on the apparatus body 10. The tray 40 is located below the goods taking device 20, and the tray 40 is used for bearing the box 002 to be taken out, which is taken out by the goods taking device 20.

When being provided with tray 40 on equipment body 10, and tray 40 is located the below of getting goods device 20, at this moment, get goods mechanism 23 extraction and wait to get behind workbin 002, get goods mechanism 23 and contract in equipment body 10 promptly, elevating system 21 can descend, lift and drive telescopic machanism 22 and pile up first adjacent workbin 001 again on waiting to get the workbin of workbin 002 below through first support piece 221, it piles up on second adjacent workbin again to be about to first adjacent workbin, and get goods mechanism 23 along with elevating system 21's decline, it drives and waits to get the workbin 002 and descends to get goods mechanism, it can place on tray 40 waiting to get workbin 002 to get goods mechanism, thereby tray 40 alright bear and wait to get workbin 002. Namely, by providing the tray 40, it is possible to carry the material taking box 002 to be taken after the material taking box 002 is taken in the extraction of the goods taking device 20, and it is convenient to transport the material taking box 002.

In addition, in some embodiments, the tray 40 is slidably disposed on the apparatus body 10.

When tray 40 slides and sets up in equipment body 10, in the in-process that gets workbin 002 decline is waited to get the drive of goods mechanism 23, tray 40 can rise, make and wait to get workbin 002 and tray 40 contact, later get goods mechanism 23 with wait to get workbin 002 separation, can avoid telescopic machanism 22 to pile up first adjacent workbin 001 after the second adjacent workbin through first support piece 221, it has certain distance to wait to get between workbin 002 and the tray 40, get goods mechanism 23 with wait to get workbin 002 separation after, it drops on tray 40 to wait to get workbin 002 because self gravity, form the striking effect with tray 40, lead to tray 40 and wait to get the problem that workbin 002 received the damage and appear.

Additionally, in some embodiments, as shown in FIG. 5, the tray 40 includes a plurality of first tines 42 that are spaced apart.

When the tray 40 includes a plurality of first fork teeth 42 arranged at intervals, at this time, the material box 002 to be taken can be simultaneously carried by the plurality of first fork teeth 42, so that the carrying effect of the material box 002 to be taken is better.

In addition, in the embodiment of the present invention, the tray 40 may further include a sliding rod 41. The plurality of first tines 42 are connected to the sliding rod 41 in the axial direction of the sliding rod 41, and both ends of the sliding rod 41 are respectively liftable along the apparatus body 10.

Since the plurality of first fork tines 42 are connected to the sliding rod 41 in the axial direction of the sliding rod 41, the plurality of first fork tines 42 can form a large bearing surface for bearing the material-to-be-taken box 002. In addition, the both ends of slide bar 41 are liftable along equipment body 10 respectively to slide bar 41 can drive a plurality of first prong 42 and go up and down, makes tray 40 can drive and treats to get material case 002 and go up and down, thereby is convenient for tray 40 and carrier 100 cooperation, and the carrier 100 transportation of being convenient for is treated to get material case 002.

It should be noted that, a fifth power component may be integrated on the sliding rod 41, and the fifth power component drives the sliding rod 41 to lift.

It should be noted that, in the embodiment of the present invention, the first power component, the second power component, the third power component, the fourth power component, and the fifth power component may be motors. The motor can be a stepping motor or a servo motor. The embodiment of the present invention is not limited to the type of the motor.

The passage for the carrier 100 to pass is arranged below the equipment body 10, after the taken-out material taking box 002 to be taken is placed on the tray 40, the carrier 100 can enter the inside of the equipment body 10 through the passage, the material taking box 002 to be taken out on the tray 40 is taken away, and then the material taking box 002 to be taken is conveyed to a specified position.

In addition, in some embodiments, as shown in fig. 1, a roller 50 may be connected to a lower portion of the apparatus body 10, and the roller 50 is used to move the apparatus body 10.

When the roller 50 is connected to the lower portion of the device body 10, at this time, when the device body 10 needs to be moved, the device body 10 may be pushed so that the roller 50 rolls, thereby facilitating the movement of the device body 10, and further facilitating the movement of the pick-and-place device.

It should be noted that the number of the rollers 50 can be set according to actual needs, for example, as shown in fig. 1, the number of the rollers 50 can be 4, and 4 rollers 50 are respectively disposed at 4 corners of the apparatus body 10. In addition, the roller 50 may be a universal wheel, and of course, other types of rollers 50 may also be used, and the embodiment of the present invention is not limited herein for the specific type of the roller 50.

In addition, in some embodiments, a scanner may be disposed on the telescoping mechanism 22, and the position of the bin may be determined by scanning the graphic code on the bin.

The magazine is usually provided with a graphic code, so that a code scanner is provided on the telescopic mechanism 22, by means of which the graphic code on the magazine can be recognized and by means of which the position of the magazine can be determined. Therefore, by arranging the code scanner, the position of the material box 002 to be taken can be conveniently determined by scanning the graphic code on the material box 002 to be taken through the code scanner.

In addition, in some embodiments, a code scanner may be disposed on the apparatus body 10, so that the position of the material box 002 to be taken can be determined by the code scanner on the apparatus body 10.

In the embodiment of the present invention, the lifting mechanism 21 is installed in the device body 10, and the telescopic mechanism 22 and the lifting mechanism 21 are slidably connected, and the lifting mechanism 21 can drive the telescopic mechanism 22 to lift. Since the picking mechanism 23 is slidably connected to the telescoping mechanism 22, and the telescoping mechanism 22 is provided with the first supporting member 221 for supporting the first adjacent material box 001 above the material box 002 to be picked, when the lifting mechanism 21 drives the telescoping mechanism 22 to lift, the first supporting member 221 and the picking mechanism 23 can lift along with the lifting of the telescoping mechanism 22. In addition, telescopic machanism 22 can stretch out in the outside of equipment body 10, elevating system 21 can drive telescopic machanism 22 and remove the height of waiting to get material box 002 in a plurality of workbins of range upon range of placing, later telescopic machanism 22 stretches out in equipment body 10 outsidely, telescopic machanism 22 can drive and get goods mechanism 23 and first support piece 221 and reach the storage bit that waits to get material box 002 and place, thereby first support piece 221 alright with the contact of first adjacent workbin 001, thereby support first adjacent workbin 001, later elevating system 21 drive telescopic machanism 22 promotes upwards, make telescopic machanism 22 drive first support piece 221 and upwards rise, first support piece 221 drives first adjacent workbin 001 and rises, realize first adjacent workbin 001 and waiting to get material box 002 separation, it slides along the direction of keeping away from the storage bit to get goods mechanism 23, it drives and waits to get material box 002 and moves to get material mechanism 23, realize the extraction of material box 002.

That is, in the embodiment of the utility model provides an, through setting up elevating system 21, telescopic machanism 22 and get goods mechanism 23, elevating system 21 can drive telescopic machanism 22 and get goods mechanism 23 and remove to waiting to get the height of material case 002, later telescopic machanism 22 is overhanging in equipment body 10, and telescopic machanism 22 removes to waiting to get the storage bit of material case 002, first support piece 221 and the contact of first adjacent workbin 001 on the telescopic machanism 22, elevating system 21 drive telescopic machanism 22 rises, make telescopic machanism 22 drive first adjacent workbin 001 through first support piece 221 and rise, thereby first adjacent workbin 001 with wait to get the separation of material case 002, thereby get goods mechanism 23 alright treat material case 002 with the extraction, make can take out in a plurality of workbin of range upon range of setting and wait to get material case 002, thereby be convenient for taking out waiting to get the material case 002 in a plurality of workbin range upon range of setting.

The embodiment of the present invention provides a carrying system, as shown in fig. 14 to fig. 18, the carrying system includes a carrying vehicle 100 and the pick-and-place device in any of the above embodiments, wherein the carrying vehicle 100 is used for transferring an article between the pick-and-place device and a designated position.

The taking and placing device comprises a fork-type tray 40 for placing the material box to be taken, a fork-type material taking device 110 is arranged at the top end of the carrier 100, the fork-type material taking device 110 is matched with the tray 40, and the fork-type material taking device 110 is used for carrying the material box 002 to be taken, which is placed on the fork-type tray 40.

When handling system includes carrier 100, when getting the equipment and including the prong formula tray 40, at this moment, get 23 extraction of goods mechanism and wait to get the material case 002 after, wait to get the material case 002 alright born by tray 40, carrier 100 alright with tray 40 cooperation, prong formula get goods device promptly and the cooperation of prong formula tray 40, prong formula get goods device 110 promptly alright get the material case 002 with waiting of placing on prong formula tray 40 with the transport, will wait to get the material case 002 and take off from tray 40, carrier 100 alright with the transportation wait to get the material case 002.

The transport Vehicle 100 may be an Automated Guided Vehicle (AGV), an Autonomous Mobile Robot (AMR), or the like, or may be another transport Vehicle, and these are not described here.

Additionally, in some embodiments, the tine picker assembly 110 includes a plurality of spaced apart second tines 111, with the spacing between adjacent second tines 111 accommodating the first tines 42 of the tine tray 40. The tine picker 110 also includes baffles 112, each baffle 112 extending upwardly along the second tine 111. When the truck passes through the pick-and-place device, the second fork tooth 111 passes through the gap of the adjacent first fork tooth 42, and the baffle 112 pushes the to-be-taken-out material box 002 to move along with the truck 100, so that the to-be-taken-out material box 002 is conveyed from the tray 40 to the truck 100.

When the interval between the adjacent second fork teeth 111 can accommodate the first fork teeth 42 of the fork-shaped tray 40, and each baffle 112 extends upwards along the second fork teeth 111, at this time, when the truck 100 moves to the tray 40, each baffle 112 can be accommodated by two adjacent first fork teeth 42 of the tray 40, so that each baffle 112 can pass through the gap between the first fork teeth 42, and the baffle 112 moves along with the truck 100, so that the truck 100 applies force to the material-to-be-taken box 002 located on the tray 40 through the baffle 112, i.e. the material-to-be-taken box 002 moves horizontally, and as the truck 100 moves continuously, the baffle can continuously push the material-to-be-taken box 002 to move, i.e. the baffle 112 pushes the material-to-be-taken box 002 to move along with the truck 100, and after the truck 100 moves to a certain distance, i.e. the truck 100 passes through the taking and placing equipment, the baffle 112 can push the material-to-be-taken box 002 to be disengaged from the tray 40, so that the material-to-be-taken box 002 is pushed onto the second fork teeth 111.

In addition, when the tray 40 includes the sliding rod 41, and the plurality of first fork tines 42 are connected to the sliding rod 41 along the axial direction of the sliding rod 41, and both ends of the sliding rod 41 can be lifted along the apparatus body 10, when the cart 100 needs to carry the material box 002 to be taken on the tray 40, the cart 100 can move, the tray 40 can be lifted, and the distance between the first fork tines 42 of the tray 40 and the ground is greater than the height of the cart 100, so that the cart 100 can move through the gap between the tray 40 and the ground. When the transporting vehicle 100 passes through the gap between the tray 40 and the ground, the baffle 112 on the transporting vehicle 100 passes through the gap between the two adjacent first fork tines 42, so that the baffle 112 contacts with the material waiting box 002, when the transporting vehicle 100 continues to move, the baffle 112 applies force to the material waiting box 002, so that the material waiting box 002 is separated from the first fork tines 42, and the material waiting box 002 moves to the second fork tines 111 on the transporting vehicle 100 under the action of the baffle 112, thereby realizing the docking of the transporting vehicle 100 and the taking and placing equipment.

In addition, the clearance between tray 40 and the ground is greater than the height of carrier 100, and carrier 100 can pass equipment body 10 through this clearance, and baffle 112 on carrier 100 can directly take off the tray 40 of waiting to get on the tray 40 to avoid using other equipment to take off waiting to get on the tray 40 and expect the case 002, can improve handling system's turnover efficiency. In addition, the carrier 100 can pass through the gap between the tray 40 and the ground, so that when a plurality of carriers 100 are provided and the pick-and-place device continuously extracts the material box 002 to be taken, each carrier 100 can pass through the gap between the tray 40 and the ground, so as to carry the material box 002 to be taken on the tray 40, so that the plurality of carriers 100 can carry continuously, thereby avoiding the problem that the carrier 100 needs other devices to move the material box 002 to be taken onto the carrier 100, so as to cause the time that the carrier 100 needs to wait to occur, and thus improving the turnover efficiency of the carrying system.

Additionally, in some embodiments, the top surface of the cart 100 is provided with a lift on which the tine picker 110 is disposed. The forked pick device 110 includes a plurality of spaced apart second tines 111, with the spacing between adjacent second tines 111 accommodating the first tines 42 of the forked tray. When the truck 100 passes through the pick-and-place device, the second fork tooth 111 is located in the gap between the adjacent first fork teeth 42, and the lifting piece drives the second fork tooth 111 to ascend, so that the second fork tooth 111 bears the material box 002 to be taken.

When the tine type goods taking device 110 is arranged on the lifting member, and the interval between the adjacent second tines 111 can accommodate the first tines 42 of the tine type pallet, at this time, when the transport vehicle 100 moves to the pallet 40, the lifting member can drive the second tines 111 to ascend, so that the second tines 111 can contact with the box 002 to be taken, and as the lifting member continuously drives the second tines 111, the second tines 111 can drive the box 002 to be taken to ascend, which is equivalent to lifting the box 002 to be taken. After the to-be-taken-out box 002 rises for a certain distance along with the second fork tooth 111, the to-be-taken-out box 002 is separated from the tray 40, at this time, the second fork tooth 111 bears the to-be-taken-out box 002, and then when the carrier 100 moves, the second fork tooth 111 bears the to-be-taken-out box 002 and moves along with the carrier 100, so that the carrier 100 carries the to-be-taken-out box 002.

In addition, it should be noted that the pick-and-place device included in the carrying system provided in this embodiment may refer to the description of the pick-and-place device in the foregoing embodiment, and details are not repeated here.

It should be noted that, in this specification, each embodiment is described in a progressive manner, and each embodiment focuses on differences from other embodiments, and portions that are the same as and similar to each other in each embodiment may be referred to.

While alternative embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including alternative embodiments and all such alterations and modifications as fall within the true scope of the embodiments of the invention.

Finally, it should also be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity from another entity without necessarily requiring or implying any actual such relationship or order between such entities. Furthermore, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such article or terminal. Without further limitation, an element defined by the phrases "comprising one of \8230;" does not exclude the presence of additional like elements in an article or terminal device comprising the element.

It is right above to the technical scheme that the utility model provides a detailed introduction has been carried out, and it is right to have used specific individual example here the utility model discloses a principle and embodiment have been expounded, simultaneously, to the general technical staff in this field, according to the utility model discloses a principle and implementation all have the change part on concrete implementation and application scope, to sum up, this description content should not be understood as the restriction of the utility model.

Claims

1. A pick and place device, comprising: the goods taking device is used for lifting a first adjacent material box positioned above the material box to be taken out from a plurality of stacked material boxes, separating the first adjacent material box from the material box to be taken out and taking out the material box to be taken out.

2. The pick-and-place apparatus of claim 1, wherein the picking device comprises a picking mechanism and an auxiliary mechanism,

the auxiliary mechanism is used for separating a first adjacent material box positioned above the material box to be taken from a plurality of stacked material boxes from the material box to be taken,

the goods taking mechanism is used for taking out the box to be taken.

3. The pick-and-place apparatus of claim 2, wherein the auxiliary mechanism is located above the picking mechanism and spaced from the picking mechanism by a distance greater than the height of the bin to be picked.

4. The pick-and-place device according to claim 2 or 3, wherein the picking means further comprises a lifting mechanism and a telescoping mechanism, the auxiliary mechanism and the picking mechanism being connected to the telescoping mechanism respectively;

the telescopic mechanism is used for driving the goods taking mechanism and the auxiliary mechanism to reach the storage position where the box to be taken out is located, or driving the goods taking mechanism and the auxiliary mechanism to retract into the equipment body;

5. The taking and placing device according to claim 4, wherein the outer sides of the first adjacent material box and the material box to be taken are respectively provided with a protruding hanging table, the auxiliary mechanism is provided with a first supporting piece for supporting the material box to be taken, and the goods taking mechanism is provided with a second supporting piece for supporting the material box to be taken;

the lifting mechanism drives the auxiliary mechanism to lift upwards, and the first support piece lifts the first adjacent material box to be separated from the material box to be taken; the lifting mechanism drives the goods taking mechanism to lift upwards, and the second support piece lifts the material box to be taken, so that the material box to be taken is separated from a second adjacent material box below the material box to be taken.

6. The pick-and-place apparatus of claim 5, wherein the first support and the second support are each a spring;

when the goods taking mechanism reaches the storage position where the material taking box is located, the elastic sheet is controlled to pop up, and the elastic sheet is abutted to the hanging platform of the material taking box.

7. The pick-and-place apparatus according to any one of claims 4 to 6, further comprising a support mechanism, the support mechanism being disposed at a bottom end of the picking device;

the supporting plate is abutted against a hanging table arranged on the outer side of a second adjacent material box, so that the goods taking device is supported; the second adjacent material box is any one material box which is positioned below the material box to be taken and is formed by stacking a plurality of material boxes.

8. The pick-and-place apparatus of claim 7, wherein a passage for a transportation vehicle to pass through is provided below the apparatus body.

9. The pick-and-place apparatus according to any one of claims 4 to 8, wherein a distance sensor is disposed on a target side of the apparatus body, the target side is a side of the apparatus body from which the telescopic mechanism can extend, and the distance sensor is configured to detect a distance between a first adjacent bin and the bin to be picked.

10. The pick-and-place device according to any one of claims 1 to 9, wherein a tray is further provided on the device body;

11. A handling system, characterized in that it comprises a handling vehicle and a pick-and-place device according to any of claims 1-10;

wherein the cart is configured to transfer an item between the pick-and-place device and a designated location.

12. Handling system according to claim 11,

the taking and placing device comprises a fork-type tray for placing a material box;

and a fork tooth type goods taking device matched with the tray is arranged at the top end of the carrier, and the fork tooth type goods taking device is used for carrying a to-be-taken box placed on the fork tooth type tray.

13. A handling system according to claim 12 wherein said tine-type access means includes a plurality of spaced apart second tines, the spacing between adjacent said second tines accommodating said first tines of said tine-type tray;

14. The handling system of claim 12, wherein a surface of a top end of the truck is provided with a lift on which the tine picker is disposed;