CN221092306U - Box taking device and logistics robot - Google Patents

Abstract

The embodiment of the application provides a box taking device and a logistics robot, wherein the box taking device comprises: the bearing piece is provided with a plurality of bearing positions which are used for bearing the target object; the object taking assembly is arranged on the bearing piece and can selectively extend out of or retract back into the bearing piece so as to reciprocate between a target goods position and a bearing position; and the picking assembly is selectively movable between a plurality of load positions to transfer the target item between the load position and one of the plurality of target positions. According to the box taking device and the logistics robot provided by the embodiment of the application, the number of target objects can be carried by the logistics robot at a time, and the carrying efficiency of the logistics robot is improved.

Description

Box taking device and logistics robot

Technical Field

The application relates to the technical field of storage equipment, in particular to a box taking device and a logistics robot.

Background

Logistics robots (also known as transfer robots) are important devices in warehouse systems that are capable of transferring target items (e.g., containers) from one location to another in the warehouse system for processing; in addition, the logistics robot can automatically place the target object on a target carrier (such as a goods shelf) to finish a feeding process (such as a box returning process); the target item can also be removed from the target carrier and transported to another designated location.

In order to improve the efficiency of the logistics robot for conveying the target object, in the related art, a mode of reducing the height of the logistics robot and improving the walking speed of the logistics robot is adopted, so that the conveying efficiency of the logistics robot to the target object is improved.

However, the logistics robots in the related art have a limited number of objects to be transported at a time, resulting in a low transportation efficiency of the logistics robots.

Disclosure of utility model

The embodiment of the application provides a box taking device and a logistics robot, which can improve the quantity of target objects carried by the logistics robot at a time and improve the carrying efficiency of the logistics robot.

According to a first aspect of an embodiment of the present application, there is provided a box taking device including:

the bearing piece is provided with a plurality of bearing positions which are used for bearing the target object;

The object taking assembly is arranged on the bearing piece and can selectively extend out of or retract back into the bearing piece so as to reciprocate between a target goods position and a bearing position; and the picking assembly is selectively movable between a plurality of load positions to transfer the target item between the load position and one of the plurality of target positions.

In an alternative implementation, the box taking device further comprises a first driving structure connected with the object taking assembly, and the first driving structure is configured to drive the object taking assembly to move between a plurality of bearing positions.

In an alternative implementation, the first driving structure includes:

The first transmission piece extends along the arrangement direction of the bearing positions, and the object taking assembly is arranged on the first transmission piece;

The first driving piece is connected with the first transmission piece and is configured to drive the first transmission piece to move so as to drive the fetching assembly to move among a plurality of bearing positions.

In an alternative embodiment, the first drive element has a motor encoder; the motor encoder is configured to determine a distance that the retrieval assembly moves between the plurality of load positions to determine a retrieval position of the retrieval assembly on each of the load positions.

In an alternative embodiment, the first transmission member includes any one of a screw and a belt.

In an optional implementation manner, the box taking device further comprises a first sliding rail, the first sliding rail extends along the arrangement direction of the bearing positions, the object taking component is arranged on the first sliding rail, and the object taking component can move along the extending direction of the first sliding rail.

In an alternative implementation, the box taking device further comprises a second driving structure, wherein the second driving structure is arranged on the bearing piece, and the second driving structure is configured to drive the object taking assembly to extend out of or retract into the bearing piece.

In an alternative implementation, the second driving structure includes:

The second transmission piece is connected with the first driving structure;

the second driving piece is arranged on the bearing piece and is configured to drive the first driving structure to move along the fetching direction so as to drive the fetching assembly to extend out of or retract back into the bearing piece.

In an optional implementation manner, the box taking device further comprises a second sliding rail, the second sliding rail is arranged on the bearing piece, and the second sliding rail extends along the object taking direction; the first driving structure is arranged on the second sliding rail in a sliding way.

In an alternative implementation manner, the second sliding rail comprises two second sliding rails, and the two second sliding rails are oppositely arranged at two ends of the first driving structure.

In an alternative implementation, the box taking device further comprises a mounting seat; the mounting seat is arranged on the second sliding rail in a sliding way; the first driving structure is arranged on the mounting seat.

In an alternative implementation, the mounting seat is provided with a relief portion configured to relieve the second driving member.

In an alternative implementation of the present invention,

The second driving structure includes:

The second transmission piece is connected with the fetching component;

The second driving piece is arranged on the first driving structure and is configured to drive the fetching component to extend out of or retract back into the bearing component;

the first driving structure is configured to drive the second driving structure along the arrangement direction of the plurality of bearing positions so as to drive the fetching assembly to move among the plurality of bearing positions.

In an alternative implementation, the carrier has a bottom wall and a top wall, between which a receiving space is formed for receiving the object item;

The fetching component is positioned in the accommodating space.

In an alternative implementation, a partition is provided on the bottom wall, the partition being configured to partition the bottom wall into a plurality of carrying locations arranged side by side; the front end of the partition member is provided with a guide inclined plane, and the guide inclined plane and the side wall of the bearing member form a necking structure.

In an alternative implementation, the distance that the partition protrudes from the bottom wall is less than or equal to the spacing between the access assembly and the bottom wall;

Or alternatively

The separation piece is provided with an avoidance gap which is communicated with two adjacent bearing positions, and the object taking assembly moves between the two adjacent bearing positions through the avoidance gap.

In an alternative implementation, the fetching assembly comprises a mounting plate and a sucker, wherein the mounting plate is arranged on the bearing piece, and the sucker is arranged on the mounting plate and is configured to adsorb the target object;

or the take-up assembly includes a finger structure configured to hook onto the target article.

According to a second aspect of an embodiment of the present application, there is provided a logistics robot including:

a chassis;

the lifting mechanism is arranged on the chassis; and

The box taking device provided by any optional implementation manner of the first aspect of the embodiment of the application is arranged on the lifting mechanism; the lifting mechanism is configured to lift the box taking device in a vertical direction.

In an alternative implementation, the lifting mechanism includes any one of a scissor fork structure, a telescopic cylinder, a linear motor, or a lifting mast.

According to the box taking device and the logistics robot provided by the embodiment of the application, the plurality of bearing positions are arranged on the bearing piece, and the object taking assembly arranged on the bearing piece is arranged to be capable of moving among the plurality of bearing positions; therefore, the object taking assembly can be switched to other bearing positions after the object is transferred between the object cargo position and one bearing position, and the object is transferred between the other bearing positions and the object cargo position; that is, get a plurality of target articles can be placed to case device once to make commodity circulation robot once can shift and transport a plurality of target articles, promoted commodity circulation robot once and carried the quantity of target articles, promoted commodity circulation robot's conveying efficiency.

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 specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:

FIG. 1 is a schematic view of an overall structure of a box taking device according to an embodiment of the present application;

FIG. 2 is a schematic view of another overall structure of the box taking device according to the embodiment of the present application;

FIG. 3 is a schematic view of another overall structure of the box taking device according to the embodiment of the present application;

Fig. 4 is a schematic structural view of the article taking assembly, the first driving structure and the bearing member in the box taking device according to the embodiment of the present application;

Fig. 5 is a schematic structural diagram of a fetching assembly, a first driving structure, a second driving structure and a bearing member in the box fetching device according to the embodiment of the present application;

fig. 6 is a schematic diagram of an overall structure of a logistic robot according to an embodiment of the present application;

fig. 7 is a schematic diagram of another overall structure of the logistic robot according to the embodiment of the present application;

Fig. 8 is a schematic structural diagram of cooperation between a chassis and a lifting mechanism in the logistics robot according to the embodiment of the present application;

FIG. 9 is a schematic view of yet another overall structure of the logistic robot according to the embodiment of the present application;

fig. 10 is a schematic structural diagram of a logistics robot object picking process according to an embodiment of the present application;

FIG. 11 is a schematic diagram of another structure of a logistics robot object picking process according to an embodiment of the present application;

Fig. 12 is a schematic structural diagram of a physical distribution robot picking process according to an embodiment of the present application;

Fig. 13 is a schematic structural diagram of a physical distribution robot picking process according to an embodiment of the present application.

Reference numerals illustrate:

10-a box taking device; 20-chassis; 30-a lifting mechanism;

110-a carrier; 120-an extraction assembly; 130-a first drive structure; 140-a first slide rail; 150-a second drive structure; 160-a second slide rail; 170-a mounting base; 310-a scissors unit; 320-a third drive structure;

111-bearer bits; 112-a bottom wall; 113-a top wall; 114-a separator; 121-a mounting plate; 122-sucking disc; 131-a first transmission member; 132-a first driver; 151-a second transmission member; 152-a second driver; 171-avoiding section; 311-a scissors linkage; 321-a third driver; 322-third transmission member;

1141-guide ramp.

Detailed Description

In order to make the technical solution of the present application better understood by those skilled in the art, the technical solution of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application 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, but 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 directions or positional relationships indicated by the terms "upper", "lower", "horizontal", "bottom", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present application. In the present 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," "fixed," 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 above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

The description as it relates to "first", "second", etc. in the present application is for descriptive purposes only and is not to be construed as indicating or implying a relative importance 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.

Logistics robots (also known as transfer robots) are important devices in warehouse systems that are capable of transferring target items (e.g., containers) from one location to another in the warehouse system for processing; in addition, the logistics robot can automatically place the target object on the target carrier (such as a goods shelf) to finish the feeding process (such as a box returning process); the target item can also be removed from the target carrier and transported to another designated location.

In some examples, to improve the efficiency of the logistics robot in conveying the target objects, a gantry is generally arranged on a chassis of the logistics robot, a plurality of temporary storage trays are arranged along the height direction of the gantry, and the box taking device of the logistics robot takes the target objects off the target carrier and places the target objects on the temporary storage trays; in this way, the logistics robot can transport a plurality of target objects at a time, so that the conveying efficiency of the target objects can be improved.

However, by arranging the portal on the chassis and arranging the temporary storage tray on the portal along the height direction, the overall height of the logistics robot is higher, that is, the overall gravity center of the logistics robot is higher; in order to ensure the stability of the logistics robot for carrying the target object, the moving speed of the logistics robot is generally reduced, and the conveying efficiency of the logistics robot on the target object is affected.

In some examples, there is also a way to reduce the overall height of the logistics robot, thereby increasing the running speed of the logistics robot and increasing the transport efficiency of the target object.

However, after the height of the logistics robot is reduced, the number of target objects to be transported at a time is limited, so that the transportation efficiency of the logistics robot is reduced.

Therefore, the embodiment of the application provides a box taking device and a logistics robot, which can improve the number of target objects carried by the logistics robot at a time and the carrying efficiency of the logistics robot.

Fig. 1 is a schematic diagram of the overall structure of a box taking device according to an embodiment of the present application.

Referring to fig. 1, an embodiment of the present application provides a box taking device 10, including: a carrier 110 and a pick-up assembly 120; wherein the carrier 110 may be a base of the box-taking device 10, in some examples, the carrier 110 may be used to carry a target item. In some examples, the carrier 110 may also be a scratch pad tray or a scratch pad plate.

In embodiments of the present application, the carrier 110 may be in a plate or disc type structure, and in some examples, the carrier 110 may also be in a box or frame type structure. In some alternative examples, the carrier 110 may be made of a hard nonmetallic material (e.g., a hard plastic or an engineering plastic); in other alternative examples, the carrier 110 may be made of an alloy material such as aluminum alloy or stainless steel.

Referring to fig. 1, in the embodiment of the present application, a plurality of carrying positions 111 are provided on a carrying member 110, and the carrying positions 111 are used for placing a target object. In some examples, each load station 111 may house at least one target item. In a specific setting, the load bearing bits 111 may be set according to standard dimensions of the target article. In the embodiment of the application, the target object may be a container (such as a packing box, an in-line box or an oblique box, etc.).

With continued reference to fig. 1, in an embodiment of the present application, the picking assembly 120 is disposed on the carrier 110, and the picking assembly 120 can be selectively extended to retract the carrier 110, thereby transferring the target object between the target cargo space and the carrying location 111.

It will be appreciated herein that the retrieval assembly 120 may extend or retract the carrier 110 under the drive of the telescoping members. The picking assembly 120 generally has two working processes, namely a picking process and a returning process, which are respectively described in the embodiment of the present application.

The material taking process comprises the following steps:

the fetching assembly 120 may extend from the carrier 110 under the driving of a telescopic member, where the telescopic member may be a telescopic fork, a cylinder, a telescopic rod, a scissor fork, or the like; after the fetching assembly 120 moves towards the target cargo space and contacts with the target cargo space, the fetching assembly 120 can apply a force towards the carrier 110 to the target cargo space, so as to drive the target object to move towards the carrier 110, and after the fetching assembly 120 returns to the carrier 110, the target object is moved onto the carrier 110, so that the fetching process of the target object is completed.

In some examples, the retrieval assembly 120 may be a fork-holding structure; in other examples, the article taking assembly 120 may also be a sucking disc 122 structure, a magnetic attraction structure or a claw structure, etc., and the article taking assembly 120 is shown as a sucking disc 122 structure in the drawings of the present application as a specific example. It can be appreciated that the mode of action of the fork holding structure, the suction cup 122 structure, the magnetic suction structure and the claw structure on the target object can be referred to the detailed description in the related art, and the embodiments of the present application will not be repeated.

And (3) the following process:

The fetching assembly 120 can push out the target object on the carrying position 111 under the driving of the telescopic piece, namely, push the target object from the carrying position 111 to the target goods space; after the target object moves to the designated position on the target cargo space, the object taking assembly 120 releases the interaction with the target object and returns to the bearing member 110 under the driving of the telescopic member, thereby completing the object returning process of the target object.

It can be understood that in order to reduce the overall weight of the logistics robot, the transportation speed of the logistics robot is increased; in the embodiment of the present application, only one of the picking assemblies 120 may be provided, that is, one of the picking assemblies 120 corresponds to the plurality of carrying positions 111. In particular arrangements, the retrieval assembly 120 may be configured to move or switch positions between the plurality of load positions 111, such as from one load position 111 to another load position 111, to effect a position switch between the plurality of load positions 111 to effect a transfer of items between the plurality of load positions 111 and the target cargo space.

As an alternative example, the fetching assembly 120 may be rotatably disposed between two adjacent carrying positions 111, and in use, the fetching assembly 120 may rotate to one carrying position 111 after the fetching or returning of the object is completed at one carrying position 111, and perform the fetching and returning operation of the object to the other carrying position 111.

Alternatively, the picking assembly 120 may be detachably connected to the carrier 110, for example, each carrying location 111 may be provided with a corresponding mounting location of the picking assembly 120; after the fetching assembly 120 completes the fetching operation of the target object from one of the carrying positions 111, the fetching assembly 120 may be mounted on the other carrying position 111, and the fetching operation of the target object from the other carrying position 111 may be performed.

According to the box taking device 10 provided by the embodiment of the application, the plurality of bearing positions 111 are arranged on the bearing piece 110, and the object taking assembly 120 arranged on the bearing piece 110 is arranged to be capable of switching positions or moving among the plurality of bearing positions 111; in this way, the fetching component 120 can switch to the other carrying locations 111 after completing the transfer of the target object between the target cargo location and one of the carrying locations 111, and complete the transfer of the target object between the other carrying locations 111 and the target cargo location; that is, the box taking device 10 can place a plurality of target objects at a time, so that the logistics robot can transfer and transport a plurality of target objects at a time, the number of target objects carried by the logistics robot at a time is increased, and the carrying efficiency of the logistics robot is improved.

Fig. 2 is a schematic diagram of another overall structure of the box taking device 10 according to the embodiment of the present application, fig. 3 is a schematic diagram of another overall structure of the box taking device 10 according to the embodiment of the present application, and fig. 4 is a schematic diagram of a structure in which the object taking assembly 120, the first driving structure 130 and the carrier 110 of the box taking device 10 according to the embodiment of the present application are matched.

Referring to fig. 2-4, in some alternative examples of embodiments of the application, the case retrieval device 10 further includes a first drive structure 130, the first drive structure 130 being coupled to the retrieval assembly 120. In the embodiment of the present application, the first driving structure 130 can drive the fetching assembly 120 to switch positions or move between the plurality of carrying positions 111.

In some examples, and with reference to the detailed description of the foregoing embodiments of the application, the retrieval assembly 120 may be rotatably mounted between two adjacent carrying locations 111, i.e., the retrieval assembly 120 may be rotated from one carrying location 111 to another carrying location 111 and the retrieval of the target item may be performed at the other carrying location 111. Thus, in the embodiment of the present application, the first driving structure 130 may be a combination of components such as a motor and a gear. For example, a drive motor may be mounted on the carrier 110, with an output shaft of the drive motor mounting a drive gear; in addition, a driven gear is mounted on a rotation shaft of the picking assembly 120, which rotates relative to the carrier 110, and the driving gear is in driving connection with the driven gear.

Here, it is understood that the driving gear and the driven gear may be in driving connection, in which the driving gear is meshed with the driven gear, or in driving connection, in which the driving gear and the driven gear are in belt driving manner, such as a chain, a belt or a timing belt; that is, the driving motor can drive the fetching assembly 120 to rotate, and only need to rotate from one bearing position 111 to the other bearing position 111.

In some examples, an output shaft of the driving motor may be connected to a rotation shaft of the fetching assembly 120 through a speed reducer or a gearbox, so as to drive the fetching assembly 120 to rotate.

In the embodiment of the present application, by providing the first driving structure 130, the first driving structure 130 is connected to the fetching assembly 120, and drives the fetching assembly 120 to switch positions or move among the plurality of carrying positions 111. In this way, the automation degree of the switching position or movement of the fetching assembly 120 among the plurality of bearing positions 111 is improved, so that the fetching efficiency of the logistics robot, that is, the transportation efficiency of the fetching robot for carrying the target object can be improved.

In some examples, referring to fig. 2-4, the first driving structure 130 includes: a first transmission member 131 and a first driving member 132. The first transmission member 131 extends along the arrangement direction of the plurality of bearing positions 111, and the object taking assembly 120 is disposed on the first transmission member 131.

Referring to fig. 1 and 4, in an embodiment of the present application, the arrangement direction of the plurality of bearing bits 111 may be arranged along the direction shown by the y-axis in the figure. Generally, the fetching assembly 120 extends out of the carrier 110 and retrieves the target object from the target cargo space onto the carrier 110, and the fetching assembly 120 has a telescopic direction (which may also be referred to as a fetching direction) on the carrier 110; in the embodiment of the present application, referring to fig. 1 and fig. 4, the object taking direction may be a direction shown by an x-axis in the drawing, and in order to avoid interference between target objects on different carrying positions 111, in the embodiment of the present application, the arrangement direction of the plurality of carrying positions 111 may intersect with the object taking direction, for example, the arrangement direction of the plurality of carrying positions 111 is perpendicular or approximately perpendicular to the object taking direction. In the embodiment of the present application, the first transmission member 131 is configured to extend along the arrangement direction of the plurality of bearing positions 111, so that when the first transmission member 131 moves, the first transmission member 131 can drive the object taking assembly 120 disposed on the first transmission member 131 to switch positions or move between the plurality of bearing positions 111.

In some examples, the first driving member 132 is connected to the first transmission member 131, and the first driving member 132 is configured to drive the first transmission member 131 to move, so as to switch the position or move the fetching assembly 120 between the plurality of carrying positions 111.

It can be appreciated that in the embodiment of the present application, the first driving member 132 may be a linear driving member such as a telescopic cylinder, a piston cylinder or a linear motor; for example, the telescopic cylinder may be disposed on the carrier 110, and the free end of the telescopic cylinder is connected with the first transmission member 131, at this time, the first transmission member 131 may be a slider slidably disposed on the carrier 110, and when the free end of the telescopic cylinder stretches, the slider is driven to move along the arrangement direction of the plurality of carrying positions 111, so as to drive the fetching assembly 120 to move.

In some examples, when the first driving member 132 is a linear driving member such as a telescopic cylinder, a piston cylinder or a linear motor, the output shaft of the first driving member 132 may be directly connected to the fetching assembly 120, that is, the first driving member 132 directly outputs power to the fetching assembly 120, and in this case, the output shaft of the first driving member 132 may be understood as the first transmission member 131.

In other examples of the embodiment of the present application, referring to fig. 4, the first transmission member 131 may also be a screw extending along the arrangement direction of the plurality of bearing positions 111. That is, the circumference of the lead screw may be parallel or approximately parallel to the direction shown by the y-axis in FIG. 4; correspondingly, a perforation can be arranged on the object taking component 120, an internal thread can be arranged in the perforation, and a lead screw is connected with the object taking component 120 through the thread; thus, when the first driving member 132 drives the screw to rotate, the pickup assembly 120 can move along the axial direction of the screw, thereby switching positions or moving among the plurality of bearing positions 111, since the screw is connected with the pickup assembly 120 through threads.

In some examples, a screw nut may be disposed on the fetching assembly 120, and the screw nut is matched with the screw thread, so as to drive the fetching assembly 120 to move.

For example, when the first transmission member 131 is a screw, the first driving member 132 may be a motor that can be rotated forward and backward, for example, in some examples, the first driving member 132 may be a synchronous motor, a stepping motor, a servo motor, or the like.

In some alternative examples, the first transmission member 131 may also be a transmission belt, where the transmission belt may be a chain, a belt, a timing belt, or the like; of course, in some examples, the belt may also be steel wire.

In a specific arrangement, driving wheels (such as gears or friction wheels) may be disposed on two sides of the arrangement direction of the plurality of bearing positions 111, and a driving belt is sleeved on the two driving wheels, in addition, the object taking assembly 120 may be fixed on the driving belt, the first driving member 132 drives one of the driving wheels to rotate, and the driving wheel rotates to drive the driving belt to move, so as to drive the object taking assembly 120 to switch positions or move among the plurality of bearing positions 111.

In the embodiment of the present application, the first driving member 131 is disposed along the arrangement direction of the plurality of bearing positions 111, the fetching assembly 120 is disposed on the first driving member 131, and the first driving member 132 drives the fetching assembly 120 to switch positions or move between the plurality of bearing positions 111 through the first driving member 131, so that the first driving member 132 can conveniently control the positions of the fetching assembly 120, and can accurately control the fetching assembly 120 to reach each bearing position 111, thereby facilitating the fetching operation of the target object at each bearing position 111.

In other examples of embodiments of the application, the first drive 132 has a motor encoder (not shown); the motor encoder is configured to determine the distance that the retrieval assembly 120 moves between the plurality of load positions 111 to determine the retrieval location of the retrieval assembly 120 on each load position 111.

For example, referring to fig. 4, when the first driving member 132 is powered on, the first driving member 132 may drive the pickup assembly 120 to move in the negative y-axis direction and move to the initial position (a position where the pickup assembly cannot move continuously), at this time, the motor encoder may be in a zero position, when the pickup or the return is required, position information may be sent to the motor encoder, for example, the motor encoder may send position information to the motor encoder, the motor encoder determines a distance between the target position and the initial position according to the position information, then the first driving member 132 drives the pickup assembly 120 through the first transmission member 131, so that the pickup assembly 120 moves in the positive y-axis direction in fig. 4, at this time, the motor encoder determines a moving distance of the pickup assembly 120 according to a rotation angle of the motor, and when the pickup assembly 120 moves to the target position (the moving distance of the pickup assembly 120 determined by the motor encoder is the same as or equal to a distance between the initial position and the target position), the first driving member 132 stops working, so as to accurately position the pickup assembly 120 when the pickup assembly 120 moves between the plurality of carrying positions 111. In this way, it is ensured that the picking assembly 120 can be accurately aligned with the target item, and the transfer efficiency of the target item is improved.

In other alternative examples of embodiments of the present application, referring to fig. 4, the box taking device 10 further includes a first slide rail 140, where the first slide rail extends along the arrangement direction of the plurality of carrying positions 111. The fetching assembly 120 is disposed on the first sliding rail 140, and the fetching assembly 120 can move along the extending direction of the first sliding rail 140.

That is, in the embodiment of the present application, the fetching assembly 120 may be slidably disposed on the first sliding rail 140. For example, the first slide rail 140 may be disposed side by side with the first transmission member 131, for example, referring to fig. 4, the first slide rail 140 and the first transmission member 131 may be disposed side by side in the direction shown by the x-axis in the drawing.

In other words, in the embodiment of the present application, a portion of the fetching assembly 120 is connected to the first sliding rail 140, and another portion of the fetching assembly 120 is connected to the first driving member 131; in this way, the first slide rail 140 and the first transmission member 131 are arranged side by side, so that the movement of the fetching assembly 120 is more stable, and the stability of the movement of the fetching assembly 120 is improved.

In the embodiment of the present application, the first slide rail 140 is disposed along the arrangement direction of the plurality of bearing positions 111, and the object taking assembly 120 is slidably disposed on the first slide rail 140 along the extending direction of the first slide rail 140, so that the smoothness and stability of the object taking assembly 120 when switching positions or moving between the plurality of bearing positions 111 can be improved.

Fig. 5 is a schematic structural diagram of the pickup assembly 120, the first driving structure 130, the second driving structure 150, and the carrier 110 in the case pickup device 10 according to the embodiment of the present application.

Referring to fig. 4 and 5, in further alternative examples of embodiments of the present application, the box-handling apparatus 10 further includes a second driving structure 150, the second driving structure 150 being provided on the carrier 110, the second driving structure 150 being configured to drive the picking assembly 120 to extend or retract from the carrier 110.

In some examples, the second driving structure 150 may be a telescopic fork, for example, a plurality of fork plates that are mutually inserted and slidably connected, and driven by the driving member, the fork plates are telescopic, so as to push the fetching assembly 120 out of the carrier 110, or pull the fetching assembly 120 back from the target cargo space onto the carrier 110.

It will be appreciated that in some examples, the second driving structure 150 may also be a telescopic member such as a telescopic cylinder, a linear motor or an electric cylinder described in detail in the foregoing embodiments of the present application. Or in other examples, the second drive structure 150 may also be a scissor fork structure; the free ends of the scissor fork structure are connected to the picking assembly 120, and push the picking assembly 120 out of the carrier 110, or pull the picking assembly 120 back onto the carrier 110.

In some alternative examples, the second driving structure 150 may be disposed in a similar or identical manner to the first driving structure 130, and specific reference may be made to the detailed description of the foregoing embodiments of the present application, which is not repeated herein.

In the embodiment of the present application, by providing the second driving structure 150 on the carrier 110, the second driving structure 150 drives the fetching assembly 120 to extend to retract to the carrier 110; in this way, the automation degree of the extension or retraction of the fetching component 120 to the bearing piece 110 is improved, and the efficiency of the logistics robot for carrying and transferring the target object is improved.

Illustratively, referring to fig. 4 and 5, the second driving structure 150 includes: a second transmission member 151 and a second driving member 152. The second driving member 151 is connected to the first driving structure 130, the second driving member 152 is disposed on the carrier 110, and the second driving member 152 is configured to drive the first driving structure 130 to move along the fetching direction, so as to drive the fetching assembly 120 to extend and retract into the carrier 110.

In some examples, referring to fig. 4 and 5, the pick direction may be the direction shown by the x-axis in the figures, and in some examples, the pick direction may be understood as the direction of movement of the pick assembly 120 during extension that would retract the carrier 110. The direction shown in the y-axis may be an arrangement direction of the plurality of bearing bits 111.

In the embodiment of the present application, the type of the second transmission member 151 may be the same as or similar to the type of the first transmission member 131, for example, the second transmission member 151 may be a screw or a belt. In the drawings of the embodiments of the present application, the second transmission member 151 is shown as a transmission belt as a specific example.

For example, the second transmission member 151 may be disposed in the middle of the first driving structure 130, for example, the second transmission member 151 may be disposed in a separation region between two adjacent carrying positions 111, so that the stability of the second transmission member 151 for driving the first driving structure 130 and the picking assembly 120 may be improved.

In some alternative examples, the second driving member 152 may be disposed on the carrier 110, and the second driving member 152 may drive the first driving structure 130 to move along the fetching direction through the second transmission member 151. That is, in the embodiment of the present application, the second driving member 152 can drive the first driving structure 130 and the fetching assembly 120 to move together along the fetching direction through the second transmission member 151. It is to be understood that, in the embodiment of the present application, the type of the second driving member 152 is the same as or similar to the type of the first driving member 132, and the detailed description of the first driving member 132 in the previous embodiment of the present application is specifically referred to, which is not repeated herein.

In other alternative examples of the embodiment of the present application, referring to fig. 4 and 5, the box taking device 10 further includes a second sliding rail 160, where the second sliding rail 160 is disposed on the carrier 110, and the second sliding rail 160 extends along the taking direction, and the first driving structure 130 is slidably disposed on the second sliding rail 160. That is, in the embodiment of the present application, the second sliding rail 160 may extend along the direction shown by the x-axis in the figure.

In the embodiment of the present application, the second sliding rail 160 is disposed on the carrier 110, and the second sliding rail 160 extends along the object taking direction; in this way, the first driving structure 130 is slidably disposed on the second sliding rail 160, so as to promote the smoothness of the second driving structure 150 driving the first driving structure 130, and facilitate the extension and retraction of the fetching assembly 120 along the fetching direction.

For example, referring to fig. 4 and 5, the second sliding rail 160 includes two second sliding rails 160 disposed at two ends of the first driving structure 130.

Referring to fig. 4 and fig. 5, along the arrangement direction of the plurality of bearing positions 111, one second sliding rail 160 is located at one side of the plurality of bearing positions 111; the other second sliding rail 160 is located at the other side of the plurality of bearing positions 111. That is, in the embodiment of the present application, both ends of the first driving structure 130 are slidably connected to the second sliding rail 160. In this way, by arranging two second sliding rails 160, the two second sliding rails 160 are relatively arranged at two ends of the first driving structure 130, so that the stability of the first driving structure 130 and the fetching assembly 120 moving along the fetching direction can be improved.

In further alternative examples of embodiments of the present application, referring to FIG. 5, the box handling apparatus 10 further includes a mounting block 170; the mounting seat 170 is slidably disposed on the second sliding rail 160; the first driving structure 130 is disposed on the mounting base 170.

For example, referring to fig. 5, the mounting seat 170 may extend in the arrangement direction of the plurality of bearing locations 111. In some examples, the mount 170 may be slidably coupled to the second rail 160 by a slider. It will be appreciated that in other examples, a sliding slot may be provided on the mounting seat 170, and the second sliding rail 160 is disposed through the sliding slot and is slidably connected to the mounting seat 170.

In some examples, the second transmission member 151 may be connected to the mounting base 170, so that the mounting base 170 drives the first driving structure 130 and the fetching assembly 120 to move along the fetching direction.

In some alternative examples of the embodiment of the present application, referring to fig. 5, the first sliding rail 140 may also be disposed on the mounting seat 170, that is, in the embodiment of the present application, the second transmission member 151 drives the mounting seat 170, the first sliding rail 140, the first driving structure 130, and the fetching assembly 120 to move along the fetching direction.

In the embodiment of the present application, the mounting seat 170 is disposed on the second sliding rail 160, and the first driving structure 130, the first sliding rail 140 and the fetching assembly 120 are disposed on the mounting seat 170, so that the second transmission member 151 can move the first driving structure 130, the first sliding rail 140 and the fetching assembly 120 through the mounting seat 170, thereby improving the stability of movement of the first driving structure 130 and the fetching assembly 120.

In some alternative examples of embodiments of the present application, with continued reference to FIG. 5, a relief 171 is provided on the mount 170, the relief 171 being configured to relieve the second drive member 152.

In some examples, referring to fig. 5, the relief 171 may be a notch formed in a side of the mount 170 facing the second driving member 152. It is understood that the relief portion 171 may extend in the arrangement direction of the plurality of bearing locations 111. In some alternative examples, the avoidance portion 171 may be a notch formed in the mounting seat 170.

In some examples, referring to fig. 5, when the second driving member 152 drives the mounting base 170 through the second transmission member 151 to move along the negative x direction in fig. 5, that is, the fetching assembly 120 returns to the carrying position, because the second driving member 152 remains stationary, when the mounting base 170 moves to the rear end of the carrying position 111, the second driving member 152 may be embedded in the avoiding portion 171, so that the mounting base 170 and the fetching assembly 120 disposed on the mounting base 170 may move backward as much as possible, and the target object may enter into the carrying position 111 as much as possible, thereby improving the safety of conveying the target object.

In the embodiment of the present application, the avoiding portion 171 is disposed on the mounting seat 170, so that when the second driving member 152 drives the object taking assembly 120 to retract into the bearing position 111, the second driving member 152 can enter into the passing avoiding portion 171, thereby reducing the occupied space of the second driving member 152 and the mounting seat 170 along the object taking direction (for example, the direction shown by the x axis in fig. 5), so that the target object can completely enter into the bearing position 111, and improving the effectiveness of the bearing position 111 for supporting the target object.

In other alternative examples of the embodiment of the present application, the second driving structure 150 may be disposed on the first driving structure 130, that is, the first driving structure 130 may drive the second driving structure 150 and the fetching assembly 120 to move along the arrangement direction of the plurality of carrying positions 111, so as to drive the fetching assembly 120 to switch positions or move between the plurality of carrying positions 111.

For example, in some examples, the second transmission member 151 may be connected to the picking assembly 120, where the second driving member 152 is disposed on the first driving structure 130, for example, the second driving member 152, the second transmission member 151, and the picking assembly 120 are disposed on the mounting base 170, and the first driving structure 130 drives the mounting base 170 to move along the arrangement direction of the plurality of bearing positions 111; the second driving member 152 drives the second driving member 151 to drive the fetching assembly 120 to move along the fetching direction.

In further alternative examples of embodiments of the present application, and as shown with reference to FIG. 1, the carrier 110 has a bottom wall 112 and a top wall 113, wherein a receiving space is defined between the bottom wall 112 and the top wall 113 for receiving a target item, and the retrieval assembly 120 is positioned within the receiving space. In some alternative examples, access assembly 120 is provided on top wall 113.

That is, in embodiments of the present application, the carrier 110 may be configured as a box-type structure, or in some examples, the carrier 110 may be configured as a frame-type structure, wherein the picker assembly 120 is disposed on the top wall 113 of the box-type or frame-type structure and extends downward.

It will be appreciated that typically the target item is stored on a target cargo space (e.g. a shelf), that is, the target item has a certain height difference from the ground; in order to increase the moving speed of the logistics robot, a mode of reducing the gravity center of the logistics robot is adopted, that is, the overall height of the logistics robot is smaller; when the object is to be picked up, after the logistics robot moves to the object cargo space, the height of the box picking device 10 needs to be lifted by a lifting mechanism (which may also be referred to as a lifting mechanism 30 in some examples); in the embodiment of the application, the object taking assembly 120 is arranged on the top wall 113 of the bearing member 110, so that the object taking assembly 120 has a certain height existing at the top of the bearing member 110, and therefore, the height of the lifting mechanism for the whole object taking assembly 120 to be lifted can be reduced, namely, the work of the lifting mechanism for the box taking device 10 in the height direction can be reduced, and the energy consumption can be effectively saved.

In some examples, the first drive structure 130 and the second drive structure 150 that drive the retrieval assembly 120 may also be disposed on the top wall 113 of the carrier 110. In this way, the bottom wall 112 of the carrier 110 is ensured to be flat, so that the object picking assembly 120 can conveniently move the target object.

In further alternative examples of embodiments of the present application, with continued reference to FIG. 1, a divider 114 is provided on the bottom wall 112, the divider 114 being configured to divide the bottom wall 112 into a plurality of load-bearing locations 111 arranged side-by-side.

Illustratively, the divider 114 may be a ridge or bead protruding from the bottom wall 112; the ribs or ribs may be integrally formed with the bottom wall 112, or in some examples, the ribs or ribs may be formed by being separated from the bottom wall 112, connected by bolts, screws or screws, or bonded by an adhesive.

It is also understood that the direction of extension of the divider 114 may extend in a direction that is generally parallel to the direction of extension of the retrieval assembly 120 (which may also be understood as the retrieval direction or the direction shown by the x-axis in fig. 1).

In the embodiment of the present application, the partition member 114 is disposed on the bottom wall 112, so that the bottom wall 112 is divided into a plurality of bearing positions 111 arranged side by the partition member 114; in this way, after the object taking assembly 120 transfers the object to one of the bearing positions 111, the partition 114 can limit the object to the corresponding bearing position 111, so that the object taking assembly 120 can conveniently take the object to the other bearing positions 111, and interference caused by the object on one bearing position 111 entering the other bearing positions 111 to the movement of the object taking assembly 120 or interference caused by the object on the other bearing positions 111 moving can be avoided; facilitating retrieval of the target item by the retrieval assembly 120.

In some alternative examples, the front end of the divider 114 has a lead-in chamfer 1141, the lead-in chamfer 1141 forming a necked-in configuration with the side wall of the carrier 110. In an embodiment of the present application, the front end of the partition 114 may be the end of the box-taking device 10 facing the target cargo space, where the partition 114 faces the target cargo space.

In the embodiment of the present application, the guide slope 1141 is provided at the front end of the partition 114; in this way, when the fetching assembly 120 transfers the target object from the target cargo space to the carrying position 111, the guiding inclined plane 1141 can correct a partial deflection of the target object, which is beneficial to the target object to smoothly enter the corresponding carrying position 111, so as to facilitate the transfer efficiency of the target object.

Illustratively, in the embodiment of the present application, the distance by which the partition 114 protrudes from the bottom wall 112 is less than or equal to the distance between the picker assembly 120 and the bottom wall 112. That is, there is a gap between the top of the divider 114 and the top wall 113 of the carrier 110; in this way, the picker assembly 120 is facilitated to be moved from one load location 111 to another load location 111.

It will be appreciated that in some examples, an avoidance gap may be provided on the partition 114, and two adjacent bearing positions 111 may be communicated through the avoidance gap; in this way, the retrieval assembly 120 may be moved from the evasion gap between adjacent ones of the load positions 111, thereby switching the position of the retrieval assembly 120 between the two load positions 111.

In other alternative examples of embodiments of the present application, as shown with reference to fig. 1 and 2, the pick up assembly 120 includes a mounting plate 121 and a suction cup 122, the mounting plate 121 is disposed on the carrier 110, the suction cup 122 is disposed on the mounting plate 121, and the suction cup 122 is configured to attract a target item.

In some examples, a vacuum pump may be provided on the logistics robot, a vacuum channel may be provided on the mounting plate 121, and the vacuum pump is in communication with the inner cavity of the suction cup 122 through the vacuum channel; when the vacuum pump vacuumizes the inner cavity of the sucker 122, the sucker 122 is adsorbed on the target object, so that the target object is driven to move.

It will be appreciated that in the embodiment of the present application, the mounting plate 121 may be disposed on the carrier 110 through the first driving structure 130, that is, the mounting plate 121 may be indirectly connected to the carrier 110.

In some examples, the picking assembly 120 may also be a claw structure or a magnetic attraction structure described in the foregoing embodiments of the present application. The embodiments of the present application will not be described in detail.

Fig. 6 is a schematic diagram of an overall structure of a logistics robot according to an embodiment of the present application, and fig. 7 is a schematic diagram of another overall structure of a logistics robot according to an embodiment of the present application.

As described with reference to fig. 6 and 7, an embodiment of the present application further provides a logistic robot, including: chassis 20, lifting mechanism 30 (which may also be referred to as a lifting mechanism in some examples), and any of the foregoing alternatives of embodiments of the present application.

The chassis 20 may be provided with two travelling wheels and auxiliary bearing wheels, in some examples, the travelling wheels may be driven by a travelling wheel hub motor to rotate, so as to drive the chassis 20 to move, and the chassis 20 drives the lifting mechanism 30 and the box taking device 10 arranged on the chassis 20 to move; the auxiliary carrying wheels can be one or two, and the auxiliary carrying wheels can be arranged to promote the balance and stability of the movement of the chassis 20.

In an embodiment of the present application, the lifting mechanism 30 may be disposed on the chassis 20. In some examples, the lifting mechanism 30 may be one of a scissor fork structure, a telescopic cylinder, a linear motor, or a lifting mast. In the embodiment of the present application, a scissor fork structure is taken as a specific example of the lifting mechanism 30.

Referring to fig. 6 and 7, fig. 6 shows a schematic view of the structure of the scissors assembly in a contracted state, and fig. 7 shows a schematic view of the structure of the scissors assembly in an expanded state. It can be appreciated that in order to effectively reduce the gravity center height of the logistics robot, in the embodiment of the application, the scissor fork structure can be a primary scissor fork.

Fig. 8 is a schematic structural diagram of the cooperation between the chassis 20 and the lifting mechanism 30 in the logistic robot according to the embodiment of the present application.

Referring to fig. 8, in some alternative examples of the embodiment of the present application, the scissors structure includes two opposite scissors elements 310, each of the scissors elements 310 has two scissors links 311 hinged to each other, where the hinge point of the two scissors links 311 may be in the middle, and it is understood that the hinge point of the two scissors links 311 may also be in the end, which is not limited in this embodiment of the present application, and the hinge point is shown in fig. 8 in the middle as a specific example.

In the embodiment of the present application, one end of the scissor unit 310 is connected to the chassis 20, and it can be understood that the scissor unit 310 needs to rotate at the hinge point, so that at least one scissor link 311 in the scissor unit 310 needs to be slidingly connected to the chassis 20; of course, in some examples, two scissor links 311 of the scissor unit 310 may be slidably connected to the chassis 20, so that the distance between the ends of the two scissor links 311 may be changed to implement the extension and retraction of the scissor unit 310, for example, as shown in fig. 8, when the distance between the ends of the two scissor links 311 in the x-axis direction is reduced, the component of the scissor link 311 in the z-axis direction is increased, so as to raise the box taking device 10 to the bottom cargo level on the target cargo level; as the distance between the ends of the two scissor links 311 in the x-axis direction increases, the component of the scissor link 311 in the z-axis direction decreases, and the lifting mechanism 30 lowers the height position of the box taking device 10, thereby lowering the center of gravity of the entire logistics robot.

As an alternative example, referring to fig. 8, two guide rails may be provided on the chassis 20, and an end of one of the two scissor links 311 is provided in the guide rail and slidably connected to the chassis 20, and the other scissor link 311 is hinged to the chassis 20, thereby achieving lifting of the scissor structure.

In some alternative examples, a third driving structure 320 may be provided on the chassis 20 to drive the end of the scissor unit 310, so as to implement lifting of the case taking device 10 by the scissor structure. The third driving structure 320 may include a third driving member 321 and a third transmission member 322, where the third driving member 321 may be a synchronous motor, a stepper motor or a servo motor described in the foregoing embodiments of the present application, and the third transmission member 322 may be a lead screw, a belt, a chain, a timing belt or a synchronous belt.

Fig. 9 is a schematic diagram of still another overall structure of the logistic robot according to the embodiment of the present application.

Referring to fig. 9, in an embodiment of the present application, the other end of the scissor fork structure may be connected to the bottom of the carrier 110 of the box handling apparatus 10. The connection between the scissors structure and the bottom of the carrier 110 may be the same as or similar to the connection between the scissors structure and the chassis 20, and the detailed description of the embodiments of the present application may be referred to, which will not be repeated.

Fig. 10 is a schematic structural view of a physical distribution robot picking process according to an embodiment of the present application, fig. 11 is another schematic structural view of a physical distribution robot picking process according to an embodiment of the present application, fig. 12 is another schematic structural view of a physical distribution robot picking process according to an embodiment of the present application, and fig. 13 is yet another schematic structural view of a physical distribution robot picking process according to an embodiment of the present application.

When the logistics robot provided by the embodiment of the application is used for transporting the target object, the logistics robot can move to the appointed position of the target cargo space according to the position information or the order information issued by the upper computer, and then the lifting mechanism 30 lifts the box taking device 10 to be flush with the bottom cargo space of the target cargo space or lifts the object taking assembly 120 to be aligned with the target object on the bottom cargo space of the target cargo space; at this time, referring to fig. 10, the second driving structure 150 drives the picking assembly 120 to extend out of the carrier 110 and act on the target object, for example, the sucker 122 may suck the target object, and then the second driving structure 150 drives the picking assembly 120 to move to one of the carrying positions 111 on the carrier 110 (refer to fig. 11).

Thereafter, the first driving structure 130 drives the fetching assembly 120 to move along the arrangement direction of the plurality of carrying positions 111, for example, as shown in fig. 10, and may move to one carrying position 111 in an idle state (where no target object is placed); the second drive structure 150 then drives the picker assembly 120 out of the carrier 110 and into engagement with another target item on the target cargo space (see FIG. 12); the second driving structure 150 then drives the picking assembly 120 to move with the target object onto another carrying position 111 (see fig. 13) on the carrier 110.

Then, the lifting mechanism 30 can lower the box taking device 10 to lower the whole gravity center of the logistics robot, and the target object can be moved to a required position under the driving of the travelling wheels.

The foregoing detailed description of the embodiments of the present application further illustrates the purposes, technical solutions and advantageous effects of the embodiments of the present application, 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 (19)

1. A box taking device, comprising:

A carrier (110), wherein the carrier (110) is provided with a plurality of carrying positions (111), and the carrying positions (111) are used for carrying target objects;

-a pick-up assembly (120), the pick-up assembly (120) being provided to the carrier (110), the pick-up assembly (120) being selectively extendable or retractable from the carrier (110) for reciprocal movement between a target cargo space and the carrier location (111); and the pick-up assembly (120) is selectively movable between a plurality of the load locations (111) to transfer the target item between the load location (111) and one of the plurality of the target locations.

2. The box-taking device according to claim 1, characterized in that the box-taking device (10) further comprises a first driving structure (130), the first driving structure (130) being connected with the object-taking assembly (120), the first driving structure (130) being configured to drive the object-taking assembly (120) to move between the plurality of carrying positions (111).

3. The box-taking device according to claim 2, characterized in that said first driving structure (130) comprises:

the first transmission piece (131) extends along the arrangement direction of the bearing positions (111), and the object taking assembly (120) is arranged on the first transmission piece (131);

the first driving piece (132), first driving piece (132) with first driving piece (131) are connected, first driving piece (132) are configured to drive first driving piece (131) motion to drive get thing subassembly (120) and remove between a plurality of bear position (111).

4. A box-taking device according to claim 3, characterized in that the first driving member (132) has a motor encoder; the motor encoder is configured to determine a distance that the picking assembly (120) moves between a plurality of the load positions (111) to determine a picking position of the picking assembly (120) on each of the load positions (111).

5. A box-taking device according to claim 3, characterized in that the first transmission member (131) comprises any one of a screw and a belt.

6. The box taking device according to claim 2, wherein the box taking device (10) further comprises a first sliding rail (140), the first sliding rail (140) extends along the arrangement direction of the bearing positions (111), the object taking assembly (120) is arranged on the first sliding rail (140), and the object taking assembly (120) can move along the extending direction of the first sliding rail (140).

7. The box-taking device according to any of the claims 2-6, characterized in that the box-taking device (10) further comprises a second driving structure (150), the second driving structure (150) being provided to the carrier (110), the second driving structure (150) being configured to drive the picking assembly (120) to extend or retract out of the carrier (110).

8. The box-taking device according to claim 7, characterized in that said second driving structure (150) comprises:

A second transmission member (151), the second transmission member (151) being connected to the first drive structure (130);

The second driving piece (152) is arranged on the bearing piece (110), and the second driving piece is configured to drive the first driving structure (130) to move along the fetching direction so as to drive the fetching assembly (120) to extend out of or retract back into the bearing piece (110).

9. The box-taking device according to claim 8, characterized in that the box-taking device (10) further comprises a second slide rail (160), the second slide rail (160) is arranged on the carrier (110), and the second slide rail (160) extends along the fetching direction; the first driving structure (130) is slidably arranged on the second sliding rail (160).

10. The box taking device according to claim 9, wherein the second sliding rail (160) comprises two sliding rails, and the two sliding rails (160) are oppositely arranged at two ends of the first driving structure (130).

11. The box-taking device according to claim 10, characterized in that the box-taking device (10) further comprises a mounting seat (170); the mounting seat (170) is arranged on the second sliding rail (160) in a sliding manner; the first driving structure (130) is arranged on the mounting seat (170).

12. The box taking device according to claim 11, characterized in that the mounting seat (170) is provided with a avoiding portion (171), and the avoiding portion (171) is configured to avoid the second driving member (152).

13. The box-taking device according to claim 7, characterized in that said second driving structure (150) comprises:

the second transmission piece (151) is connected with the object taking assembly (120);

-a second drive (152) provided on the first drive structure (130), the second drive being configured to drive the pick-up assembly (120) out of or back into the carrier (110);

The first driving structure (130) is configured to drive the second driving structure (150) along the arrangement direction of the plurality of bearing positions (111) so as to drive the fetching assembly (120) to move among the plurality of bearing positions (111).

14. The box-taking device according to any one of claims 1-6, characterized in that the carrier (110) has a bottom wall (112) and a top wall (113), between which bottom wall (112) and top wall (113) a receiving space is built for receiving the object item;

The pick-up assembly (120) is located within the receiving space.

15. The box-taking device according to claim 14, characterized in that a partition (114) is provided on the bottom wall (112), said partition (114) being configured to divide the bottom wall (112) into a plurality of said carrying locations (111) arranged side by side; the front end of the partition (114) has a guiding bevel (1141), the guiding bevel (1141) and the side wall of the carrier (110) are constructed to form a necking structure.

16. The box-taking device according to claim 15, characterized in that the distance by which the partition (114) protrudes from the bottom wall (112) is smaller than or equal to the distance between the picking assembly (120) and the bottom wall (112);

Or alternatively

The separating piece (114) is provided with an avoidance gap, the avoidance gap is communicated with two adjacent bearing positions (111), and the object taking assembly (120) moves between the two adjacent bearing positions (111) through the avoidance gap.

17. The box-taking device according to any one of claims 1-6, characterized in that the object-taking assembly (120) comprises a mounting plate (121) and a suction cup (122), the mounting plate (121) is provided on the carrier (110), and the suction cup (122) is provided on the mounting plate (121) and is configured to adsorb a target object;

Or the pick-up assembly (120) includes a finger structure configured to hook onto a target article.

18. A logistics robot, comprising:

A chassis (20);

The lifting mechanism (30) is arranged on the chassis (20); and

The box-taking device (10) according to any one of claims 1-17, said box-taking device (10) being provided on said lifting mechanism (30); the lifting mechanism (30) is configured to lift the box taking device (10) in a vertical direction.

19. The logistics robot of claim 18, wherein the lifting mechanism (30) comprises any one of a scissors fork structure, a telescopic cylinder, a linear motor, or a lifting mast.