WO2023231984A1 - Goods storage and retrieval apparatus and transport robot - Google Patents

Goods storage and retrieval apparatus and transport robot Download PDF

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Publication number
WO2023231984A1
WO2023231984A1 PCT/CN2023/096916 CN2023096916W WO2023231984A1 WO 2023231984 A1 WO2023231984 A1 WO 2023231984A1 CN 2023096916 W CN2023096916 W CN 2023096916W WO 2023231984 A1 WO2023231984 A1 WO 2023231984A1
Authority
WO
WIPO (PCT)
Prior art keywords
transmission
telescopic
transmission wheel
clamping
component
Prior art date
Application number
PCT/CN2023/096916
Other languages
French (fr)
Chinese (zh)
Inventor
詹庆鑫
Original Assignee
深圳市海柔创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市海柔创新科技有限公司 filed Critical 深圳市海柔创新科技有限公司
Publication of WO2023231984A1 publication Critical patent/WO2023231984A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical

Definitions

  • This application relates to the technical field of warehousing and logistics, and in particular to a loading and unloading device and a handling robot.
  • handling robots are widely used in the field of warehousing and logistics to transport goods.
  • shelves are usually used to store goods, and handling robots pick up and place goods by docking with shelves or conveyor lines, and complete the task of transporting goods.
  • a handling robot is usually equipped with a cargo fork for picking up and placing goods.
  • the cargo fork usually includes a telescopic arm that can telescope in multiple sections.
  • the telescopic arm is equipped with a pickup mechanism for holding or clamping material boxes.
  • the multi-section telescopic arm needs to telescope into the storage space of the shelf, and the end of the telescopic arm or the pickup mechanism on the side needs to be equipped with a movable or telescopic end joint to connect with the inside of the material box. The end faces touch or hold the side walls of the material box to drag or clamp the material box out of the storage location.
  • This application provides a loading and unloading device and a handling robot to solve the problem of low storage space utilization due to the handling robot occupying the internal space of the shelf when loading and unloading goods.
  • the application provides a loading and unloading device for loading and unloading material boxes.
  • the loading and unloading device includes a telescopic component and a push-pull component.
  • the telescopic component includes a fixing component and a retractable component that is telescopic in a first direction relative to the fixing component.
  • the telescopic part and the push-pull component are arranged on the telescopic part, so that the telescopic part can drive the push-pull component to move, and the push-pull component can drive the material box to move to realize the loading and unloading operation.
  • the push-pull assembly includes a base, a pulling member and a first driving mechanism.
  • the base is connected to the telescopic member.
  • the first driving mechanism is arranged on the base.
  • the pulling member is connected to the first driving mechanism.
  • the outer wall of the material box has a slot. The first driving mechanism is used to drive the pulling member to move along the second direction to insert or disengage the pulling member from the slot.
  • the pick-and-place device When the pick-and-place device provided by this application picks and places the material box on the shelf, the push-pull component can be plugged and matched with the outer wall of the material box through the pulling member, so that when the push-pull component drives the material box to move, the push-pull component and telescopic There is no need to enter the storage location where the material boxes are stored. Therefore, the pick-and-place device will not occupy the internal space of the storage location when picking up and placing material boxes. Small or no spacing can be achieved when storing material boxes on the shelf. storage, thus improving the space utilization of warehousing.
  • the first direction is along the horizontal direction
  • the second direction is along the vertical direction
  • the pulling member protrudes from the top of the base.
  • the push-pull assembly further includes a push plate, which is connected to the base and faces the material box to push the material box to move.
  • the first driving mechanism may include a first driving unit, a first transmission member, a second transmission member and a connecting member.
  • the first driving unit is disposed on the base, and the first transmission member is connected to the first transmission member.
  • the output end of the drive unit is connected, and the first transmission member can rotate under the drive of the first drive unit, and the second transmission member cooperates with the first transmission member, and the second transmission member can be driven along the first transmission member.
  • the first end of the connecting member is connected to the first transmission member, and the second end of the connecting member is connected to the pulling member, so that the pulling member moves with the second transmission member.
  • the first driving mechanism may also include a guide member.
  • the guide member may be disposed on the base.
  • the guide member is provided with a guide hole.
  • the guide hole extends along the second direction.
  • the connecting member passes through the guide member. hole, and the connecting piece can move along the guide hole driven by the second transmission member.
  • the first transmission member may be a screw rod
  • the second transmission member may be a screw nut
  • the first driving unit may be a motor
  • the screw rod may extend along the second direction
  • the first part of the screw rod may be a screw nut.
  • the second end of the screw rod is connected to the output shaft of the motor
  • the second end of the screw rod is rotationally connected to the guide piece
  • the screw nut is sleeved on the screw rod, and when the screw rod rotates, the screw nut moves along the extension direction of the screw rod, and the connecting piece Connect with screw nut.
  • the connecting pieces there can be two connecting pieces, and there can also be two guiding holes.
  • the two connecting pieces pass through the two guiding holes respectively; the two connecting pieces are arranged in parallel, and the two connecting pieces are symmetrical. Distributed on both sides of the first transmission part.
  • the second The transmission part drives the pulling part to be balanced in force when moving to ensure the smoothness of the moving process.
  • the push-pull assembly may also include a first detection unit and a sensing component.
  • the first detection unit is provided on the base, the sensing component is connected to the second transmission component, and the first detection unit is used to detect the sensing component. , to detect the relative position of the second transmission member when it moves in the second direction.
  • the push-pull assembly may also include an adjustment plate, the adjustment plate is connected to the base, and the first driving mechanism is connected to the adjustment plate; the base may be provided with multiple adjustment holes, and the multiple adjustment holes may be provided along the Arranged in the second direction, the adjustment plate can cooperate with different adjustment holes to adjust the relative position of the adjustment plate and the base along the second direction.
  • This setting can adapt to the picking and placing needs of material boxes of different specifications and sizes.
  • the telescopic assembly may also include a second driving mechanism.
  • the second driving mechanism may include a second driving unit, a flexible transmission member, and a transmission wheel set.
  • the transmission wheel set includes a plurality of transmission wheels arranged in parallel. A plurality of transmission wheels are respectively located on the fixed part and the telescopic part, and the flexible transmission part is wound around the plurality of transmission wheels.
  • the push-pull component is movably connected to the telescopic part, the base is connected to the flexible transmission part and moves with the flexible transmission part, and the second driving unit is connected to the transmission wheel and is used to drive the transmission wheel to rotate, so that the flexible transmission part rotates under the drive of the transmission wheel.
  • a plurality of transmission wheels drive and drive at least one of the telescopic component and the push-pull component to move along the first direction.
  • the loading and unloading device may also include a locking linkage component.
  • the locking linkage component is provided on the telescopic component. At least part of the structure of the locking linkage component can move with the telescopic component and snap into place with the fixed component. Or separate to lock or unlock the telescopic part and the fixed part.
  • the transmission wheel set when the telescopic part and the fixed part are unlocked, can be configured to drive the telescopic part to telescope in the first direction when the flexible transmission part is transmitted; and when the telescopic part and the fixed part are locked, the transmission wheel set The relative position of each transmission wheel remains unchanged. At this time, the transmission of the flexible transmission member can drive the push-pull assembly to move relative to the telescopic member.
  • the two ends of the telescopic member are respectively provided with a first limit part and a second limit part.
  • the push-pull component and the first limit part or the second limit part are The two parts are in contact with each other, so that the telescopic component extends or retracts along the first direction.
  • the plurality of transmission wheels may include a plurality of inner transmission wheels and at least one outer transmission wheel.
  • the flexible transmission member is wound around the outside of the plurality of inner transmission wheels, and the outer transmission wheel is in contact with the outer peripheral surface of the flexible transmission member. , thereby maintaining the tensioned state of the flexible transmission part; the outer transmission wheel and part of the inner transmission wheel are connected to the telescopic part, and when the telescopic part and the fixed part are unlocked and the flexible transmission part is transmitted, the transmission wheel connected to the telescopic part is relative to the fixed part.
  • the transmission wheel of the component moves along the first direction to drive the telescopic component to expand and contract.
  • the plurality of inner transmission wheels may include a first transmission wheel, a second transmission wheel and a fourth transmission wheel arranged in sequence according to the transmission direction of the flexible transmission member
  • the outer transmission wheel may include a third transmission wheel.
  • the third transmission wheel can be disposed between the second transmission wheel and the fourth transmission wheel
  • the first transmission wheel and the first driving unit are both disposed at the first end of the fixed member
  • the first driving unit can drive the first transmission wheel Rotate
  • the second transmission wheel is provided at the second end of the fixed member
  • the third transmission wheel is provided at the first end of the telescopic member
  • the fourth transmission wheel is provided at the second end of the telescopic member
  • the flexible transmission parts connect the four transmission wheels.
  • the telescopic member may be provided with a first guide rail extending in the first direction, and a slider is provided on one side of the base toward the telescopic member.
  • the first guide rail cooperates with and supports the slider. pedestal.
  • the locking linkage assembly may include a linkage mechanism and a clamping member.
  • the linkage mechanism includes a fixed rod and a plurality of movable rods.
  • the fixed rod is connected to the plurality of movable rods in sequence, and the fixed rod is connected to the telescopic rod.
  • the parts are fixedly connected, and the movable rod can swing relative to the telescopic part.
  • the first end of the clamping piece can be rotationally connected with the fixed rod, and the second end of the clamping piece can be rotationally connected with any one of the plurality of movable rods, and the clamping piece rotates driven by the movable rod. Therefore, the clamping part can be connected with or separated from the fixing part, and the telescopic part and the fixing part can be locked or unlocked.
  • At least one of the plurality of movable rods may be provided with a trigger member, and the slide block may be provided with a thrust member.
  • the thrust member may Comes into contact with or separates from the trigger piece.
  • the thrust member when the thrust member is in contact with the trigger member, the thrust member drives the movable rod to swing to disengage the clamping member from the fixed member; the locking linkage assembly also includes an elastic member, and the first end of the elastic member It is connected with the fixed rod, and the second end of the elastic member is connected with the clamping piece.
  • the elastic piece pulls the clamping piece to rotate, so that the clamping piece is clamped with the fixed piece.
  • the fixed rod can extend along the first direction, and the length of the fixed rod matches the length of the first guide rail;
  • the plurality of movable rods can include a first movable rod, a second movable rod and a third movable rod. rod, the first movable rod and the second movable rod are rotatably connected to both ends of the fixed rod respectively, and the two ends of the third movable rod are rotatably connected to the first movable rod and the second movable rod respectively, thereby forming a four-link structure to ensure that Verify the stability of the connecting rod swing.
  • the second end of the clamping member can be rotatably connected with the third movable rod, the first movable rod is provided with a first triggering piece, and the second movable rod is provided with a second triggering piece to prevent the slider from moving to the first position.
  • the first triggering part and the second triggering part are respectively triggered, thereby realizing the unlocking of the clamping part and the fixing part.
  • the first triggering member is located between the fixed rod and the third movable rod, and the second triggering member is located on a side of the fixed rod facing away from the third movable rod.
  • the first end of the clamping component is provided with a snapping part and a tensioning part
  • the fixing component is provided with snapping grooves arranged along the first direction.
  • the transmission wheel set and the flexible transmission part are arranged in pairs on both sides of the telescopic assembly; the first transmission wheel of the two transmission wheel sets passes through The driving shaft is connected, and the output end of the first driving unit is connected with the driving shaft.
  • the telescopic member may include a pallet and side plates respectively provided on both sides of the pallet. At least one support member is provided on the side plates. The pallet is connected to the support member. The pallet is used to carry the material box and is locked. The linkage component is located on the side of the pallet away from the material-bearing box. Second guide rails are provided on both sides of the fixing member, and the side plates are slidingly connected to the second guide rails. With this arrangement, the installation space for the second driving mechanism can be provided by arranging the side plate and the tray, which can ensure that the material box can have reliable and effective load-bearing.
  • the locking linkage assembly may further include a third triggering member, the third triggering member is rotationally connected to the fixed rod, an opening is provided on the tray, and the third triggering member at least partially extends from the opening, and Extends to the side of the telescopic part carrying the material box; the third triggering part contacts the clamping part, and when the material box contacts the third triggering part, the third triggering part drives the clamping part to rotate, so that the telescopic part and the Fixings separated.
  • the third triggering member is rotationally connected to the fixed rod, an opening is provided on the tray, and the third triggering member at least partially extends from the opening, and Extends to the side of the telescopic part carrying the material box; the third triggering part contacts the clamping part, and when the material box contacts the third triggering part, the third triggering part drives the clamping part to rotate, so that the telescopic part and the Fixings separated.
  • the pick-and-place device may also include a second detection unit.
  • the second detection unit is connected to the fixing member, and the second detection unit is used to detect the attitude of the material box and the electronic identification of the material box. At least one.
  • the pick-and-place device may also include a rotating assembly.
  • the rotating assembly may include a fixed bracket, a third driving unit and a rotating platform.
  • the third driving unit is used to drive the rotating platform to rotate relative to the fixed bracket, telescopically
  • the components are set on a rotating platform.
  • this application provides a handling robot, which includes a robot body, a lifting device and a cargo picking and placing device in the above technical solution.
  • the lifting device is provided on the robot body and can move along the height direction of the robot body to pick up and place cargo.
  • the device is installed on the lifting device to realize the picking and placing operations of goods at different heights on the shelves.
  • the robot body may include a base and a storage rack.
  • the storage rack is installed on the base.
  • the lifting device is provided on the storage rack and can move along the height direction of the storage rack.
  • the storage rack Multiple storage slots can be provided on the rack, and the multiple storage slots are spaced apart along the height direction of the storage rack to ensure the transport efficiency of the handling robot.
  • the technical features constituting the technical solutions, and the beneficial effects brought by the technical features of these technical solutions can solve Other technical problems, other technical features included in the technical solution, and the beneficial effects brought by these technical features will be further described in detail in the specific implementation modes.
  • Figure 1 is a schematic diagram of the pick-and-place device provided by the embodiment of the present application applied to a handling robot;
  • Figure 2 is a schematic structural diagram of a pick-and-place device provided by an embodiment of the present application.
  • Figure 3 is a schematic diagram of the cooperation between the clamping component and the material box in the pick-and-place device provided by the embodiment of the present application;
  • Figure 4 is a schematic structural diagram of the clamping assembly in the pick-and-place device provided by the embodiment of the present application from a first perspective;
  • Figure 5 is a schematic structural diagram of the clamping assembly in the pick-and-place device provided by the embodiment of the present application from a second perspective;
  • Figure 6 is a schematic structural diagram of the material box matched with the clamping assembly in the pick-and-place device provided by the embodiment of the present application;
  • Figure 7 is a schematic diagram of the connection between the base and the telescopic assembly in the pick-and-place device provided by the embodiment of the present application;
  • Figure 8 is a schematic diagram of the driving structure of the telescopic component in the pick-and-place device provided by the embodiment of the present application;
  • Figure 9 is a schematic diagram of the layout of the transmission wheel set in the pick-and-place device provided by the embodiment of the present application.
  • Figure 10 is a front view of the arrangement of the transmission wheel set in the pick-and-place device provided by the embodiment of the present application;
  • Figure 11 is a schematic structural diagram of the locking linkage component in the pick-and-place device provided by the embodiment of the present application.
  • Figure 12 is a partial schematic diagram of the locking linkage component in the pick-and-place device provided by the embodiment of the present application.
  • Figure 13 is a partial schematic diagram of the locking linkage component in the pick-and-place device provided by the embodiment of the present application from another perspective;
  • Figure 14 is another structural schematic diagram of a pick-and-place device provided by an embodiment of the present application.
  • Figure 15 is a schematic structural diagram of the rotating assembly in the pick-and-place device provided by the embodiment of the present application.
  • Figure 16 is a schematic diagram of the first state of the picking process of the picking and placing device provided by the embodiment of the present application.
  • Figure 17 is a schematic diagram of the second state of the picking process of the picking and placing device provided by the embodiment of the present application.
  • Figure 18 is a schematic diagram of the third state of the picking process of the picking and placing device provided by the embodiment of the present application.
  • Figure 19 is a schematic diagram of the fourth state of the picking process of the picking and placing device provided by the embodiment of the present application.
  • Figure 20 is a schematic diagram of the fifth state of the picking process of the picking and placing device provided by the embodiment of the present application.
  • Figure 21 is a schematic diagram of the sixth state of the picking process of the picking and placing device provided by the embodiment of the present application.
  • Figure 22 is a schematic diagram of the seventh state of the picking process of the picking and placing device provided by the embodiment of the present application.
  • Figure 23 is a schematic diagram of the eighth state of the picking process of the picking and placing device provided by the embodiment of the present application.
  • Figure 24 is a schematic diagram of the ninth state of the picking process of the picking and placing device provided by the embodiment of the present application.
  • Figure 25 is another structural schematic diagram of a pick-and-place device provided by an embodiment of the present application.
  • Figure 26 is a schematic structural diagram of the push-pull assembly in the pick-and-place device provided by the embodiment of the present application.
  • Figure 27 is a schematic diagram of the cooperation between the push-pull component and the material box in the pick-and-place device provided by the embodiment of the present application;
  • Figure 28 is a cross-sectional view of the push-pull assembly and the material box in the pick-and-place device provided by the embodiment of the present application;
  • Figure 29 is a partial view of the push-pull assembly in the pick-and-place device provided by the embodiment of the present application.
  • Figure 30 is a schematic structural diagram of the push-pull assembly in the pick-and-place device provided by the embodiment of the present application from another perspective;
  • FIG. 31 is a schematic structural diagram of a material box matched with a push-pull component in the pick-and-place device provided by an embodiment of the present application.
  • the handling robot is usually equipped with a cargo fork for picking up and placing goods.
  • the cargo fork usually includes a telescopic arm that can telescope in multiple sections.
  • the telescopic arm is equipped with a picking mechanism to hold or clamp the material box.
  • the multi-section telescopic arm When the fork is picked up on the shelf, When placing goods, the multi-section telescopic arm needs to telescope into the interior of the shelf, and the end of the telescopic arm or the pickup mechanism on the side needs to be equipped with a movable or telescopic end joint to contact the inner end of the material box. Or hold the side walls of the material box to drag or clamp it out of the storage location.
  • the telescopic arm holds or clamps the material box from the side of the material box, which requires an operating space to be reserved on the side of the storage location of the material box, resulting in an increase in the distance between the boxes during storage.
  • Push and pull the telescopic arm not only occupies the space on the side of the material box, but also takes up the space on the inside of the storage location of the material box, resulting in an increase in the depth of the storage location.
  • the telescopic arm is extended from above the material box to retrieve the material box Putting operation will also lead to an increase in the layer spacing of the shelf storage location. Therefore, the above methods will occupy the space in the storage location, resulting in the need to reserve sufficient box spacing, storage location depth or layer height when storing material boxes, reducing storage space utilization.
  • embodiments of the present application provide a cargo picking and placing device and a handling robot.
  • the structure of picking and placing goods is improved.
  • the picking and placing device Each component does not need to enter the storage space of the shelf, which can reduce or eliminate the box spacing and gaps in all directions when the material boxes are stored, and improve the space utilization during storage.
  • the pick-and-place device provided by the embodiment of the present application is mainly used to pick and place material boxes on the shelf, that is, put the material box into the storage location of the shelf for storage, or take out the material box from the storage location of the shelf, and take out the material box.
  • the equipment that can be installed and applied by the loading device includes but is not limited to handling robots, logistics conveyor lines and other equipment that can be connected to the shelves. The following is explained using a handling robot as an example.
  • the handling robot can remove the material box 400 from the shelf 500 and perform transportation tasks on the material box 400 , or transfer other materials to the material box 400 .
  • the material boxes 400 in the logistics process are transferred to the shelves 500 and placed in storage.
  • the handling robot can be used in logistics and distribution of industrial production lines, the loading and unloading of manufacturing inventory products, the loading and unloading of retail products, and can also be used in e-commerce. Different fields such as express delivery and warehousing of logistics, and the products or goods involved in transportation can be industrial parts, electronic accessories or products, medicines, clothing accessories, food, books, etc.
  • the embodiments of this application do not specifically limit this, and the above Goods can be placed in the material box 400 for transfer or storage.
  • the "material box 400" will be used to refer to the transport object of the transport robot, and no specific examples will be given.
  • the pick-and-place device 100 includes a telescopic component 110 and a clamping component 120 .
  • the telescopic component 110 includes a fixing component 111 and a telescopic component that is telescopic in the first direction relative to the fixing component 111 . 112 , the clamping component 120 is disposed on the telescopic component 112 , so that the telescopic component 112 can drive the clamping component 120 to move, and the clamping component 120 can drive the material box 400 to move, so as to realize the loading and unloading operation.
  • the clamping assembly 120 includes a base 121, a first driving mechanism 122 and two clamping members 123.
  • the base 121 is connected to the telescopic member 112.
  • the two clamping members 123 are slidably disposed on the base 121.
  • the material box 400 The outer wall has a horizontal slot 410.
  • the first driving mechanism 122 is disposed on the base 121, and the first driving mechanism 122 is used to drive the two clamping members 123 to open and close along the width direction of the telescopic assembly 110, so that the two clamps
  • the holding pieces 123 are all inserted into or disengaged from the horizontal slots 410 .
  • the fixed member 111 is used as a reference, and the length direction of the fixed member 111 is defined as the X direction, that is, the first direction is the X direction.
  • the telescopic member 112 can expand and contract along the X direction, and the width direction of the fixed member 111 is defined as the Y direction.
  • the width direction of the telescopic component 110 is the Y direction
  • the base 121 extends along the width direction of the telescopic component 110
  • the two clamping members 123 can move toward or away from each other along the Y direction.
  • the movement in the X direction includes the forward and backward movement of the fixed member 111 in the length direction
  • the movement in the Y direction includes the left and right movement of the telescopic component 110 in the width direction.
  • the outer wall of the box 400 may be provided with a horizontal slot 410.
  • the horizontal slot 410 may also be two. That is, the two clamping members 123 are connected with the two horizontal slots 410 in a one-to-one correspondence.
  • the end cross-sectional size of the clamping member 123 may be equal to or smaller than the notch size of the horizontal slots 410, When the two clamping parts 123 are close to each other, the two clamping parts 123 can be inserted into the horizontal slots 410 respectively. When the clamping parts 123 are far away from each other, the two clamping parts 123 can be inserted into the horizontal slots 410 respectively.
  • the clamping member 123 enters the horizontal slot 410, as the entire clamping assembly 120 moves, the clamping member 123 can drive the material box 400 to move, thereby realizing the pick-and-place operation of the material box 400.
  • the clamping member 123 can be bent relative to the base 121 , and the end of the clamping member 123 can be arranged parallel to the length direction of the base 121 .
  • the outer wall of the material box 400 provided with the horizontal slot 410 can face the entrance and exit of the storage location of the shelf 500.
  • the picking and placing device 100 provided in the embodiment of the present application can place the material box 400 on the When picking and placing on the shelf 500, the clamping component 120 can be plugged and matched with the horizontal slot 410 protrudingly provided on the outer wall of the material box 400 through the clamping member 123, thereby driving the material box 400 to move when the clamping component 120 At this time, neither the clamping assembly 120 nor the telescopic member 112 needs to enter the interior of the storage location where the material box 400 is stored. Therefore, the picking and placing device 100 will not occupy the internal space of the storage location when picking up and placing the material box 400. When 400 material boxes are stored in the warehouse, small spacing or no spacing can be achieved, thereby improving the space utilization rate of storage.
  • the driving method of the first driving mechanism 122 to the two clamping members 123 will be described in detail below.
  • the first driving mechanism 122 may include a first driving unit 1221 , a first transmission member 1222 and two second transmission members 1223 .
  • the two clamping members 123 are respectively connected to the two second transmission members 1223, so that the clamping members can be controlled by controlling the distance between the two clamping members 123.
  • the assembly 120 is clamped and separated from the material box 400 .
  • the first driving unit 1221 can be a motor, and the rotation of the output shaft of the motor can be transmitted to the first transmission member 1222 to drive the first transmission member 1222 to rotate, and the cooperation between the first transmission member 1222 and the second transmission member 1223 can be The rotational motion output by the first driving unit 1221 is converted into the movement of the clamping member 123 in the Y direction.
  • the cooperation between the first transmission member 1222 and the second transmission member 1223 can adopt different methods such as screw transmission, rack and pinion transmission, connecting rod transmission, etc. The following takes screw transmission as an example. , for detailed explanation.
  • the first transmission member 1222 may be a screw rod
  • the two second transmission members 1223 may both be screw nuts.
  • the screw rod may include two coaxially connected threads. segments, and the thread directions of the two thread segments are opposite, and the two screw nuts are respectively sleeved on the two thread segments, so that the two second transmission members 1223 can move in opposite directions through the rotation of the screw rod.
  • the two threaded segments of the screw rod may be of equal length and equal pitch, and the two threaded segments may be integrally formed, or may be connected by welding or couplings. This is not the case in the embodiment of the present application. Make specific limitations.
  • first driving mechanism 122 may also include a first pulley 1224, a second pulley 1225 and a transmission belt 1226.
  • the first pulley 1224 is connected to the output end of the first driving unit 1221, and the second pulley 1225 is coaxially connected to At the end of the screw rod, the transmission belt 1226 is wound around the first pulley 1224 and the second pulley 1225.
  • the first pulley 1224 When the output end of the first driving unit 1221 rotates, the first pulley 1224 is driven to rotate, that is, the first pulley 1224 As a driving pulley, the first pulley 1224 drives the transmission belt 1226 to drive the second pulley 1225 to rotate, that is, the second pulley 1225 is a driven pulley, and the second pulley 1225 and the first transmission member 1222 can be coaxially connected, so The first transmission member 1222 can be driven to rotate.
  • first driving unit 1221 and the first transmission member 1222 can be arranged up and down in a staggered manner along the height direction of the base 121, thereby making full use of the space above and below the base 121 and avoiding the need for the first driving unit 1221 and the first transmission member 1222 to
  • the coaxial arrangement occupies the space in the length direction of the base 121 so that the size in the length direction of the base 121 can match the movement stroke of the clamping member 123 as much as possible, thereby improving the rationality of the spatial layout.
  • the two ends of the base 121 along its length direction can be respectively provided with mounting seats 124, and the two ends of the screw are rotatably connected to the mounting seats 124.
  • the two ends of the screw rod can be matched with the mounting seat 124 through bearings, that is, the outer ring of the bearing is fixedly matched with the mounting seat 124, and the inner ring of the bearing is sleeved on the end of the screw rod.
  • the clamping parts 123 and the first driving mechanism 122 can be arranged on the base. 121 on different sides, wherein the clamping member 123 can be located on the side of the base 121 facing the pickup direction, and the first driving mechanism 122 can be installed on the side of the base 121 facing away from the pickup direction.
  • the first driving mechanism 122 and the two clamping members 123 can be located on opposite sides of the base 121, and the base 121 is provided with an escape groove 1211.
  • the escape groove 1211 extends along the length direction of the base 121.
  • the clamping assembly 120 may also include two connectors 125. The two connectors 125 respectively pass through the escape groove 1211 to connect the two clamping members 123 with the two second transmissions.
  • the components 1223 are connected, so that the layout space on both sides of the base 121 can be fully utilized, the occupied space of the first driving mechanism 122 can be reduced, and the overall size of the clamping assembly 120 can be reduced.
  • the escape groove 1211 can be in a long strip shape, and the length of the escape groove 1211 can be equal to the length of the first transmission member 1222. Matching, that is, the length of the escape groove 1211 can be approximately the stroke size of the two clamping parts moving toward each other.
  • the first transmission member 1222 is arranged opposite to the escape groove 1211, and the two mounting seats 124 can be respectively disposed at both ends of the escape groove 1211.
  • the base 121 can be a sheet metal part
  • the relief groove 1211 can be formed by integral molding or machining
  • the first driving unit 1221, the mounting base 124 and the machine base can be assembled by fasteners or clips. It can be realized by buckling or welding connection, etc., which is not specifically limited in the embodiments of this application.
  • the base 121 may be provided with a first guide rail 1212 , which may extend along the length direction of the base 121 , and the two clamping members 123 are respectively connected with first slide blocks 1231 and two The first slide blocks 1231 are all slidingly connected to the first guide rail 1212, so that the first guide rail 1212 can provide a guiding role for the movement of the two clamping parts 123.
  • the first guide rail 1212 can be installed on the base 121 by means of fasteners, and the first guide rail 1212 can be provided along the edge of the length direction of the escape groove 1211.
  • the first guide rail 1212 and the first slide block 1231 are Cooperation can also provide support for the clamping member 123, preventing the first transmission member 1222 from receiving pressure or radial shear force, and ensuring the smoothness of the moving and clamping process.
  • the moving stroke and speed of the clamping member 123 depend on the output speed and the number of rotations of the first driving unit 1221 on the one hand, and on the other hand depend on the parameters of the first transmission member 1222 and the second transmission member 1223, for example, using a screw rod. When used with the screw nut, it depends on the diameter and pitch of the screw.
  • the moving stroke and speed of the clamping member 123 can be adjusted by controlling the output of the first driving unit 1221, and the first driving unit 1221 controls the output of the first driving unit 1221.
  • the control of 1221 can be referenced using external signals, which will be explained below.
  • the clamping assembly 120 may also include a first detection unit (not shown), the first detection unit may be installed on the base 121 , and the first detection unit may be connected to the two clamping members Any one of 123 is set correspondingly to detect the clamping state of the clamping member 123, so that the clamping state of the clamping assembly 120 relative to the material box 400 can be accurately judged, ensuring the accuracy of the clamping operation and improving operating efficiency.
  • the first detection unit can determine the stroke position of the clamping member 123, thereby ensuring that the clamping member 123 is in contact with the horizontal slot 410.
  • the clamping state of piece 123 is compared to determine the stroke position of the clamping member 123, thereby ensuring that the clamping member 123 is in contact with the horizontal slot 410.
  • the types that the first detection unit can adopt include but are not limited to photoelectric sensors, contact switches, etc., which are not specifically limited in the embodiments of this application.
  • the clamping member 123 when the clamping member 123 cooperates with the material box 400, the two clamping members 123 move left and right toward each other for plug-in matching, and the notch of the horizontal slot 410 on the material box 400 needs to face the clamping member 123.
  • the horizontal slots 410 may be located on both sides of the end outer wall of the material box 400 , and the two horizontal slots 410 may be formed by two handles.
  • the movement of the clamping component 120 along the X direction is driven by the telescopic component 110.
  • the following describes the telescopic component 110 in a telescopic manner and the cooperation method with the clamping component 120.
  • the telescopic component 110 may include a fixed part 111, a telescopic part 112 and a second driving mechanism 130.
  • the second driving mechanism 130 may be disposed between the fixed part 111 and the telescopic part 112. During this time, the second driving mechanism 130 can not only drive the telescopic component 112 to telescopically move in the X direction relative to the fixed component 111, but also realize the movement of the clamping assembly 120 relative to the telescopic component 112.
  • the second driving mechanism 130 includes a second driving unit 131, a flexible transmission member 132 and a transmission wheel set 133.
  • the transmission wheel set 133 may include a plurality of transmission wheels arranged in parallel. The plurality of transmission wheels are respectively located on the fixed part 111 and the telescopic part. 112, the flexible transmission member 132 is wound around a plurality of transmission wheels.
  • the second driving unit 131 is connected to at least one of the transmission wheels and is used to drive the transmission wheel to rotate, so that the flexible transmission member 132 is driven by the transmission wheel. Driven around multiple transmission wheels.
  • the clamping component 120 is movably connected to the telescopic member 112, the clamping component 120 is disposed on the flexible transmission member 132, and the base 121 is fixedly connected to the flexible transmission member 132, that is, when the flexible transmission member 132 transmits, the base 121 can move with the flexible transmission member 132.
  • the clamping assembly 120 moves relative to the telescopic member 112, that is, the clamping assembly 120 moves along the first direction.
  • each transmission wheel of the transmission wheel set 133 The relative position of the telescopic member 112 and the fixed member 111 may remain unchanged, but when the telescopic member 112 and the fixed member 111 move relative to each other, the relative positions of the transmission wheels provided on the telescopic member 112 and the fixed member 111 will change.
  • the pick-and-place device 100 provided in the embodiment of the present application can realize the movement of the telescopic member 112 relative to the fixed member 111 and the movement of the clamping assembly 120 relative to the telescopic arm through the cooperation of multiple transmission wheels, simplifying the movement of the picking and placing components.
  • the multi-stage drive structure of the cargo device when clamping the material box 400 reduces the space occupied by the side of the telescopic assembly 110, making the overall structure more compact.
  • the length of the telescopic member 112 along the The movement of 111 can be regarded as a change in the overlap state between the telescopic member 112 and the moving member in the vertical direction.
  • the telescopic member 112 and the fixed member 111 are in an overlapping state in the vertical direction, they can be regarded as the telescopic member 112 the contracted state, and when the telescopic member 112 extends from one end thereof relative to the fixed member 111, that is, the partial weight When stacked, it can be regarded as the extended state of the telescopic member 112.
  • the second driving unit 131 drives the transmission wheel to rotate, it can drive at least one of the telescopic member 112 and the clamping assembly 120 to move in the first direction, for example, to take During the partial stroke of releasing goods, only the clamping assembly 120 is driven to move, or, during the partial stroke, the telescopic member 112 and the clamping assembly 120 are driven to move at the same time.
  • the pick-and-place device 100 When the pick-and-place device 100 provided by the present application performs a pick-and-place operation, it can first connect with the target of picking and placing goods. Taking the pick-up process of the shelf 500 as an example, the clamping assembly 120 is first moved to the telescopic position. The front end of the telescopic member 112, and then through the telescopic movement of the telescopic member 112, the end of the telescopic member 112 can be brought into contact with the lower edge of the storage location, thereby establishing a material supply box between the pick-and-place device 100 and the storage location.
  • the material box 400 moving channel, and then through the movement of the clamping assembly 120 relative to the telescopic member 112, the material box 400 is taken out of the storage location onto the telescopic member 112 by the clamping assembly 120, and then the telescopic member 112 is retracted to complete the removal. goods.
  • the movement of the telescopic component 112 relative to the fixed component 111 and the movement of the clamping assembly 120 relative to the telescopic component 112 need to be controlled, that is, the second
  • the driving unit 131 drives the transmission wheel set 133 to rotate and the flexible transmission member 132 set to transmit
  • the clamping component 120 and the telescopic part 112 are kept relatively motionless, while the telescopic part 112 moves relative to the fixed part 111 .
  • the picking device in the embodiment of the present application can also include a locking linkage component 140, and the locking linkage component 140 can be configured On the telescopic assembly 110, at least part of the structure of the locking linkage assembly 140 can move relative to the telescopic member 112, and different moving positions can cause at least part of the structure of the locking linkage assembly 140 to engage or separate from the fixing member 111, thereby Lock or unlock the telescopic part 112 and the fixed part 111.
  • the transmission wheel set 133 can drive the telescopic member 112 to expand and contract in the first direction when the flexible transmission member 132 transmits, and some of the transmission wheels of the transmission wheel set 133 are in There is a variable relative position in the first direction, that is, the relative position of the transmission wheel on the fixed part 111 and the telescopic part 112 can change, and the length of the flexible transmission part 132 between the corresponding partial transmission wheels can also change. .
  • the second driving unit 131 drives the transmission wheel to rotate, and the flexible transmission part 132 forms a relatively fixed shape.
  • the closed cycle, whereby the flexible transmission member 132 is driven, can cause the clamping assembly 120 to move relative to the telescopic member 112 .
  • first limiting portions 1126 and second limiting portions 1127 are respectively provided at both ends of the telescopic member 112.
  • the clamping assembly 120 and The first limiting portion 1126 or the second limiting portion 1127 abuts, thereby causing the telescopic member 112 to extend or retract in the first direction, and at this time, the relative position of each transmission wheel of the transmission wheel set 133 will be as described above.
  • the plurality of transmission wheels may include multiple inner transmission wheels and at least one outer transmission wheel, and the flexible transmission member 132 is wound around multiple Outside the inner transmission wheel, the outer transmission wheel is in contact with the outer peripheral surface of the flexible transmission member 132 .
  • the outer transmission wheel and part of the inner transmission wheel are connected to the telescopic member 112, while the remaining inner transmission wheels are arranged on the fixed member 111, and when the flexible transmission member 132 is driven, the clamping assembly 120 is driven to move, and the clamping assembly 120 is triggered.
  • the locking linkage component 140 is unlocked and then drives the telescopic member 112 to move, thereby driving the transmission wheel connected to the telescopic member 112 to move in the first direction relative to the transmission wheel connected to the fixed member 111 .
  • the flexible transmission member 132 can be a synchronous belt
  • the inner transmission wheel can be a synchronous wheel
  • the synchronous wheel meshes with the inside of the synchronous belt through synchronous teeth
  • the outer transmission wheel can be a flat pulley, which engages with the outside of the synchronous belt. Contact, thus serving as a guide wheel to guide the steering of the synchronous belt.
  • the plurality of inner transmission wheels may include a first transmission wheel 1331 , a second transmission wheel 1332 and a fourth transmission wheel 1334 arranged in sequence according to the transmission direction of the flexible transmission member 132
  • the outer transmission wheel may include a third transmission wheel. wheel 1333, and the third transmission wheel 1333 is disposed between the second transmission wheel 1332 and the fourth transmission wheel 1334, that is, the flexible transmission member 132 sequentially bypasses the first transmission wheel 1331, the second transmission wheel 1332, the third transmission wheel 1333 and The fourth transmission wheel 1334 forms a closed transmission cycle.
  • the first transmission wheel 1331 and the second driving unit 131 can both be disposed at the first end of the fixing member 111.
  • the second transmission wheel 1332 can be provided at the second end of the fixed member 111
  • the third transmission wheel 1333 can be provided at the first end of the telescopic member 112
  • the fourth transmission wheel 1334 can be provided at the second end of the telescopic member 112, forming
  • the flexible transmission member 132 first extends from the first end of the fixed member 111 to the second end of the fixed member 111, and then extends from the second end of the fixed member 111 to the first end of the telescopic member 112, Then it extends from the first end of the telescopic member 112 to the second end of the telescopic member 112, and finally returns from the second end of the telescopic member 112 to the first end of the fixed member 111, so that the transmission through the flexible transmission member 132 can To realize the movement of the clamping assembly 120, the movement of the telescopic member 112 can also be realized.
  • the second driving unit 131 can be disposed on the fixing member 111 and used to drive the first transmission wheel 1331 to rotate. That is, the first transmission wheel 1331 can be a driving wheel, and the second transmission wheel 1331 can be a driving wheel.
  • the wheel 1332 and the fourth transmission wheel 1334 are driven wheels, and the third transmission wheel 1333 is a guide wheel.
  • the diameter of the first transmission wheel 1331 may be larger than the diameters of other transmission wheels, and the embodiments of this application do not limit the specific size values of all transmission wheels.
  • the base 121 can be relatively fixedly connected to the flexible transmission member 132 between the first transmission wheel 1331 and the fourth transmission wheel 1334.
  • the clamping assembly 120 can move between the first transmission wheel 1331 and the fourth transmission wheel 1334.
  • the clamping assembly 120 can push the telescopic member 112 relative to the fixed position under the driving action of the flexible transmission member 132.
  • Piece 111 moves.
  • the telescopic member 112 extends relative to the fixed member 111, the distance between the first transmission wheel 1331 and the fourth transmission wheel 1334 increases, and the distance between the second transmission wheel 1332 and the third transmission wheel 1333 decreases. That is, it can be understood that the second transmission wheel 1332 and the third transmission wheel are close to each other, while the first transmission wheel 1331 and the fourth transmission wheel 1334 are far away from each other.
  • the flexible transmission member 132 between the second transmission wheel 1332 and the third transmission wheel 1333 is The length can compensate for the length of the flexible transmission member 132 between the first transmission wheel 1331 and the fourth transmission wheel 1334 .
  • the distance between the first transmission wheel 1331 and the fourth transmission wheel 1334 decreases, and the distance between the second transmission wheel 1332 and the third transmission wheel 1333 increases, that is, It is understood that the second transmission wheel 1332 and the third transmission wheel are far away from each other, and the first transmission wheel 1331 and the fourth transmission wheel 1334 are close to each other.
  • the length of the flexible transmission member 132 between the first transmission wheel 1331 and the fourth transmission wheel 1334 can be The length of the flexible transmission member 132 between the second transmission wheel 1332 and the third transmission wheel 1333 is compensated.
  • the distance between the first transmission wheel 1331 and the fourth transmission wheel 1334 and the sum of the distance between the second transmission wheel 1332 and the third transmission wheel 1333 remain unchanged, thereby ensuring that the telescopic member 112 and the clamp
  • the movement accuracy of the component 120 is determined to avoid the flexible transmission from getting stuck due to excessive tension or slack due to insufficient tension.
  • a tensioning mechanism (not shown) can be provided on one of the plurality of transmission wheels.
  • the tensioning mechanism can adjust the position of the transmission wheel at its corresponding position, thereby maintaining
  • the flexible transmission member 132 has a relatively appropriate tension state to avoid transmission difficulties caused by being too tight or transmission failure caused by being too loose.
  • the telescopic member 112 may be provided with a second guide rail 1124 extending along the first direction, and the base 121 is provided with a second slider 1213 on one side facing the telescopic member 112.
  • the two guide rails 1124 cooperate with the second slide block 1213 and support the base 121, thereby not only supporting the clamping assembly 120, but also ensuring the smooth movement of the clamping assembly 120.
  • the movement of the base 121 and the second slider 1213 along the second guide rail 1124 can be realized through the transmission of the flexible transmission member 132.
  • two mutually covering members can be provided below the base 121.
  • cover plates (not shown) respectively located on both sides of the flexible transmission member 132.
  • the two cover plates jointly clamp the flexible transmission member 132, thereby ensuring that when the flexible transmission member 132 is transmitting, the clamping assembly 120 and the first transmission wheel 1331 and The flexible transmission members 132 between the fourth transmission wheels 1334 maintain a fixed relative position.
  • the two cover plates can be connected through threaded fasteners or buckles, which are not specifically limited in the embodiments of the present application.
  • first transmission wheel 1331 of the two transmission wheel sets 133 is connected through the drive shaft 134, and the output end of the second drive unit 131 is connected to the drive shaft 134, thereby achieving synchronous transmission of the transmission wheel sets 133 on both sides, and The stability of the movement process of the telescopic member 112 and the clamping assembly 120 is ensured.
  • both ends of the drive shaft 134 can be installed on the first end of the fixed member 111 through bearing seats and bearing supports, and the second drive unit 131 can be a motor, and the output shaft of the motor can be meshed with the motor through gears.
  • the drive shaft 134 cooperates, or a reducer may be provided between the motor output shaft and the drive shaft 134.
  • the embodiment of the present application does not specifically limit the specific cooperation method between the second drive unit 131 and the drive shaft 134.
  • the flexible transmission member 132 in the driving assembly can also adopt other structural types including but not limited to chains 164 and other forms, and the corresponding transmission wheel can be a sprocket etc. to match it.
  • the structure of this application is not specifically limited in the embodiments of this application and will not be described again.
  • the second driving mechanism 130 drives the telescopic member 112 and the clamping assembly 120 to move during the loading and unloading steps, it needs to rely on the locking linkage assembly 140 to lock the telescopic member 112 and the fixed member 111 at a specific position.
  • the specific structure and principle of the linkage component 140 will be described in detail.
  • the locking linkage assembly 140 may include a linkage mechanism 141 and a clamping member 142 .
  • the linkage mechanism 141 includes a fixed rod 1414 and a plurality of The movable rod, the fixed rod 1414 is connected to a plurality of movable rods in sequence, and the fixed rod 1414 is connected to the telescopic part 112.
  • the movable rod can swing relative to the telescopic part 112, and the clamping part 142 can be connected between the fixed rod 1414 and the movable rod.
  • the clamping member 142 and the fixing member 111 can be connected and separated.
  • the first end of the clamping member 142 can be rotationally connected with the fixed rod 1414, and the second end of the clamping member 142 can be connected with a plurality of movable Any one of the rods is rotationally connected, and the clamping member 142 can rotate driven by the movable rod.
  • the clamping member 142 is clamped with the fixed member 111, the clamping member 142 is clamped with the fixed member 111, so that the telescopic member 112 and the fixing member 111 are in a locked state, and when the clamping member 142 is separated from the fixing rod 1414, the telescopic member 112 and the fixing member 111 are unlocked.
  • At least one of the plurality of movable rods may be provided with a trigger member, and the second slide block 1213 may be provided with a thrust member 1214.
  • the second slide block 1213 moves to different extension directions of the second guide rail 1124. position, the thrust member 1214 can abut or separate from the trigger member. That is, when the clamping component 120 moves to different positions along the Locking or unlocking of piece 111.
  • the thrust member 1214 drives the movable rod to swing to disengage the clamping member 142 from the fixed member 111.
  • the telescopic member 112 can move relative to the fixed member 111 under the push and clamp The position of the entire assembly 120 relative to the telescopic member 112 remains unchanged.
  • the locking linkage assembly 140 may also include an elastic member 145.
  • the elastic member 145 may provide a reset function for the clamping member 142 and the fixing member 111.
  • the first end of the elastic member 145 may be connected to the fixing rod 1414.
  • the second end of the elastic member 145 can be connected to the clamping member 142.
  • the elastic member 145 pulls the clamping member 142 to rotate so that the clamping member 142 is clamped with the fixing member 111. At this time, it expands and contracts.
  • the member 112 and the fixed member 111 remain relatively stationary. Driven by the flexible transmission member 132, the clamping assembly 120 moves relative to the telescopic member 112.
  • the elastic member 145 may be a tension spring, or may be an elastic cord, elastic rubber, or other components that can provide tension.
  • the model, type, and elastic damping coefficient of the elastic member 145 may be determined according to the installation space and the telescopic member 112 and the fixing member.
  • the card relay size of 111 is designed according to the size requirements, and the embodiments of this application do not specifically limit this.
  • the link mechanism 141 may have a four-link structure, and an example will be described below.
  • the fixed rod 1414 can extend along the first direction.
  • the length of the fixed rod 1414 matches the length of the second guide rail 1124.
  • the plurality of movable rods can include the first movable rod. 1411.
  • the first movable rod 1411 and the second movable rod 1412 are respectively connected with the two ends of the fixed rod 1414.
  • the two ends of the third movable rod 1413 are respectively connected with the first movable rod. 1411 and the second movable rod 1412 are rotationally connected to form a four-link structure.
  • the length of the fixed rod 1414 and the third movable rod 1413 can be longer, and the length of the first movable rod 1411 and the second movable rod 1412 can be shorter to reduce the range of movement of the linkage mechanism 141 when swinging and avoid interference.
  • the second end of the clamping member 142 can be rotationally connected with the third movable rod 1413.
  • the first movable rod 1411 can be provided with a first triggering member 143
  • the second movable rod 1412 can be provided with a second triggering member 144.
  • the thrust member 1214 can trigger the first trigger member 143 and the second trigger member 144 respectively, that is, by abutting against the first trigger member 143 or the second trigger member 144 respectively. Then, the first movable rod 1411 or the second movable rod 1412 is driven to swing to realize the movement of the link mechanism 141, thereby realizing the unlocking of the clamping member 142 and the fixing member 111.
  • the reciprocating movement of the clamping assembly 120 relative to both ends of the telescopic member 112 corresponds to the reciprocating movement of the thrust member 1214 between the first triggering member 143 and the second triggering member 144 , and the thrust member 1214 moves against the first triggering member 143
  • the direction of the contact force is opposite to that of the second trigger member 144.
  • the setting positions of the first triggering member 143 and the second triggering member 144 can be designed differently, wherein, on one side of the first movable rod 1411, the first triggering member 143 It can be located between the two rotating axes of the first movable lever 1411, and on one side of the second movable lever 1412, the second triggering member 144 can be located at the outer ends of the two rotating axes of the second movable lever 1412, so that the first triggering member 144 143 and the second trigger member 144 receive contact forces in opposite directions, but the link mechanism 141 can have the same swing state.
  • the first end of the clamping member 142 may be provided with a clamping part 1421 and a tensioning part 1422.
  • the fixing member 111 is provided with clamping grooves 1112 arranged along the first direction.
  • the clamping member 142 is connected with the fixing part 142.
  • the tensile part 1422 can be connected with the elastic member 145, and the tensile part 1422 and the clamping part 1421 are respectively located in the clamping part.
  • the connecting member 142 is connected to the fixing member 111 on opposite sides of the position, so that the triggering member and the elastic member 145 drive the clamping member 142 in opposite directions, thereby realizing the locking and unlocking functions.
  • the snap-in groove 1112 can be formed by a toothed plate installed on the fixing member 111.
  • the plurality of snap-in slots 1112 can be continuously arranged in the X direction.
  • the movable rod 1413 can drive the other end of the clamping member 142 to move to the left, thereby causing the connecting member 125 to rotate counterclockwise, and the clamping portion 1421 can be detached from the clamping groove 1112; when the second triggering member 144 is detached After contact, under the action of the tensile force of the elastic member 145, the elastic member 145 pulls the tensile part 1422, so that the latch part 142 can rotate clockwise, and then the latch part 1421 It can be engaged with the engaging groove 1112, and at the same time, the third movable lever 1413 can also swing to the right to its original state.
  • the telescopic member 112 may include a tray 1121 and side plates 1122 respectively provided on both sides of the tray 1121. At least one support member 1125 is provided on the side plates 1122. The pallet 1121 is connected to the support member 1125. The pallet 1121 is used to carry the material box 400. The locking linkage component 140 is located on the side of the pallet 1121 away from the material box 400.
  • Third guide rails 1111 are provided on both sides of the fixing member 111. Side plates 1122 are respectively slidably connected to the third guide rails 1111, thereby providing an installation space for the second driving mechanism 130 and ensuring that the material box 400 can have reliable and effective bearing capacity.
  • the first trigger 143 or the second trigger 144 can be triggered by the clamping assembly 120 to unlock the telescopic member 112 and the fixed member 111 .
  • the movement is directly driven by the clamping component 120, and when the material box 400 is carried on the pallet 1121, the clamping component 120 can exert a pushing or pulling force on the material box 400, and there is also a gap between the material box 400 and the pallet 1121.
  • the friction force drives the telescopic component 112 to move relative to the fixed component 111 .
  • the locking linkage assembly 140 may also include a third trigger 146, and the third trigger 146 is rotationally connected to the fixed rod 1414.
  • the tray 1121 is provided with an opening 1123.
  • the third triggering member 146 at least partially extends from the opening 1123 and extends to the side of the telescopic member 112 carrying the material box 400.
  • the third triggering member 146 is used to cooperate with the material box 400.
  • the material box 400 can press down the third triggering member 146 to trigger the unlocking of the telescopic member 112 and the fixing member 111.
  • the third triggering member 146 can contact with the clamping member 142, and when the material box 400 contacts the third triggering member 146, the third triggering member 146 drives the clamping member 142 to rotate, so that the telescopic member 112 is separated from the fixing part 111, so that when the material box 400 is carried on the pallet 1121, the relative slidable state of the telescopic part 112 and the fixing part 111 can be maintained.
  • the third trigger 146 may be located on a side close to the second movable rod 1412 .
  • the fixing rod 1414 may be provided with an escape opening 1414a
  • the third triggering member 146 is rotationally connected to the side wall of the escape opening 1414a
  • the third triggering member 146 is provided with a first contact portion 1461
  • the clamping member 142 faces
  • a second contact portion 1423 is provided on one side of the fixed rod 1414.
  • the second contact portion 1423 extends to the bottom side of the fixed rod 1414.
  • the first contact portion 1461 passes through the escape opening 1414a and contacts the second contact portion 1423. , so that when the third triggering member 146 rotates, the clamping member 142 can be driven to rotate.
  • locking linkage components 140 can be one, two or more, and can be arranged at different positions on the telescopic member 112 along the width direction of the telescopic member 112 to ensure the reliability of locking, and different The locking linkage components 140 can move or swing synchronously.
  • the pick-and-place device 100 provided by the embodiment of the present application may also include a second detection unit 150.
  • the second detection unit 150 is connected to the fixing member 111, and the second detection unit 150 is used to detect materials. At least one of the posture of the material box 400 and the electronic identification of the material box 400 can be accurately determined to determine the initial position of the picking and placing device 100 when picking up and placing the material box 400, and the information of the material box 400 can be identified, and the corresponding execution can be accurately Cargo pick-up and delivery tasks.
  • the plurality of second detection units 150 may include a 3D camera for detecting the size and placement posture of the material box 400 so that the picking and placing device 100 can be aligned with the material box 400 during operation.
  • the plurality of second detection units 150 may also include a scanner or a 2D camera, etc., for detecting identifiable identifiers on the material box 400, such as QR codes, barcodes, digital symbols, etc., to determine whether the identity of the material box 400 is the correct execution object of the current task. .
  • the pick-and-place device 100 provided by the embodiment of the present application may also include a rotating assembly 160.
  • the rotating assembly 160 may include a fixed bracket 161, a fourth driving unit 163, and a rotating platform 162.
  • the fourth driving unit 163 The telescopic assembly 110 is used to drive the rotating platform 162 to rotate relative to the fixed bracket 161.
  • the telescopic assembly 110 is disposed on the rotating platform 162. When applied to a handling robot, the telescopic assembly 110 can realize loading and unloading operations on different sides of the handling robot.
  • the fourth driving unit 163 can be a motor, and the motor can be installed on the rotating platform 162.
  • a chain 164 and two sprockets (not shown) can be used. ) to cooperate, one of the sprockets can be relatively fixed to the fixed bracket 161, and the rotating platform 162 can be rotationally connected to the sprocket, and the other sprocket can be rotated and disposed at the bottom of the rotating platform 162, and the chain 164 can be wound around both sides.
  • the fourth driving unit 163 can drive the sprocket on the rotating platform 162 to rotate, thereby causing the rotating platform 162 to rotate relative to the fixed bracket 161, thereby realizing the rotation of the telescopic assembly 110 relative to the fixed bracket 161.
  • the front end of the tray 1121 may be provided with a buffer member.
  • the buffer member may contact the edge of the shelf 500 to play a buffering role. , while reducing or eliminating noise.
  • a micro switch can also be provided at the front end of the pallet 1121.
  • the micro switch can be triggered, so that it can be judged that the telescopic member 112 and the shelf 500 are successfully connected, and then the clamping assembly 120 can be It can be plugged and matched with the material box 400.
  • a corresponding switch unit (not shown) may also be provided at the rear end of the tray 1121 to detect and determine whether the telescopic member 112 is fully retracted.
  • FIGS. 16 to 24 taking the application to a transport robot as an example, the following is an exemplary description of the specific steps of picking up goods from the shelf 500 of the pick-and-place device 100 according to the embodiment of the present application.
  • Step 1 As shown in Figure 16, the telescopic member 112 is in a contracted state relative to the fixed member 111, and the clamping assembly 120 moves from the first end of the telescopic member 112 to the second end of the telescopic member 112, thereby triggering the telescopic member 112 and the Unlocking of fastener 111.
  • Step 2 As shown in Figure 17, the clamping assembly 120 drives the telescopic member 112 to extend relative to the fixed member 111, and the end of the telescopic member 112 contacts the edge of the shelf 500, so that the two clamping members of the clamping assembly 120 The pieces 123 are close to each other and can be plugged into the horizontal slot 410 of the material box 400 to clamp the material box 400 .
  • Step 3 As shown in Figure 18, the clamping assembly 120 moves back relative to the telescopic member 112, so that the clamping assembly 120 partially pulls the material box 400 to the tray 1121 of the telescopic member 112. At this time, the telescopic member 112 and the fixing member 111 is locked, and the relative positions of the two are kept fixed to prevent the material box 400 from falling.
  • Step 4 As shown in Figure 19, the clamping component 120 pulls the entire material box 400 onto the pallet 1121. At this time, the pressure of the material box 400 triggers the unlocking of the telescopic part 112 and the fixing part 111, so that the clamping component 120 drags When the material box 400 moves, the telescopic component 112 can retract relative to the fixed component 111 under the friction of the material box 400 .
  • Step 5 As shown in Figure 20, the telescopic component 112 is fully retracted, the telescopic component 112 is separated from the edge of the shelf 500, and the material box 400 is pulled above the fixing component 111 by the clamping component 120. At this time, the telescopic component 110 returns as a whole. The initial position state before picking up the goods.
  • Step 6 As shown in Figure 21, the rotating component 160 drives the telescopic component 110 to rotate 90° together with the material box 400, so that the material box 400 faces the storage slot 221 of the handling robot.
  • Step 7 As shown in FIG. 22 , the clamping assembly 120 pushes the material box 400 to move. Under the friction of the material box 400 , the telescopic member 112 extends to contact the edge of the storage slot 221 .
  • Step 8 As shown in Figure 23, the clamping assembly 120 continues to push the material box 400 to move.
  • the material box 400 moves from the tray 1121 to the storage slot 221.
  • the two clamping members 123 of the clamping assembly 120 can move away from each other. , take off from the material box 400.
  • Step 9 As shown in Figure 24, the clamping component 120 is retracted relative to the telescopic component 112, and drives the telescopic component 112 to retract relative to the fixed component 111 to return to the initial state.
  • the embodiment of the present application can also pick up and place the material box 400 in another way.
  • the pick-and-place device 100 may include a telescopic component 110 and a push-pull component 170.
  • the telescopic component 110 includes a fixed component 111 and a telescopic component 112.
  • the telescopic component 112 is disposed on the fixed component. 111 and can be telescopic in the first direction relative to the fixing part 111.
  • the push-pull component 170 is provided on the telescopic component 112.
  • the push-pull component 170 is used to drive the material box 400 to move, that is, to pick and place the material box 400.
  • the telescopic component 112 It can play a bearing role for the material box 400.
  • the push-pull assembly 170 may include a base plate 171, a pulling member 172 and a third driving mechanism 173.
  • the base plate 171 is connected to the telescopic member 112.
  • the third driving mechanism 173 is disposed on the base plate 171.
  • the pulling member 172 is connected to the third driving mechanism. 173 is connected, the third driving mechanism 173 can drive the pulling member 172 to move along the third direction.
  • the length direction of the fixing member 111 is defined as the X direction, that is, the first direction is the X direction, the telescopic member 112 can expand and contract along the X direction, and the height direction of the base plate 171 is defined as the Z direction. That is, the third direction is the Z direction, and the pulling member 172 can move along the Z direction. Since both the telescopic member 112 and the pulling member 172 can move back and forth, the movement in the first direction includes forward and backward movement in the X direction, and the movement in the third direction includes up and down movement in the Z direction.
  • the pulling member 172 can be realized by telescopic movement of the pulling member 172.
  • the outer wall of the material box 400 can be provided with a vertical slot 420.
  • the pulling member 172 can be inserted into or disengaged from the vertical slot 420 by moving.
  • the cross-sectional size of the pulling member 172 may be equal to or smaller than the notch size of the vertical slot 420 so that the pulling member 172 can enter the vertical slot 420.
  • the pulling member 172 moves upward, the pulling member 172 It can be inserted into the vertical slot 420.
  • the pulling member 172 moves downward, the pulling member 172 can be detached from the vertical slot 420.
  • the pulling member 172 enters the vertical slot 420, as the push-pull assembly 170 With the overall movement, the pulling member 172 can drive the material box 400 to move, thereby realizing the pick-and-place operation of the material box 400 .
  • the outer wall of the material box 400 provided with the vertical slot 420 can face the entrance and exit of the storage location of the shelf 500.
  • the picking and placing device 100 provided in the embodiment of the present application can be used for the material box 400.
  • the push-pull component 170 can be plugged and matched with the outer wall of the material box 400 through the pulling component 172 , so that when the push-pull component 170 drives the material box 400 to move, the push-pull component 170 and the telescopic component 112 do not move. It is necessary to enter the interior of the storage location where the material box 400 is stored.
  • the picking and placing device 100 will not occupy the internal space of the storage location when picking up and placing the material box 400.
  • a small spacing or No spacing storage thus improving the space utilization of warehousing.
  • the push-pull assembly 170 may also include a push plate 177 connected to the base plate 171 and facing the material box 400 to push the material box 400 to move. That is, the push plate 177 is located between the third driving mechanism 173 and the pulling member. 172 relative to the same side of base plate 171 .
  • the push plate 177 can be assembled and connected with the base plate 171 through fasteners.
  • the third driving mechanism 173 may include a third driving unit 1731, a third transmission member 1732, a fourth transmission member 1733 and a connecting rod 1734.
  • the third driving unit 1731 is disposed on the base plate 171.
  • the third transmission member 1732 is connected to the output end of the third drive unit 1731, and the third transmission member 1732 can rotate under the drive of the third drive unit 1731, and the fourth transmission member 1733 cooperates with the third transmission member 1732, and the fourth transmission member 1733 cooperates with the third transmission member 1732.
  • the transmission member 1733 can move along the third direction driven by the third transmission member 1732, that is, move up and down along the Z direction.
  • the third driving unit 1731 can output rotational motion and drive the third transmission member 1732 to rotate, and the cooperation between the fourth transmission member 1733 and the third transmission member 1732 can convert the rotational motion into linear movement.
  • the connecting rod 1734 The first end of the connecting rod 1734 can be connected to the third transmission member 1732, and the second end of the connecting rod 1734 is connected to the pulling member 172, so that when the fourth transmission member 1733 moves, the pulling member 172 can be driven to move synchronously, thereby realizing the pulling member 172 Mating or unmating fit with vertical slot 420.
  • the up and down movement of the pulling member 172 along the Z direction may be opposite to the forward and reverse rotation of the third transmission member 1732, respectively.
  • the third transmission member 1732 rotates forward
  • the corresponding pulling member 172 moves upward along the Z direction
  • the third transmission member 1732 rotates reversely
  • the corresponding pulling member 172 moves downward along the Z direction.
  • the third driving mechanism 173 may also include a guide member 1735.
  • the guide member 1735 may be disposed on the base plate 171, and the guide member 1735 is provided with a guide hole. , the guide hole extends along the third direction, the connecting rod 1734 passes through the guide hole, and the connecting rod 1734 can move along the guide hole driven by the fourth transmission member 1733, that is, the guide member 1735 can move the fourth transmission member 1733 It plays the role of limiting guide.
  • the pulling member 172 is driven through the third driving mechanism 173, and its purpose is to convert the rotational motion into linear movement. Therefore, different combinations of the third transmission member 1732 and the fourth transmission member 1733 can be used. Methods include but are not limited to screw transmission methods, gear and rack methods, pulley and transmission belt methods, etc., which are not specifically limited in the embodiments of the present application. Of course, it is also possible to consider using a linear motor or a cylinder to directly drive the pulling member 172 . The following takes one of the driving methods as an example to illustrate.
  • the third transmission member 1732 can be a screw rod
  • the fourth transmission member 1733 can be a screw nut
  • the third driving unit 1731 can be a motor
  • the screw rod can extend along the third direction, that is, the screw rod can extend along Z direction extends, the first end of the screw is connected to the output shaft of the motor, the second end of the screw is rotationally connected to the guide 1735, the screw nut is sleeved on the screw, and when the screw rotates, the screw nut moves along the The extension direction of the screw rod moves, and the connecting rod 1734 is connected to the screw nut, so that the moving stroke and position of the pulling member 172 can be controlled by the rotation of the screw rod.
  • the screw rod can be disposed between the motor and the guide member 1735 to support the screw rod.
  • the screw rod and the output shaft of the motor can be directly connected or indirectly connected through a coupling as a component.
  • the screw rod can cooperate with the guide member 1735 through the bearing, thereby ensuring the smooth rotation of the screw rod.
  • the two connecting rods 1734 can pass through the two guide holes respectively, and the two connecting rods 1734 can both be in the form of rods. shape, and the two connecting rods 1734 can be arranged in parallel.
  • the two connecting rods 1734 can be symmetrically distributed on both sides of the third transmission member 1732, so that the force balance can be achieved when the fourth transmission member 1733 drives the pulling member 172 to move. sex.
  • the pulling member 172 since the movement of the pulling member 172 along the Z direction can be driven by the third driving unit 1731 as a power source, and the third transmission member 1732 and the fourth transmission member 1733 serve as transmission units for force and motion, therefore, the pulling member 172
  • the moving speed and stroke of 172 depend on the output speed and the number of rotations of the third driving unit 1731 on the one hand, and on the other hand depend on the parameters of the third transmission member 1732 and the fourth transmission member 1733, for example, using a screw and a wire. When the rod nut is matched, it depends on the diameter and pitch of the screw rod.
  • the moving stroke and speed of the pulling member 172 can be adjusted through the output control of the third drive unit 1731, and the third drive unit 1731
  • the control can be referenced using external signals, which will be explained below.
  • the push-pull assembly 170 may also include a third detection unit 174 and a sensing member 175.
  • the third sensing unit 174 is provided on the base plate 171, and the sensing member 175 is connected to the fourth transmission member 1733, that is, when pulling When the member 172 moves along the Z direction, the sensing member 175 will also move simultaneously.
  • the third detection unit 174 is used to detect the sensing member 175 to detect the relative position of the fourth transmission member 1733 when it moves along the third direction.
  • the third detection unit 174 can determine the stroke position of the pulling member 172, thereby ensuring that the pulling member 172 is in contact with the vertical slot 420.
  • the types that the third detection unit 174 can adopt include but are not limited to photoelectric sensors, contact switches, etc.
  • two third detection units 174 can be arranged at both ends of the movement stroke of the sensing member 175 along the Z direction, and the third detection unit 174 on the upper side along the Z direction is moved by the sensing member 175
  • the push-pull assembly 170 can drive the material box 400 to move, and the third detection unit 174 on the lower side along the Z direction is blocked by the sensing member 175 , it can be judged that the pulling member 172 is completely separated from the insertion slot, and the push-pull assembly 170 can be separated from the material box 400 at this time.
  • the third driving mechanism 173 can be assembled with the base plate 171.
  • the relative positions of the installation and matching of the two are set to an adjustable structure, so that when the position of the vertical slot 420 of the material box 400 changes relative to the push-pull assembly 170, the material box 400 can still be picked and placed.
  • the push-pull assembly 170 may also include an adjustment plate 176 , the adjustment plate 176 is connected to the base plate 171 , and the third driving mechanism 173 is connected to the adjustment plate 176 , that is, the third driving mechanism 173 can be connected to the adjustment plate 176 through the adjustment plate 176 .
  • the base plate 171 is indirectly connected, and the position of the adjustment plate 176 is adjustable relative to the base plate 171 , thereby realizing position adjustment of the third driving mechanism 173 relative to the base plate 171 .
  • the base plate 171 can be provided with multiple adjustment holes 1711 , and the multiple adjustment holes 1711 can be arranged along the third direction.
  • the adjustment plate 176 can cooperate with different adjustment holes 1711 to adjust the adjustment plate 176 and the base plate 171
  • the relative position along the third direction can adapt to the picking and placing requirements of material boxes 400 of different specifications and sizes.
  • the adjustment holes 1711 can be connected sequentially along the arrangement direction to form adjustment grooves, that is, multiple adjustment holes 1711 form a group. Multiple groups of adjustment holes 1711 can be provided on the base plate 171 to form multiple connection positions.
  • Each of the holes 1711 has an adjustment hole 1711 connected to the adjustment plate 176.
  • the adjusting plate 176 can connect the connecting rod 1734 to the base plate 171 through threaded fasteners. For example, bolts pass through the connecting plate and the adjusting hole 1711 in sequence, and the connecting rod 1734 is pressed against the base plate 171 to ensure the reliability of installation.
  • the base plate 171 can be a sheet metal part, for example, a bent plate with an L-shaped cross section, and one, two or more can be disposed on the base plate 171 Reinforcement ribs to increase structural strength.
  • the vertical slot 420 can be located at the upper edge of the material box 400, and the notch of the vertical slot 420 faces downward.
  • the material box 400 can be moved with the vertical slot for edge operation tasks in other logistics processes.
  • the edge of the notch 420 can be provided with wavy grooves, corresponding to human fingers, to improve the comfort of handling the material box 400.
  • An embodiment of the present application also provides a handling robot. Please continue to refer to Figure 1.
  • the handling robot includes a robot body 200, a lifting device 300 and the pick-and-place device 100 in the above technical solution.
  • the lifting device 300 is provided on the robot body 200. It can move along the height direction of the robot body 200.
  • the picking and placing device 100 is arranged on the lifting device 300, so that the lifting device 300 can drive the picking and placing device 100 to move, thereby realizing picking and placing operations at different heights.
  • the robot body 200 may include a base 210 and a storage rack 220.
  • the storage rack 220 is installed on the base 210.
  • the lifting device 300 is disposed on the storage rack 220 and can move along the height direction of the storage rack 220.
  • a plurality of storage slots 221 may be provided on the side of the rack 220 away from the loading and unloading device 100 .
  • the plurality of storage slots 221 are spaced apart along the height direction of the storage rack 220 .
  • the lifting device 300 can be driven by a motor, and drive the picking and placing device 100 to move up and down along the height direction of the robot body 200 through a synchronous belt or chain drive.
  • the pick-and-place device can be disposed on the front side of the robot body 200.
  • the pick-and-place device 100 it can The front, left and right sides of the robot body 200 can be docked with other equipment to complete the picking and placing operations.
  • the picking and placing operations can also be completed in the storage slot 221 on the rear side of the robot body 200, as long as the corresponding Just rotate it 90° or 180°.
  • Embodiments of the present application also provide a logistics system, including a shelf and a handling robot in the foregoing technical solution.
  • the handling robot is provided with a pick-and-place device in the foregoing technical solution.
  • the structures of the handling robot and the pick-and-place device are the same as those in the foregoing solution.
  • the shelves can realize the storage of material boxes with small spacing or no spacing (box spacing, layer spacing, etc.) to improve space utilization.

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Abstract

A goods storage and retrieval apparatus (100) and a transport robot. The goods storage and retrieval apparatus (100) is used for storing and retrieving a material box (400). The goods storage and retrieval apparatus (100) comprises an extendable/retractable assembly (110) and a push-pull assembly (170). The extendable/retractable assembly (110) comprises a fixed member (111) and an extendable/retractable member (112) that is extendable or retractable in a first direction with respect to the fixed member (111). The push-pull assembly (170) is arranged on the extendable/retractable member (112), and the push-pull assembly (170) comprises a base (121), a pull member (172) and a first driving mechanism (122). The base (121) is connected to the extendable/retractable member (112). The first driving mechanism (122) is arranged on the base (121). The pull member (172) is connected to the first driving mechanism (122). An outer wall of the material box (400) is provided with a slot. The first driving mechanism (122) is used for driving the pull member (172) to move in a second direction, so that the pull member (172) is inserted into or separated from the slot. Therefore, neither the push-pull assembly (170) nor the extendable/retractable member (112) needs to enter a storage location where the material box is stored, and small-spacing or no-spacing storage can be achieved when the material box is stored in the storage location of a rack, thereby improving the space utilization of storage.

Description

取放货装置及搬运机器人Pick-and-place equipment and handling robots
本申请要求于2022年6月1日提交中国专利局，申请号为202210617489.1、申请名称为“取放货装置及搬运机器人”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims priority to the Chinese patent application filed with the China Patent Office on June 1, 2022, with the application number 202210617489.1 and the application name "Cargo Picking and Placement Device and Handling Robot", the entire content of which is incorporated into this application by reference. .
技术领域Technical field
本申请涉及仓储物流技术领域，特别涉及一种取放货装置及搬运机器人。This application relates to the technical field of warehousing and logistics, and in particular to a loading and unloading device and a handling robot.
背景技术Background technique
随着人工智能和自动化技术的发展，搬运机器人被广泛应用在仓储物流领域中，用于运送货物。物流***中，通常以货架来存放货物，搬运机器人通过与货架或输送线等对接来取放货物，并完成货物运送任务。With the development of artificial intelligence and automation technology, handling robots are widely used in the field of warehousing and logistics to transport goods. In logistics systems, shelves are usually used to store goods, and handling robots pick up and place goods by docking with shelves or conveyor lines, and complete the task of transporting goods.
相关技术中，搬运机器人上通常设置有取放货物的货叉，货叉通常包括可进行多段伸缩的伸缩臂，伸缩臂上设置有托起或夹持物料箱的取货机构，当货叉在货架上进行取放货时，多段伸缩臂需要伸缩进入货架的库位内部，并且伸缩臂的末端或侧方的取货机构需要设置可移动或伸缩的末端关节，用于和物料箱的里侧端面抵接，或者抱持住物料箱的侧壁，从而将物料箱从库位中拖出或夹出。In related technologies, a handling robot is usually equipped with a cargo fork for picking up and placing goods. The cargo fork usually includes a telescopic arm that can telescope in multiple sections. The telescopic arm is equipped with a pickup mechanism for holding or clamping material boxes. When the fork is on When picking up and placing goods on the shelf, the multi-section telescopic arm needs to telescope into the storage space of the shelf, and the end of the telescopic arm or the pickup mechanism on the side needs to be equipped with a movable or telescopic end joint to connect with the inside of the material box. The end faces touch or hold the side walls of the material box to drag or clamp the material box out of the storage location.
然而，搬运机器人的伸缩臂以及取货机构进入货架的库位中取放货，会占用库位内的空间，导致物料箱存放时需要预留足够的箱间距或者层高，降低存储的空间利用率。However, when the telescopic arm of the handling robot and the picking mechanism enter the storage space of the shelf to pick up and place goods, it will occupy the space in the storage space, resulting in the need to reserve sufficient box spacing or layer height when storing material boxes, reducing the storage space utilization. Rate.
发明内容Contents of the invention
本申请提供一种取放货装置及搬运机器人，以解决搬运机器人取放货时占用货架库位的内部空间导致存储空间利用率低的问题。This application provides a loading and unloading device and a handling robot to solve the problem of low storage space utilization due to the handling robot occupying the internal space of the shelf when loading and unloading goods.
第一方面，本申请提供一种取放货装置，用于取放物料箱，该取放货装置包括伸缩组件和推拉组件，伸缩组件包括固定件和可相对于固定件沿第一方向伸缩的伸缩件，推拉组件设置于伸缩件上，从而伸缩件可以带动推拉组件进行移动，而推拉组件则可以带动物料箱进行移动，以实现取放货操作。In a first aspect, the application provides a loading and unloading device for loading and unloading material boxes. The loading and unloading device includes a telescopic component and a push-pull component. The telescopic component includes a fixing component and a retractable component that is telescopic in a first direction relative to the fixing component. The telescopic part and the push-pull component are arranged on the telescopic part, so that the telescopic part can drive the push-pull component to move, and the push-pull component can drive the material box to move to realize the loading and unloading operation.
其中，推拉组件包括基座、拉动件和第一驱动机构，基座与伸缩件连接，第一驱动机构设置于基座上，拉动件与第一驱动机构连接，物料箱的外壁具有插槽，第一驱动机构用于驱动拉动件沿第二方向移动，以使拉动件与插槽插接或脱离。The push-pull assembly includes a base, a pulling member and a first driving mechanism. The base is connected to the telescopic member. The first driving mechanism is arranged on the base. The pulling member is connected to the first driving mechanism. The outer wall of the material box has a slot. The first driving mechanism is used to drive the pulling member to move along the second direction to insert or disengage the pulling member from the slot.
本申请提供的取放货装置对物料箱在货架上进行取放时，推拉组件可以通过拉动件与物料箱的外侧壁进行插接配合，从而在推拉组件带动物料箱移动时，推拉组件和伸缩件都不需要进入存放物料箱的库位内部，因此，取放货装置在取放物料箱时不会占用库位的内部空间，在货架的库位存放物料箱时可以实现小间距或者无间距存放，进而提高了仓储的空间利用率。When the pick-and-place device provided by this application picks and places the material box on the shelf, the push-pull component can be plugged and matched with the outer wall of the material box through the pulling member, so that when the push-pull component drives the material box to move, the push-pull component and telescopic There is no need to enter the storage location where the material boxes are stored. Therefore, the pick-and-place device will not occupy the internal space of the storage location when picking up and placing material boxes. Small or no spacing can be achieved when storing material boxes on the shelf. storage, thus improving the space utilization of warehousing.
作为一种可选的实施方式，第一方向沿水平方向，且第二方向沿竖直方向。As an optional implementation manner, the first direction is along the horizontal direction, and the second direction is along the vertical direction.
作为一种可选的实施方式，拉动件凸出于基座的顶部。As an optional implementation, the pulling member protrudes from the top of the base.
作为一种可选的实施方式，推拉组件还包括推板，推板连接于基座，且推板朝向物料箱，以推动物料箱移动。As an optional implementation, the push-pull assembly further includes a push plate, which is connected to the base and faces the material box to push the material box to move.
作为一种可选的实施方式，第一驱动机构可以包括第一驱动单元、第一传动件、第二传动件和连接件，第一驱动单元设置在基座上，第一传动件与第一驱动单元的输出端连接，且第一传动件可以在第一驱动单元的驱动下转动，而第二传动件与第一传动件配合，且第二传动件可以在第一传动件的驱动下沿第二方向移动，连接件的第一端与第一传动件连接，连接件的第二端与拉动件连接，以使拉动件随第二传动件移动。如此设置，可以有效地将第一驱动单元输出的旋转运动转化为拉动件的移动。As an optional implementation, the first driving mechanism may include a first driving unit, a first transmission member, a second transmission member and a connecting member. The first driving unit is disposed on the base, and the first transmission member is connected to the first transmission member. The output end of the drive unit is connected, and the first transmission member can rotate under the drive of the first drive unit, and the second transmission member cooperates with the first transmission member, and the second transmission member can be driven along the first transmission member. To move in the second direction, the first end of the connecting member is connected to the first transmission member, and the second end of the connecting member is connected to the pulling member, so that the pulling member moves with the second transmission member. With this arrangement, the rotational motion output by the first driving unit can be effectively converted into the movement of the pulling member.
作为一种可选的实施方式，第一驱动机构还可以包括导向件，导向件可以设置在基座上，导向件上设有导向孔，导向孔沿第二方向延伸，连接件穿设过导向孔，且连接件可以在第二传动件的带动下沿导向孔移动。如此设置，可以保证拉动件沿第二方向移动时的顺畅性和稳定性。As an optional embodiment, the first driving mechanism may also include a guide member. The guide member may be disposed on the base. The guide member is provided with a guide hole. The guide hole extends along the second direction. The connecting member passes through the guide member. hole, and the connecting piece can move along the guide hole driven by the second transmission member. Such an arrangement can ensure the smoothness and stability of the pulling member when moving in the second direction.
作为一种可选的实施方式，第一传动件可以为丝杆，第二传动件可以为丝杆螺母，第一驱动单元可以为电机，丝杆可以沿第二方向延伸，丝杆的第一端与电机的输出轴连接，丝杆的第二端与导向件转动连接，丝杆螺母套设于丝杆上，且在丝杆转动时，丝杆螺母沿丝杆的延伸方向移动，连接件与丝杆螺母连接。如此设置，可以通过丝杆的旋转控制拉动件的移动行程和位置。As an optional implementation, the first transmission member may be a screw rod, the second transmission member may be a screw nut, the first driving unit may be a motor, the screw rod may extend along the second direction, and the first part of the screw rod may be a screw nut. The second end of the screw rod is connected to the output shaft of the motor, the second end of the screw rod is rotationally connected to the guide piece, the screw nut is sleeved on the screw rod, and when the screw rod rotates, the screw nut moves along the extension direction of the screw rod, and the connecting piece Connect with screw nut. With this arrangement, the moving stroke and position of the pulling member can be controlled by the rotation of the screw rod.
作为一种可选的实施方式，连接件可以为两个，而导向孔也可以为两个，两个连接件分别穿过两个导向孔；两个连接件平行设置，且两个连接件对称分布于第一传动件的两侧。如此设置，可以实现第二 传动件带动拉动件移动时受力的平衡性，以保证移动过程的平稳。As an optional implementation, there can be two connecting pieces, and there can also be two guiding holes. The two connecting pieces pass through the two guiding holes respectively; the two connecting pieces are arranged in parallel, and the two connecting pieces are symmetrical. Distributed on both sides of the first transmission part. With this setting, the second The transmission part drives the pulling part to be balanced in force when moving to ensure the smoothness of the moving process.
作为一种可选的实施方式，推拉组件还可以包括第一检测单元和感应件，第一检测单元设置在基座上，感应件与第二传动件连接，第一检测单元用于检测感应件，以检测第二传动件沿第二方向移动时的相对位置。如此设置，可以保证拉动件与插槽的插接动作的准确性。As an optional implementation, the push-pull assembly may also include a first detection unit and a sensing component. The first detection unit is provided on the base, the sensing component is connected to the second transmission component, and the first detection unit is used to detect the sensing component. , to detect the relative position of the second transmission member when it moves in the second direction. Such an arrangement can ensure the accuracy of the insertion action between the pulling piece and the slot.
作为一种可选的实施方式，第一检测单元可以为两个，两个第一检测单元分别位于第二传动件沿第二方向的移动行程的两端。如此设置，可以对拉动件相对于插槽的插接和脱离进行检测，准确控制拉动件的行程。As an optional implementation, there may be two first detection units, and the two first detection units are respectively located at both ends of the movement stroke of the second transmission member along the second direction. With this arrangement, the insertion and disengagement of the pulling member relative to the slot can be detected, and the stroke of the pulling member can be accurately controlled.
作为一种可选的实施方式，推拉组件还可以包括调节板，调节板与基座连接，第一驱动机构与调节板连接；基座上可以设有多个调节孔，多个调节孔可以沿第二方向排布，调节板可与不同的调节孔配合，以调节调节板与基座沿所述第二方向的相对位置。如此设置，可以适应不同规格和尺寸的物料箱的取放需求。As an optional implementation, the push-pull assembly may also include an adjustment plate, the adjustment plate is connected to the base, and the first driving mechanism is connected to the adjustment plate; the base may be provided with multiple adjustment holes, and the multiple adjustment holes may be provided along the Arranged in the second direction, the adjustment plate can cooperate with different adjustment holes to adjust the relative position of the adjustment plate and the base along the second direction. This setting can adapt to the picking and placing needs of material boxes of different specifications and sizes.
作为一种可选的实施方式，伸缩组件还可以包括第二驱动机构，第二驱动机构可以包括第二驱动单元、柔性传动件和传动轮组，传动轮组包括多个平行设置的传动轮，多个传动轮分别位于固定件和伸缩件上，柔性传动件绕设于多个传动轮上。As an optional embodiment, the telescopic assembly may also include a second driving mechanism. The second driving mechanism may include a second driving unit, a flexible transmission member, and a transmission wheel set. The transmission wheel set includes a plurality of transmission wheels arranged in parallel. A plurality of transmission wheels are respectively located on the fixed part and the telescopic part, and the flexible transmission part is wound around the plurality of transmission wheels.
推拉组件与伸缩件移动连接，基座与柔性传动件连接并随柔性传动件而移动，第二驱动单元连接于传动轮，并用于驱动传动轮转动，以使柔性传动件在传动轮驱动下绕多个传动轮传动，并带动伸缩件和推拉组件中的至少一者沿第一方向移动。The push-pull component is movably connected to the telescopic part, the base is connected to the flexible transmission part and moves with the flexible transmission part, and the second driving unit is connected to the transmission wheel and is used to drive the transmission wheel to rotate, so that the flexible transmission part rotates under the drive of the transmission wheel. A plurality of transmission wheels drive and drive at least one of the telescopic component and the push-pull component to move along the first direction.
作为一种可选的实施方式，取放货装置还可以包括锁止联动组件，锁止联动组件设置于伸缩组件上，锁止联动组件的至少部分结构可随伸缩件移动并与固定件卡接或分离，以将伸缩件与固定件之间锁定或解锁。As an optional embodiment, the loading and unloading device may also include a locking linkage component. The locking linkage component is provided on the telescopic component. At least part of the structure of the locking linkage component can move with the telescopic component and snap into place with the fixed component. Or separate to lock or unlock the telescopic part and the fixed part.
其中，伸缩件和固定件之间解锁时，传动轮组可以被构造为在柔性传动件传动时带动伸缩件沿第一方向伸缩；而伸缩件和固定件之间锁定时，传动轮组中的各传动轮的相对位置均不变，此时柔性传动件的传动可以带动推拉组件相对于伸缩件进行移动。Wherein, when the telescopic part and the fixed part are unlocked, the transmission wheel set can be configured to drive the telescopic part to telescope in the first direction when the flexible transmission part is transmitted; and when the telescopic part and the fixed part are locked, the transmission wheel set The relative position of each transmission wheel remains unchanged. At this time, the transmission of the flexible transmission member can drive the push-pull assembly to move relative to the telescopic member.
作为一种可选的实施方式，伸缩件的两端分别设有第一限位部和第二限位部，伸缩件与固定件解锁时，推拉组件与第一限位部或第二限位部抵接，以使伸缩件沿第一方向伸出或者缩回。As an optional embodiment, the two ends of the telescopic member are respectively provided with a first limit part and a second limit part. When the telescopic part and the fixed part are unlocked, the push-pull component and the first limit part or the second limit part are The two parts are in contact with each other, so that the telescopic component extends or retracts along the first direction.
作为一种可选的实施方式，多个传动轮可以包括多个内传动轮和至少一个外传动轮，柔性传动件绕设在多个内传动轮外侧，外传动轮抵接于柔性传动件的外周面，从而保持柔性传动件的张紧状态；外传动轮和部分内传动轮连接于伸缩件，伸缩件和固定件之间解锁且柔性传动件传动时，连接于伸缩件的传动轮相对于连接于固定件的传动轮沿第一方向移动，以带动伸缩件伸缩。As an optional embodiment, the plurality of transmission wheels may include a plurality of inner transmission wheels and at least one outer transmission wheel. The flexible transmission member is wound around the outside of the plurality of inner transmission wheels, and the outer transmission wheel is in contact with the outer peripheral surface of the flexible transmission member. , thereby maintaining the tensioned state of the flexible transmission part; the outer transmission wheel and part of the inner transmission wheel are connected to the telescopic part, and when the telescopic part and the fixed part are unlocked and the flexible transmission part is transmitted, the transmission wheel connected to the telescopic part is relative to the fixed part. The transmission wheel of the component moves along the first direction to drive the telescopic component to expand and contract.
作为一种可选的实施方式，多个内传动轮可以包括由柔性传动件的传动方向依次排布的第一传动轮、第二传动轮和第四传动轮，外传动轮可以包括第三传动轮，第三传动轮可以设置于第二传动轮和第四传动轮之间，第一传动轮和第一驱动单元均设置于固定件的第一端，且第一驱动单元可以驱动第一传动轮转动，第二传动轮设置于固定件的第二端，第三传动轮设置于伸缩件的第一端，第四传动轮设置于伸缩件的第二端；基座与第一传动轮和第四传动轮之间的柔性传动件连接。如此设置，可以保证推拉组件和伸缩臂均可以具有足够的移动行程。As an optional embodiment, the plurality of inner transmission wheels may include a first transmission wheel, a second transmission wheel and a fourth transmission wheel arranged in sequence according to the transmission direction of the flexible transmission member, and the outer transmission wheel may include a third transmission wheel. , the third transmission wheel can be disposed between the second transmission wheel and the fourth transmission wheel, the first transmission wheel and the first driving unit are both disposed at the first end of the fixed member, and the first driving unit can drive the first transmission wheel Rotate, the second transmission wheel is provided at the second end of the fixed member, the third transmission wheel is provided at the first end of the telescopic member, and the fourth transmission wheel is provided at the second end of the telescopic member; the base, the first transmission wheel and the third The flexible transmission parts connect the four transmission wheels. Such an arrangement ensures that both the push-pull component and the telescopic arm have sufficient movement strokes.
作为一种可选的实施方式，伸缩件上可以设置有第一导轨，第一导轨沿第一方向延伸，基座朝向伸缩件的一侧设置有滑块，第一导轨与滑块配合并支撑基座。如此设置，既可以对推拉组件形成支撑，又可以保证推拉组件移动的顺畅性。As an optional implementation, the telescopic member may be provided with a first guide rail extending in the first direction, and a slider is provided on one side of the base toward the telescopic member. The first guide rail cooperates with and supports the slider. pedestal. Such an arrangement can not only form support for the push-pull component, but also ensure smooth movement of the push-pull component.
作为一种可选的实施方式，锁止联动组件可以包括连杆机构和卡接件，连杆机构包括固定杆和多个活动杆，固定杆与多个活动杆依次连接，且固定杆与伸缩件固定连接，活动杆可相对于伸缩件摆动。As an optional embodiment, the locking linkage assembly may include a linkage mechanism and a clamping member. The linkage mechanism includes a fixed rod and a plurality of movable rods. The fixed rod is connected to the plurality of movable rods in sequence, and the fixed rod is connected to the telescopic rod. The parts are fixedly connected, and the movable rod can swing relative to the telescopic part.
其中，卡接件的第一端可以与固定杆转动连接，卡接件的第二端则可以与多个活动杆中的任一者转动连接，且卡接件在活动杆的带动下转动，以使卡接件可以与固定件卡接或分离，进而可以实现伸缩件与固定件之间锁定或解锁。Wherein, the first end of the clamping piece can be rotationally connected with the fixed rod, and the second end of the clamping piece can be rotationally connected with any one of the plurality of movable rods, and the clamping piece rotates driven by the movable rod. Therefore, the clamping part can be connected with or separated from the fixing part, and the telescopic part and the fixing part can be locked or unlocked.
作为一种可选的实施方式，多个活动杆中的至少一者上可以设置有触发件，滑块上设置有推力件，滑块移动至第一导轨延伸方向的不同位置时，推力件可与触发件抵接或分离。如此设置，通过触发件可以实现推拉组件移动至特定位置时，伸缩件与固定件的锁定或解锁。As an optional implementation, at least one of the plurality of movable rods may be provided with a trigger member, and the slide block may be provided with a thrust member. When the slide block moves to different positions in the extension direction of the first guide rail, the thrust member may Comes into contact with or separates from the trigger piece. With this arrangement, when the push-pull component moves to a specific position, the telescopic component and the fixed component can be locked or unlocked through the trigger component.
作为一种可选的实施方式，推力件与触发件抵接时，推力件驱动活动杆摆动，以使卡接件与固定件脱离；锁止联动组件还包括弹性件，弹性件的第一端与固定杆连接，弹性件的第二端与卡接件连接，推力件与触发件分离时，弹性件拉动卡接件转动，以使卡接件与固定件卡接。As an optional embodiment, when the thrust member is in contact with the trigger member, the thrust member drives the movable rod to swing to disengage the clamping member from the fixed member; the locking linkage assembly also includes an elastic member, and the first end of the elastic member It is connected with the fixed rod, and the second end of the elastic member is connected with the clamping piece. When the thrust piece and the triggering piece are separated, the elastic piece pulls the clamping piece to rotate, so that the clamping piece is clamped with the fixed piece.
作为一种可选的实施方式，固定杆可以沿第一方向延伸，固定杆的长度与第一导轨的长度相匹配；多个活动杆可以包括第一活动杆、第二活动杆和第三活动杆，第一活动杆和第二活动杆分别与固定杆的两端转动连接，第三活动杆的两端分别与第一活动杆和第二活动杆转动连接，从而形成四连杆结构，保 证连杆摆动的稳定性。As an optional implementation, the fixed rod can extend along the first direction, and the length of the fixed rod matches the length of the first guide rail; the plurality of movable rods can include a first movable rod, a second movable rod and a third movable rod. rod, the first movable rod and the second movable rod are rotatably connected to both ends of the fixed rod respectively, and the two ends of the third movable rod are rotatably connected to the first movable rod and the second movable rod respectively, thereby forming a four-link structure to ensure that Verify the stability of the connecting rod swing.
其中，卡接件的第二端可以与第三活动杆转动连接，第一活动杆上设置有第一触发件，第二活动杆上设置有第二触发件，以在滑块移动至第一导轨的行程两端时，分别触发第一触发件和第二触发件，从而实现卡接件与固定件的解锁。Wherein, the second end of the clamping member can be rotatably connected with the third movable rod, the first movable rod is provided with a first triggering piece, and the second movable rod is provided with a second triggering piece to prevent the slider from moving to the first position. At both ends of the guide rail's stroke, the first triggering part and the second triggering part are respectively triggered, thereby realizing the unlocking of the clamping part and the fixing part.
作为一种可选的实施方式，第一触发件位于固定杆与第三活动杆之间，第二触发件位于固定杆背离第三活动杆的一侧。As an optional implementation, the first triggering member is located between the fixed rod and the third movable rod, and the second triggering member is located on a side of the fixed rod facing away from the third movable rod.
作为一种可选的实施方式，卡接件的第一端设置有卡接部和拉力部，固定件上设置有沿第一方向排布的卡接槽，卡接件与固定件卡接时，卡接部卡入卡接槽内，保证卡接的可靠性以及结构强度；拉力部与弹性件连接，且拉力部与卡接部分别位于卡接件与固定件连接位置的相对两侧，如此设置，触发件与弹性件对卡接件的带动转动方向相反，从而实现锁定和解锁的功能。As an optional embodiment, the first end of the clamping component is provided with a snapping part and a tensioning part, and the fixing component is provided with snapping grooves arranged along the first direction. When the snapping component is snap-locked with the fixing component , the snap-in part snaps into the snap-in groove to ensure the reliability of the snap-in and the structural strength; the tension part is connected to the elastic part, and the tension part and the snap-in part are located on opposite sides of the connection position between the snap-in part and the fixed part. With this arrangement, the triggering part and the elastic part drive the latch part in opposite directions, thereby realizing the locking and unlocking functions.
作为一种可选的实施方式，传动轮组和柔性传动件均为两个，且传动轮组和柔性传动件成对设置于伸缩组件的两侧；两个传动轮组的第一传动轮通过驱动轴连接，第一驱动单元的输出端与驱动轴连接。如此设置，可以保证伸缩组件整体伸缩结构运行的平衡和稳定性。As an optional embodiment, there are two transmission wheel sets and two flexible transmission parts, and the transmission wheel set and the flexible transmission part are arranged in pairs on both sides of the telescopic assembly; the first transmission wheel of the two transmission wheel sets passes through The driving shaft is connected, and the output end of the first driving unit is connected with the driving shaft. Such an arrangement can ensure the balance and stability of the overall telescopic structure operation of the telescopic component.
作为一种可选的实施方式，伸缩件可以包括托盘和分别设置于托盘两侧的侧板，侧板上设置有至少一个支撑件，托盘与支撑件连接，托盘用于承载物料箱，锁止联动组件位于托盘背离承载物料箱的一侧，固定件的两侧分别设置有第二导轨，侧板分别与第二导轨滑动连接。如此设置，通过设置侧板和托盘既可以为第二驱动机构提供安装空间，用可以保证物料箱可以具有可靠有效的承载。As an optional embodiment, the telescopic member may include a pallet and side plates respectively provided on both sides of the pallet. At least one support member is provided on the side plates. The pallet is connected to the support member. The pallet is used to carry the material box and is locked. The linkage component is located on the side of the pallet away from the material-bearing box. Second guide rails are provided on both sides of the fixing member, and the side plates are slidingly connected to the second guide rails. With this arrangement, the installation space for the second driving mechanism can be provided by arranging the side plate and the tray, which can ensure that the material box can have reliable and effective load-bearing.
作为一种可选的实施方式，锁止联动组件还可以包括第三触发件，第三触发件与固定杆转动连接，托盘上设置有开口，第三触发件至少部分从该开口伸出，并延伸至伸缩件承载物料箱的一侧；第三触发件与卡接件抵接，且在物料箱与第三触发件抵接时，第三触发件带动卡接件转动，以使伸缩件与固定件分离。如此设置，可以在托盘上承载有物料箱时，保持伸缩件与固定件的相对可滑移状态。As an optional implementation, the locking linkage assembly may further include a third triggering member, the third triggering member is rotationally connected to the fixed rod, an opening is provided on the tray, and the third triggering member at least partially extends from the opening, and Extends to the side of the telescopic part carrying the material box; the third triggering part contacts the clamping part, and when the material box contacts the third triggering part, the third triggering part drives the clamping part to rotate, so that the telescopic part and the Fixings separated. With this arrangement, when the material box is loaded on the pallet, the relative sliding state of the telescopic part and the fixed part can be maintained.
作为一种可选的实施方式，取放货装置还可以包括第二检测单元，第二检测单元与固定件连接，且第二检测单元用于检测物料箱的姿态和物料箱的电子标识中的至少一者。如此设置，可以准确判断在取放物料箱时取放货装置的初始位置，以及可以识别物料箱的信息，从而准确执行对应的货物取放运送任务。As an optional implementation, the pick-and-place device may also include a second detection unit. The second detection unit is connected to the fixing member, and the second detection unit is used to detect the attitude of the material box and the electronic identification of the material box. At least one. With such an arrangement, the initial position of the cargo picking and placing device when picking up and placing material boxes can be accurately determined, and the information of the material box can be identified, thereby accurately executing the corresponding cargo picking and placing transport tasks.
作为一种可选的实施方式，取放货装置还可以包括旋转组件，旋转组件可以包括固定支架、第三驱动单元和旋转平台，第三驱动单元用于驱动旋转平台相对于固定支架转动，伸缩组件设置在旋转平台上。如此设置，在应用至搬运机器人上时，可以实现在搬运机器人的不同侧进行取放货操作。As an optional embodiment, the pick-and-place device may also include a rotating assembly. The rotating assembly may include a fixed bracket, a third driving unit and a rotating platform. The third driving unit is used to drive the rotating platform to rotate relative to the fixed bracket, telescopically The components are set on a rotating platform. With this arrangement, when applied to a handling robot, it is possible to carry out loading and unloading operations on different sides of the handling robot.
第二方面，本申请提供一种搬运机器人，包括机器人主体、升降装置和上述技术方案中的取放货装置，升降装置设置于机器人主体上，并可沿机器人主体的高度方向移动，取放货装置设置于升降装置上，从而实现对货架上不同高度库位的取放货操作。In a second aspect, this application provides a handling robot, which includes a robot body, a lifting device and a cargo picking and placing device in the above technical solution. The lifting device is provided on the robot body and can move along the height direction of the robot body to pick up and place cargo. The device is installed on the lifting device to realize the picking and placing operations of goods at different heights on the shelves.
作为一种可选的实施方式，机器人主体可以包括底座和储物架，储物架安装于底座上，升降装置设置于储物架上，且可沿储物架的高度方向移动，储物架上可以设置有多个储物槽，多个储物槽沿储物架的高度方向间隔分布，以保证搬运机器人运送效率。As an optional implementation, the robot body may include a base and a storage rack. The storage rack is installed on the base. The lifting device is provided on the storage rack and can move along the height direction of the storage rack. The storage rack Multiple storage slots can be provided on the rack, and the multiple storage slots are spaced apart along the height direction of the storage rack to ensure the transport efficiency of the handling robot.
除了上面所描述的本申请实施例解决的技术问题、构成技术方案的技术特征以及由这些技术方案的技术特征所带来的有益效果外，本申请提供的取放货装置及搬运机器人所能解决的其他技术问题、技术方案中包含的其他技术特征以及这些技术特征带来的有益效果，将在具体实施方式中作出进一步详细的说明。In addition to the technical problems solved by the embodiments of the present application described above, the technical features constituting the technical solutions, and the beneficial effects brought by the technical features of these technical solutions, the picking and placing device and the handling robot provided by the present application can solve Other technical problems, other technical features included in the technical solution, and the beneficial effects brought by these technical features will be further described in detail in the specific implementation modes.
附图说明Description of the drawings
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to more clearly explain the embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting any creative effort.
图1为本申请实施例提供的取放货装置应用至搬运机器人上的示意图；Figure 1 is a schematic diagram of the pick-and-place device provided by the embodiment of the present application applied to a handling robot;
图2为本申请实施例提供的取放货装置的结构示意图；Figure 2 is a schematic structural diagram of a pick-and-place device provided by an embodiment of the present application;
图3为本申请实施例提供的取放货装置中夹取组件与物料箱配合的示意图；Figure 3 is a schematic diagram of the cooperation between the clamping component and the material box in the pick-and-place device provided by the embodiment of the present application;
图4为本申请实施例提供的取放货装置中夹取组件的第一视角的结构示意图；Figure 4 is a schematic structural diagram of the clamping assembly in the pick-and-place device provided by the embodiment of the present application from a first perspective;
图5为本申请实施例提供的取放货装置中夹取组件的第二视角的结构示意图；Figure 5 is a schematic structural diagram of the clamping assembly in the pick-and-place device provided by the embodiment of the present application from a second perspective;
图6为本申请实施例提供的取放货装置中夹取组件所配合的物料箱的结构示意图；Figure 6 is a schematic structural diagram of the material box matched with the clamping assembly in the pick-and-place device provided by the embodiment of the present application;
图7为本申请实施例提供的取放货装置中基座与伸缩组件连接的示意图；Figure 7 is a schematic diagram of the connection between the base and the telescopic assembly in the pick-and-place device provided by the embodiment of the present application;
图8为本申请实施例提供的取放货装置中伸缩组件驱动结构的示意图； Figure 8 is a schematic diagram of the driving structure of the telescopic component in the pick-and-place device provided by the embodiment of the present application;
图9为本申请实施例提供的取放货装置中传动轮组的布置示意图；Figure 9 is a schematic diagram of the layout of the transmission wheel set in the pick-and-place device provided by the embodiment of the present application;
图10为本申请实施例提供的取放货装置中传动轮组的布置的正视图；Figure 10 is a front view of the arrangement of the transmission wheel set in the pick-and-place device provided by the embodiment of the present application;
图11为本申请实施例提供的取放货装置中锁止联动组件的结构示意图；Figure 11 is a schematic structural diagram of the locking linkage component in the pick-and-place device provided by the embodiment of the present application;
图12为本申请实施例提供的取放货装置中锁止联动组件的局部示意图；Figure 12 is a partial schematic diagram of the locking linkage component in the pick-and-place device provided by the embodiment of the present application;
图13为本申请实施例提供的取放货装置中锁止联动组件另一视角的局部示意图；Figure 13 is a partial schematic diagram of the locking linkage component in the pick-and-place device provided by the embodiment of the present application from another perspective;
图14为本申请实施例提供的取放货装置的另一种结构示意图；Figure 14 is another structural schematic diagram of a pick-and-place device provided by an embodiment of the present application;
图15为本申请实施例提供的取放货装置中旋转组件的结构示意图；Figure 15 is a schematic structural diagram of the rotating assembly in the pick-and-place device provided by the embodiment of the present application;
图16为本申请实施例提供的取放货装置的取货过程第一状态的示意图；Figure 16 is a schematic diagram of the first state of the picking process of the picking and placing device provided by the embodiment of the present application;
图17为本申请实施例提供的取放货装置的取货过程第二状态的示意图；Figure 17 is a schematic diagram of the second state of the picking process of the picking and placing device provided by the embodiment of the present application;
图18为本申请实施例提供的取放货装置的取货过程第三状态的示意图；Figure 18 is a schematic diagram of the third state of the picking process of the picking and placing device provided by the embodiment of the present application;
图19为本申请实施例提供的取放货装置的取货过程第四状态的示意图；Figure 19 is a schematic diagram of the fourth state of the picking process of the picking and placing device provided by the embodiment of the present application;
图20为本申请实施例提供的取放货装置的取货过程第五状态的示意图；Figure 20 is a schematic diagram of the fifth state of the picking process of the picking and placing device provided by the embodiment of the present application;
图21为本申请实施例提供的取放货装置的取货过程第六状态的示意图；Figure 21 is a schematic diagram of the sixth state of the picking process of the picking and placing device provided by the embodiment of the present application;
图22为本申请实施例提供的取放货装置的取货过程第七状态的示意图；Figure 22 is a schematic diagram of the seventh state of the picking process of the picking and placing device provided by the embodiment of the present application;
图23为本申请实施例提供的取放货装置的取货过程第八状态的示意图；Figure 23 is a schematic diagram of the eighth state of the picking process of the picking and placing device provided by the embodiment of the present application;
图24为本申请实施例提供的取放货装置的取货过程第九状态的示意图；Figure 24 is a schematic diagram of the ninth state of the picking process of the picking and placing device provided by the embodiment of the present application;
图25为本申请实施例提供的取放货装置的另一种结构示意图；Figure 25 is another structural schematic diagram of a pick-and-place device provided by an embodiment of the present application;
图26为本申请实施例提供的取放货装置中推拉组件的结构示意图；Figure 26 is a schematic structural diagram of the push-pull assembly in the pick-and-place device provided by the embodiment of the present application;
图27为本申请实施例提供的取放货装置中推拉组件与物料箱配合的示意图；Figure 27 is a schematic diagram of the cooperation between the push-pull component and the material box in the pick-and-place device provided by the embodiment of the present application;
图28为本申请实施例提供的取放货装置中推拉组件与物料箱配合的剖视图；Figure 28 is a cross-sectional view of the push-pull assembly and the material box in the pick-and-place device provided by the embodiment of the present application;
图29为本申请实施例提供的取放货装置中推拉组件的局部视图；Figure 29 is a partial view of the push-pull assembly in the pick-and-place device provided by the embodiment of the present application;
图30为本申请实施例提供的取放货装置中推拉组件的另一视角的结构示意图；Figure 30 is a schematic structural diagram of the push-pull assembly in the pick-and-place device provided by the embodiment of the present application from another perspective;
图31为本申请实施例提供的取放货装置中推拉组件所配合的物料箱的结构示意图。FIG. 31 is a schematic structural diagram of a material box matched with a push-pull component in the pick-and-place device provided by an embodiment of the present application.
附图标记说明：
100-取放货装置；110-伸缩组件；111-固定件；1111-第三导轨；1112-卡接槽；112-伸缩件；1121-
托盘；1122-侧板；1123-开口；1124-第二导轨；1125-支撑件；1126-第一限位部；1127-第二限位部；
120-夹取组件；121-基座；1211-避让槽；1212-第一导轨；1213-第二滑块；1214-推力件；122-第一
驱动机构；1221-第一驱动单元；1222-第一传动件；1223-第二传动件；1224-第一带轮；1225-第二带轮；1226-传动带；123-夹持件；1231-第一滑块；124-安装座；125-连接件；
130-第二驱动机构；131-第二驱动单元；132-柔性传动件；133-传动轮组；1331-第一传动轮；1332-
第二传动轮；1333-第三传动轮；1334-第四传动轮；134-驱动轴；
140-锁止联动组件；141-连杆机构；1411-第一活动杆；1412-第二活动杆；1413-第三活动杆；1414-
固定杆；1414a-避让口；142-卡接件；1421-卡接部；1422-拉力部；1423-第二抵接部；143-第一触发件；144-第二触发件；145-弹性件；146-第三触发件；1461-第一抵接部；
150-第二检测单元；
160-旋转组件；161-固定支架；162-旋转平台；163-第四驱动单元；164-链条；
170-推拉组件；171-基板；1711-调节孔；172-拉动件；173-第三驱动机构；1731-第三驱动单元；1732-
第三传动件；1733-第四传动件；1734-连接杆；1735-导向件；174-第三检测单元；175-感应件；176-调节板；177-推板；
200-机器人主体；210-底座；220-储物架；221-储物槽；300-升降装置；
400-物料箱；410-水平插槽；420-竖直插槽；
500-货架。Explanation of reference symbols:
100-picking and placing device; 110-telescopic component; 111-fixing piece; 1111-third guide rail; 1112-clipping slot; 112-telescopic part; 1121-
Tray; 1122-side plate; 1123-opening; 1124-second guide rail; 1125-support; 1126-first limiting part; 1127-second limiting part;
120-clamping assembly; 121-base; 1211-avoidance groove; 1212-first guide rail; 1213-second slide block; 1214-thrust member; 122-first drive mechanism; 1221-first drive unit; 1222- The first transmission member; 1223-the second transmission member; 1224-the first pulley; 1225-the second pulley; 1226-transmission belt; 123-clamping member; 1231-first slider; 124-mounting seat; 125- connectors;
130-Second drive mechanism; 131-Second drive unit; 132-Flexible transmission member; 133-Transmission wheel set; 1331-First transmission wheel; 1332-
The second transmission wheel; 1333-the third transmission wheel; 1334-the fourth transmission wheel; 134-driving shaft;
140-locking linkage component; 141-linkage mechanism; 1411-first movable lever; 1412-second movable lever; 1413-third movable lever; 1414-
Fixed rod; 1414a-avoidance opening; 142-clip; 1421-clip portion; 1422-tension portion; 1423-second contact portion; 143-first trigger; 144-second trigger; 145-elasticity piece; 146-the third trigger piece; 1461-the first contact portion;
150-Second detection unit;
160-rotating component; 161-fixed bracket; 162-rotating platform; 163-fourth drive unit; 164-chain;
170-push-pull component; 171-base plate; 1711-adjustment hole; 172-pull member; 173-third drive mechanism; 1731-third drive unit; 1732-
The third transmission part; 1733-the fourth transmission part; 1734-connecting rod; 1735-guide part; 174-third detection unit; 175-induction part; 176-adjustment plate; 177-push plate;
200-robot body; 210-base; 220-storage rack; 221-storage tank; 300-lifting device;
400-material box; 410-horizontal slot; 420-vertical slot;
500-shelf.
具体实施方式Detailed ways
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments These are part of the embodiments of this application, but not all of them. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of this application.
首先，本领域技术人员应当理解的是，这些实施方式仅仅用于解释本申请的技术原理，并非旨在限制本申请的保护范围。本领域技术人员可以根据需要对其作出调整，以便适应具体的应用场合。First of all, those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present application and are not intended to limit the protection scope of the present application. Those skilled in the art can make adjustments as needed to adapt to specific application situations.
其次，需要说明的是，在本申请的描述中，术语“上”、“下”、“左”、“右”、“前”、“后”、 “内”、“外”等指示的方向或位置关系的术语是基于附图所示的方向或位置关系，这仅仅是为了便于描述，而不是指示或暗示装置或构件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。Secondly, it should be noted that in the description of this application, the terms "upper", "lower", "left", "right", "front", "back", Terms indicating directions or positional relationships such as "inner" and "outer" are based on the directions or positional relationships shown in the drawings. This is only for convenience of description and does not indicate or imply that the device or component must have a specific orientation. Specific orientation construction and operation, therefore, should not be construed as limitations on this application.
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示意性实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本公开的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。In the description of this specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" or the like is intended to be incorporated into the description of the implementation. An example or example describes a specific feature, structure, material, or characteristic that is included in at least one embodiment or example of the present disclosure. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
各类机器人被广泛应用在工业、生活等各个领域内，而搬运机器人在运输、物流等行业发挥着重要的作用，物流***中，通常以货架来存放货物，搬运机器人通过与货架或输送线对接来取放货物，并对货物进行运送。搬运机器人上通常设置有取放货物的货叉，货叉通常包括可进行多段伸缩的伸缩臂，伸缩臂上设置有托起或夹持物料箱的取货机构，当货叉在货架上进行取放货时，多段伸缩臂需要伸缩进入货架的库位内部，并且伸缩臂的末端或侧方的取货机构需要设置可移动或伸缩的末端关节，用于和物料箱的里侧端面抵接，或者抱持住物料箱的侧壁，从而将物料箱从库位中拖出或夹出。Various types of robots are widely used in various fields such as industry and life, and handling robots play an important role in transportation, logistics and other industries. In logistics systems, shelves are usually used to store goods, and handling robots dock with shelves or conveyor lines. To pick up and place goods and deliver them. The handling robot is usually equipped with a cargo fork for picking up and placing goods. The cargo fork usually includes a telescopic arm that can telescope in multiple sections. The telescopic arm is equipped with a picking mechanism to hold or clamp the material box. When the fork is picked up on the shelf, When placing goods, the multi-section telescopic arm needs to telescope into the interior of the shelf, and the end of the telescopic arm or the pickup mechanism on the side needs to be equipped with a movable or telescopic end joint to contact the inner end of the material box. Or hold the side walls of the material box to drag or clamp it out of the storage location.
然而，伸缩臂从物料箱的侧方抱持或夹持物料箱，需要在物料箱的存放库位的侧方预留操作空间，导致存储时箱间距增大，而如果从物料箱的里侧推拉，伸缩臂除了要占用物料箱侧方空间，还要占用物料箱的库位里侧的空间，导致库位纵深增大，此外，如果采用从物料箱上方伸入伸缩臂对物料箱进行取放操作，又会导致货架存储库位的层间距增大，因此上述方式均会占用库位内的空间，导致物料箱存放时需要预留足够的箱间距、库位纵深或者层高，降低存储的空间利用率。However, the telescopic arm holds or clamps the material box from the side of the material box, which requires an operating space to be reserved on the side of the storage location of the material box, resulting in an increase in the distance between the boxes during storage. Push and pull, the telescopic arm not only occupies the space on the side of the material box, but also takes up the space on the inside of the storage location of the material box, resulting in an increase in the depth of the storage location. In addition, if the telescopic arm is extended from above the material box to retrieve the material box Putting operation will also lead to an increase in the layer spacing of the shelf storage location. Therefore, the above methods will occupy the space in the storage location, resulting in the need to reserve sufficient box spacing, storage location depth or layer height when storing material boxes, reducing storage space utilization.
针对上述问题，本申请实施例提供一种取放货装置及搬运机器人，通过对其取放货的方式进行优化设计，改进了取放货物的结构，在取放货物过程中，取放货装置的各个部件均不需要进入货架的库位内部，从而可以减小或消除物料箱存放时的箱间距以及各个方向的间隙，提高存储时的空间利用率。In response to the above problems, embodiments of the present application provide a cargo picking and placing device and a handling robot. By optimizing the design of the method of picking and placing goods, the structure of picking and placing goods is improved. During the process of picking and placing goods, the picking and placing device Each component does not need to enter the storage space of the shelf, which can reduce or eliminate the box spacing and gaps in all directions when the material boxes are stored, and improve the space utilization during storage.
为了便于理解，首先对本申请实施例的应用场景进行说明。In order to facilitate understanding, the application scenarios of the embodiments of the present application are first described.
本申请实施例提供的取放货装置主要用于对货架上的物料箱进行取放操作，即将物料箱放入货架的库位内存储，或者将货架的库位内的物料箱取出，而取放货装置可以安装应用的设备包括但不限于搬运机器人、物流输送线等可以与货架进行对接的设备，下面以搬运机器人为例进行说明。The pick-and-place device provided by the embodiment of the present application is mainly used to pick and place material boxes on the shelf, that is, put the material box into the storage location of the shelf for storage, or take out the material box from the storage location of the shelf, and take out the material box. The equipment that can be installed and applied by the loading device includes but is not limited to handling robots, logistics conveyor lines and other equipment that can be connected to the shelves. The following is explained using a handling robot as an example.
如图1所示，当本申请实施例提供的取放货装置100应用至搬运机器人上时，搬运机器人可以从货架500的取下物料箱400，并对物料箱400执行运送任务，或者将其他物流工序的物料箱400转运至货架500并放入存储，其中，该搬运机器人可以应用于工业生产线的物流配送、制造业库存产品的出入库、零售业产品的出入库，也可以应用于电商物流的快递出入库等不同领域，且涉及运输的产品或货物可以是工业零部件、电子配件或产品、药物、服装饰品、食品、书籍等，本申请实施例对此不作具体限定，且上述的货物都可以放置在物料箱400中进行转运或者存放，下面将都以“物料箱400”来指代搬运机器人的搬运对象，不再具体举例。As shown in FIG. 1 , when the pick-and-place device 100 provided by the embodiment of the present application is applied to a handling robot, the handling robot can remove the material box 400 from the shelf 500 and perform transportation tasks on the material box 400 , or transfer other materials to the material box 400 . The material boxes 400 in the logistics process are transferred to the shelves 500 and placed in storage. The handling robot can be used in logistics and distribution of industrial production lines, the loading and unloading of manufacturing inventory products, the loading and unloading of retail products, and can also be used in e-commerce. Different fields such as express delivery and warehousing of logistics, and the products or goods involved in transportation can be industrial parts, electronic accessories or products, medicines, clothing accessories, food, books, etc. The embodiments of this application do not specifically limit this, and the above Goods can be placed in the material box 400 for transfer or storage. In the following, the "material box 400" will be used to refer to the transport object of the transport robot, and no specific examples will be given.
请参照图2并结合图1，本实施例提供的取放货装置100包括伸缩组件110和夹取组件120，伸缩组件110包括固定件111和可相对于固定件111沿第一方向伸缩的伸缩件112，夹取组件120设置于伸缩件112上，从而伸缩件112可以带动夹取组件120进行移动，而夹取组件120则可以带动物料箱400进行移动，以实现取放货操作。Please refer to FIG. 2 in conjunction with FIG. 1 . The pick-and-place device 100 provided in this embodiment includes a telescopic component 110 and a clamping component 120 . The telescopic component 110 includes a fixing component 111 and a telescopic component that is telescopic in the first direction relative to the fixing component 111 . 112 , the clamping component 120 is disposed on the telescopic component 112 , so that the telescopic component 112 can drive the clamping component 120 to move, and the clamping component 120 can drive the material box 400 to move, so as to realize the loading and unloading operation.
其中，夹取组件120包括基座121、第一驱动机构122和两个夹持件123，基座121与伸缩件112连接，两个夹持件123滑动设置在基座121上，物料箱400的外壁具有水平插槽410，第一驱动机构122设置于基座121上，且第一驱动机构122用于驱动两个夹持件123沿伸缩组件110的宽度方向开合，以使两个夹持件123均与水平插槽410插接或脱离。Among them, the clamping assembly 120 includes a base 121, a first driving mechanism 122 and two clamping members 123. The base 121 is connected to the telescopic member 112. The two clamping members 123 are slidably disposed on the base 121. The material box 400 The outer wall has a horizontal slot 410. The first driving mechanism 122 is disposed on the base 121, and the first driving mechanism 122 is used to drive the two clamping members 123 to open and close along the width direction of the telescopic assembly 110, so that the two clamps The holding pieces 123 are all inserted into or disengaged from the horizontal slots 410 .
为了便于说明，以固定件111为参照，定义固定件111的长度方向为X方向，即第一方向为X方向，伸缩件112可以沿X方向进行伸缩，定义固定件111的宽度方向为Y方向，即伸缩组件110的宽度方向为Y方向，基座121沿伸缩组件110的宽度方向延伸，两个夹持件123可以沿Y方向进行相向移动或者相互背离。由于伸缩件112与夹持件123都可以进行往复移动，因此X方向的移动包括固定件111长度方向的前后移动，Y方向的移动包括伸缩组件110宽度方向的左右移动。For the convenience of explanation, the fixed member 111 is used as a reference, and the length direction of the fixed member 111 is defined as the X direction, that is, the first direction is the X direction. The telescopic member 112 can expand and contract along the X direction, and the width direction of the fixed member 111 is defined as the Y direction. , that is, the width direction of the telescopic component 110 is the Y direction, the base 121 extends along the width direction of the telescopic component 110, and the two clamping members 123 can move toward or away from each other along the Y direction. Since both the telescopic member 112 and the clamping member 123 can move back and forth, the movement in the X direction includes the forward and backward movement of the fixed member 111 in the length direction, and the movement in the Y direction includes the left and right movement of the telescopic component 110 in the width direction.
请参照图3，当夹取组件120移动至与物料箱400靠近或抵接的位置时，通过两个夹持件123的相向移动可以实现夹持件123与物料箱400的配合，其中，物料箱400的外壁可以设置有水平插槽410，其中，水平插槽410可以为一个，即两个夹持件123分别插接于水平插槽410的相对两侧，水平插槽410也可以为两个，即两个夹持件123分别与两个水平插槽410一一对应完成对接。Please refer to Figure 3. When the clamping assembly 120 moves to a position close to or in contact with the material box 400, the cooperation between the clamping parts 123 and the material box 400 can be achieved by the relative movement of the two clamping parts 123, wherein the material The outer wall of the box 400 may be provided with a horizontal slot 410. There may be one horizontal slot 410, that is, two clamping members 123 are respectively plugged into the opposite sides of the horizontal slot 410. The horizontal slot 410 may also be two. That is, the two clamping members 123 are connected with the two horizontal slots 410 in a one-to-one correspondence.
以两个水平插槽410为例，夹持件123的端部截面尺寸可以等于或小于水平插槽410的槽口尺寸， 当两个夹持件123相互靠近时，两个夹持件123均可以分别***水平插槽410内，当夹持件123相互远离时，两个夹持件123均可以分别从水平插槽410内脱离，而当夹持件123进入水平插槽410内时，随着夹取组件120整体的移动，夹持件123便可以带动物料箱400移动，从而实现物料箱400的取放操作。此外，夹持件123相对于基座121可以弯折设置，且夹持件123末端与基座121的长度方向可以平行设置。Taking two horizontal slots 410 as an example, the end cross-sectional size of the clamping member 123 may be equal to or smaller than the notch size of the horizontal slots 410, When the two clamping parts 123 are close to each other, the two clamping parts 123 can be inserted into the horizontal slots 410 respectively. When the clamping parts 123 are far away from each other, the two clamping parts 123 can be inserted into the horizontal slots 410 respectively. When the clamping member 123 enters the horizontal slot 410, as the entire clamping assembly 120 moves, the clamping member 123 can drive the material box 400 to move, thereby realizing the pick-and-place operation of the material box 400. In addition, the clamping member 123 can be bent relative to the base 121 , and the end of the clamping member 123 can be arranged parallel to the length direction of the base 121 .
需要说明的是，作为被取放的对象，物料箱400的设置有水平插槽410的外壁可以朝向货架500的库位的出入口，本申请实施例提供的取放货装置100对物料箱400在货架500上进行取放时，夹取组件120可以通过夹持件123与物料箱400的外侧壁上凸出设置的水平插槽410进行插接配合，从而在夹取组件120带动物料箱400移动时，夹取组件120和伸缩件112都不需要进入存放物料箱400的库位内部，因此，取放货装置100在取放物料箱400时不会占用库位的内部空间，在货架500的库位存放物料箱400时可以实现小间距或者无间距存放，进而提高了仓储的空间利用率。It should be noted that, as an object to be picked and placed, the outer wall of the material box 400 provided with the horizontal slot 410 can face the entrance and exit of the storage location of the shelf 500. The picking and placing device 100 provided in the embodiment of the present application can place the material box 400 on the When picking and placing on the shelf 500, the clamping component 120 can be plugged and matched with the horizontal slot 410 protrudingly provided on the outer wall of the material box 400 through the clamping member 123, thereby driving the material box 400 to move when the clamping component 120 At this time, neither the clamping assembly 120 nor the telescopic member 112 needs to enter the interior of the storage location where the material box 400 is stored. Therefore, the picking and placing device 100 will not occupy the internal space of the storage location when picking up and placing the material box 400. When 400 material boxes are stored in the warehouse, small spacing or no spacing can be achieved, thereby improving the space utilization rate of storage.
下面对第一驱动机构122对两个夹持件123的驱动方式进行详细说明。The driving method of the first driving mechanism 122 to the two clamping members 123 will be described in detail below.
如图4和图5所示，在一种可能的实现方式中，第一驱动机构122可以包括第一驱动单元1221、第一传动件1222和两个第二传动件1223，第一驱动单元1221设置在基座121上，第一传动件1222可以沿基座121的长度方向延伸，两个第二传动件1223均与第一传动件1222配合，且两个第二传动件1223在第一传动件1222的驱动下沿基座121的长度方向相互靠近或远离，两个夹持件123分别与两个第二传动件1223连接，从而可以通过控制两个夹持件123之间的距离控制夹取组件120与物料箱400的夹持和分离。As shown in FIGS. 4 and 5 , in a possible implementation, the first driving mechanism 122 may include a first driving unit 1221 , a first transmission member 1222 and two second transmission members 1223 . The first driving unit 1221 Disposed on the base 121, the first transmission member 1222 can extend along the length direction of the base 121, the two second transmission members 1223 both cooperate with the first transmission member 1222, and the two second transmission members 1223 are connected to the first transmission member 1222. The two clamping members 123 are respectively connected to the two second transmission members 1223, so that the clamping members can be controlled by controlling the distance between the two clamping members 123. The assembly 120 is clamped and separated from the material box 400 .
可以理解的是，两个第二传动件1223相互靠近对应两个夹持件123相互靠近，而两个传动件相互远离对应两个夹持件123相互远离。第一驱动单元1221可以为电机，电机的输出轴的转动可以传递给第一传动件1222，带动第一传动件1222转动，而第一传动件1222与第二传动件1223之间的配合，可以将第一驱动单元1221输出的旋转运动转换为夹持件123沿Y方向的移动。本领域技术人员可以理解的是，第一传动件1222与第二传动件1223之间的配合可以采用丝杠传动、齿轮齿条传动、连杆传动等不同的方式，下面以丝杠传动为例，进行详细说明。It can be understood that when the two second transmission members 1223 are close to each other, the two clamping members 123 are close to each other, and when the two transmission members are far away from each other, the two clamping members 123 are far away from each other. The first driving unit 1221 can be a motor, and the rotation of the output shaft of the motor can be transmitted to the first transmission member 1222 to drive the first transmission member 1222 to rotate, and the cooperation between the first transmission member 1222 and the second transmission member 1223 can be The rotational motion output by the first driving unit 1221 is converted into the movement of the clamping member 123 in the Y direction. Those skilled in the art can understand that the cooperation between the first transmission member 1222 and the second transmission member 1223 can adopt different methods such as screw transmission, rack and pinion transmission, connecting rod transmission, etc. The following takes screw transmission as an example. , for detailed explanation.
请继续参照图4和图5，在一些实施例中，第一传动件1222可以为丝杆，两个第二传动件1223均可以为丝杆螺母，丝杆可以包括两个同轴连接的螺纹段，且两个螺纹段的螺纹旋向相反，两个丝杆螺母分别套设在两个螺纹段，从而通过丝杆的转动便可以实现两个第二传动件1223具有相反的移动方向。Please continue to refer to Figures 4 and 5. In some embodiments, the first transmission member 1222 may be a screw rod, and the two second transmission members 1223 may both be screw nuts. The screw rod may include two coaxially connected threads. segments, and the thread directions of the two thread segments are opposite, and the two screw nuts are respectively sleeved on the two thread segments, so that the two second transmission members 1223 can move in opposite directions through the rotation of the screw rod.
示例性的，丝杆的两个螺纹段可以为等长和等螺距，且两个螺纹段可以为一体成型，也可以是通过焊接或联轴器的方式进行连接，本申请实施例对此不做具体限定。For example, the two threaded segments of the screw rod may be of equal length and equal pitch, and the two threaded segments may be integrally formed, or may be connected by welding or couplings. This is not the case in the embodiment of the present application. Make specific limitations.
此外，第一驱动机构122还可以包括第一带轮1224、第二带轮1225和传动带1226，第一带轮1224与第一驱动单元1221的输出端连接，第二带轮1225同轴连接于丝杆的端部，传动带1226绕设在第一带轮1224和第二带轮1225上，当第一驱动单元1221的输出端转动时，带动第一带轮1224转动，即第一带轮1224为主动轮，第一带轮1224驱动传动带1226传动，从而带动第二带轮1225转动，即第二带轮1225为从动轮，第二带轮1225与第一传动件1222可以同轴连接，因此可以驱动第一传动件1222转动。In addition, the first driving mechanism 122 may also include a first pulley 1224, a second pulley 1225 and a transmission belt 1226. The first pulley 1224 is connected to the output end of the first driving unit 1221, and the second pulley 1225 is coaxially connected to At the end of the screw rod, the transmission belt 1226 is wound around the first pulley 1224 and the second pulley 1225. When the output end of the first driving unit 1221 rotates, the first pulley 1224 is driven to rotate, that is, the first pulley 1224 As a driving pulley, the first pulley 1224 drives the transmission belt 1226 to drive the second pulley 1225 to rotate, that is, the second pulley 1225 is a driven pulley, and the second pulley 1225 and the first transmission member 1222 can be coaxially connected, so The first transmission member 1222 can be driven to rotate.
可以理解的是，第一驱动单元1221与第一传动件1222可以沿基座121的高度方向上下错位布置，从而充分利用基座121上下的空间，避免第一驱动单元1221与第一传动件1222同轴布置占用基座121长度方向的空间，使得基座121长度方向的尺寸可以尽量与夹持件123的移动行程相匹配，提高空间布局的合理性。It can be understood that the first driving unit 1221 and the first transmission member 1222 can be arranged up and down in a staggered manner along the height direction of the base 121, thereby making full use of the space above and below the base 121 and avoiding the need for the first driving unit 1221 and the first transmission member 1222 to The coaxial arrangement occupies the space in the length direction of the base 121 so that the size in the length direction of the base 121 can match the movement stroke of the clamping member 123 as much as possible, thereby improving the rationality of the spatial layout.
为了给丝杆提供可靠的支撑，保证夹持件123移动过程的稳定性，基座121沿自身长度方向的两端可以分别设置有安装座124，丝杆的两端分别与安装座124转动连接。示例性的，丝杆的两端可以分别通过轴承与安装座124进行配合，即轴承的外圈与安装座124固定配合，轴承内圈则与套设在丝杆的端部。In order to provide reliable support to the screw and ensure the stability of the movement of the clamping member 123, the two ends of the base 121 along its length direction can be respectively provided with mounting seats 124, and the two ends of the screw are rotatably connected to the mounting seats 124. . For example, the two ends of the screw rod can be matched with the mounting seat 124 through bearings, that is, the outer ring of the bearing is fixedly matched with the mounting seat 124, and the inner ring of the bearing is sleeved on the end of the screw rod.
由于所有的夹持件123与第一驱动机构122整体均需要安装在基座121上，因此，为了保证基座121整体尺寸合理，可以将夹持件123与第一驱动机构122设置在基座121的不同侧，其中，夹持件123可以位于基座121朝向取货方向的一侧，而第一驱动机构122可以安装在基座121背离取货方向的一侧。Since all the clamping parts 123 and the first driving mechanism 122 need to be installed on the base 121 as a whole, in order to ensure that the overall size of the base 121 is reasonable, the clamping parts 123 and the first driving mechanism 122 can be arranged on the base. 121 on different sides, wherein the clamping member 123 can be located on the side of the base 121 facing the pickup direction, and the first driving mechanism 122 can be installed on the side of the base 121 facing away from the pickup direction.
请继续参照图4和图5，在一种可能的实现方式中，第一驱动机构122与两个夹持件123可以分别位于基座121的相对两侧，基座121上开设有避让槽1211，避让槽1211沿基座121的长度方向延伸，夹取组件120还可以包括两个连接件125，两个连接件125分别穿过避让槽1211将两个夹持件123与两个第二传动件1223相连接，从而可以充分利用基座121两侧的布局空间，减小第一驱动机构122的占用空间，进而减小夹取组件120的整体尺寸。Please continue to refer to Figures 4 and 5. In one possible implementation, the first driving mechanism 122 and the two clamping members 123 can be located on opposite sides of the base 121, and the base 121 is provided with an escape groove 1211. The escape groove 1211 extends along the length direction of the base 121. The clamping assembly 120 may also include two connectors 125. The two connectors 125 respectively pass through the escape groove 1211 to connect the two clamping members 123 with the two second transmissions. The components 1223 are connected, so that the layout space on both sides of the base 121 can be fully utilized, the occupied space of the first driving mechanism 122 can be reduced, and the overall size of the clamping assembly 120 can be reduced.
可以理解的是，避让槽1211可以呈长条形，且避让槽1211的长度可以与第一传动件1222的长度 相匹配，即避让槽1211的长度可以近似为两个夹取件相向开合移动的行程大小。此外，第一传动件1222与避让槽1211相对设置，两个安装座124可以分别设置在避让槽1211的两端。示例性的，基座121可以为钣金件，避让槽1211可以通过一体成型或者机加工的方式形成，而第一驱动单元1221、安装座124与机座的装配均可以通过紧固件、卡扣或焊接连接等方式实现，本申请实施例对此不做具体限定。It can be understood that the escape groove 1211 can be in a long strip shape, and the length of the escape groove 1211 can be equal to the length of the first transmission member 1222. Matching, that is, the length of the escape groove 1211 can be approximately the stroke size of the two clamping parts moving toward each other. In addition, the first transmission member 1222 is arranged opposite to the escape groove 1211, and the two mounting seats 124 can be respectively disposed at both ends of the escape groove 1211. For example, the base 121 can be a sheet metal part, the relief groove 1211 can be formed by integral molding or machining, and the first driving unit 1221, the mounting base 124 and the machine base can be assembled by fasteners or clips. It can be realized by buckling or welding connection, etc., which is not specifically limited in the embodiments of this application.
在一些实施例中，基座121上可以设置有第一导轨1212，第一导轨1212可以沿基座121的长度方向延伸，两个夹持件123上分别连接有第一滑块1231，两个第一滑块1231均与第一导轨1212滑动连接，从而第一导轨1212可以为两个夹持件123的移动提供导向作用。In some embodiments, the base 121 may be provided with a first guide rail 1212 , which may extend along the length direction of the base 121 , and the two clamping members 123 are respectively connected with first slide blocks 1231 and two The first slide blocks 1231 are all slidingly connected to the first guide rail 1212, so that the first guide rail 1212 can provide a guiding role for the movement of the two clamping parts 123.
示例性的，第一导轨1212可以通过紧固件的方式安装在基座121上，且第一导轨1212可以沿避让槽1211的长度方向的边缘设置，第一导轨1212与第一滑块1231的配合还可以为夹持件123提供支撑作用，避免第一传动件1222收到压力或径向剪切力，保证移动夹取过程的顺畅性。For example, the first guide rail 1212 can be installed on the base 121 by means of fasteners, and the first guide rail 1212 can be provided along the edge of the length direction of the escape groove 1211. The first guide rail 1212 and the first slide block 1231 are Cooperation can also provide support for the clamping member 123, preventing the first transmission member 1222 from receiving pressure or radial shear force, and ensuring the smoothness of the moving and clamping process.
需要说明的是，由于夹持件123沿X方向的移动可以由第一驱动单元1221作为动力源，并且有第一传动件1222与第二传动件1223作为力与运动的传递单元，因此，夹持件123的移动速度和行程一方面取决于第一驱动单元1221的输出转速以及转动的周数，另一方面取决于第一传动件1222和第二传动件1223的参数，例如，采用丝杆和丝杆螺母配合时，取决与丝杆的直径以及螺距。对于选定类型和参数的第一传动件1222和第二传动件1223而言，夹持件123的移动行程和速度可以通过对第一驱动单元1221的输出控制进行调节，而对第一驱动单元1221的控制可以利用外部信号进行参照，下面将对此进行说明。It should be noted that since the movement of the clamping member 123 along the The moving speed and stroke of the holding member 123 depend on the output speed and the number of rotations of the first driving unit 1221 on the one hand, and on the other hand depend on the parameters of the first transmission member 1222 and the second transmission member 1223, for example, using a screw rod. When used with the screw nut, it depends on the diameter and pitch of the screw. For the first transmission member 1222 and the second transmission member 1223 of selected types and parameters, the moving stroke and speed of the clamping member 123 can be adjusted by controlling the output of the first driving unit 1221, and the first driving unit 1221 controls the output of the first driving unit 1221. The control of 1221 can be referenced using external signals, which will be explained below.
在一种可能的实现方式中，夹取组件120还可以包括第一检测单元(未示出)，第一检测单元可以安装在基座121上，且第一检测单元可以与两个夹持件123中的任一者对应设置，以检测夹持件123的夹持状态，从而可以准确判断夹取组件120相对于物料箱400的夹持状态，保证夹取操作的准确性，提高操作效率。In a possible implementation, the clamping assembly 120 may also include a first detection unit (not shown), the first detection unit may be installed on the base 121 , and the first detection unit may be connected to the two clamping members Any one of 123 is set correspondingly to detect the clamping state of the clamping member 123, so that the clamping state of the clamping assembly 120 relative to the material box 400 can be accurately judged, ensuring the accuracy of the clamping operation and improving operating efficiency.
可以理解的是，当夹持件123需要与水平插槽410进行插接配合或者需要脱离时，第一检测单元可以判断出夹持件123的行程位置，从而可以保证夹持件123与水平插槽410的插接动作的准确性，并且由于两个夹持件123的移动过程相对于基座121对称，因此可以检测两个夹持件123中的一者，即可判断出两个夹持件123的夹持状态。It can be understood that when the clamping member 123 needs to be plugged into or disengaged from the horizontal slot 410, the first detection unit can determine the stroke position of the clamping member 123, thereby ensuring that the clamping member 123 is in contact with the horizontal slot 410. The accuracy of the insertion action of the slot 410, and because the movement process of the two clamping parts 123 is symmetrical relative to the base 121, one of the two clamping parts 123 can be detected, and the two clamping parts 123 can be judged. The clamping state of piece 123.
示例性的，第一检测单元可以采用的类型包括但不限于光电传感器、触点开关等，本申请实施例对此不做具体限定。For example, the types that the first detection unit can adopt include but are not limited to photoelectric sensors, contact switches, etc., which are not specifically limited in the embodiments of this application.
需要说明的是，由于夹持件123与物料箱400配合时，两个夹持件123是左右相向移动进行插接配合，物料箱400上的水平插槽410的槽口需要朝向夹持件123。如图6所示，水平插槽410可以位于物料箱400的端部外壁的两侧，且两个水平插槽410可以由两个把手形成。It should be noted that when the clamping member 123 cooperates with the material box 400, the two clamping members 123 move left and right toward each other for plug-in matching, and the notch of the horizontal slot 410 on the material box 400 needs to face the clamping member 123. . As shown in FIG. 6 , the horizontal slots 410 may be located on both sides of the end outer wall of the material box 400 , and the two horizontal slots 410 may be formed by two handles.
夹取组件120沿X方向的移动由伸缩组件110带动来实现，下面对伸缩组件110进行伸缩的方式以及与夹取组件120的配合方式进行详细说明。The movement of the clamping component 120 along the X direction is driven by the telescopic component 110. The following describes the telescopic component 110 in a telescopic manner and the cooperation method with the clamping component 120.
请继续参照图2，在一种可能的实现方式中，伸缩组件110可以包括固定件111、伸缩件112以及第二驱动机构130，第二驱动机构130可以设置在固定件111与伸缩件112之间，第二驱动机构130既可以实现驱动伸缩件112相对于固定件111沿X方向进行伸缩移动，又可以实现夹取组件120相对于伸缩件112的移动。Please continue to refer to Figure 2. In a possible implementation, the telescopic component 110 may include a fixed part 111, a telescopic part 112 and a second driving mechanism 130. The second driving mechanism 130 may be disposed between the fixed part 111 and the telescopic part 112. During this time, the second driving mechanism 130 can not only drive the telescopic component 112 to telescopically move in the X direction relative to the fixed component 111, but also realize the movement of the clamping assembly 120 relative to the telescopic component 112.
其中，第二驱动机构130包括第二驱动单元131、柔性传动件132和传动轮组133，传动轮组133可以包括多个平行设置的传动轮，多个传动轮分别位于固定件111和伸缩件112上，柔性传动件132绕设于多个传动轮上，第二驱动单元131连接于传动轮中的至少一者，并用于驱动该传动轮转动，以使柔性传动件132在传动轮驱动下绕多个传动轮传动。The second driving mechanism 130 includes a second driving unit 131, a flexible transmission member 132 and a transmission wheel set 133. The transmission wheel set 133 may include a plurality of transmission wheels arranged in parallel. The plurality of transmission wheels are respectively located on the fixed part 111 and the telescopic part. 112, the flexible transmission member 132 is wound around a plurality of transmission wheels. The second driving unit 131 is connected to at least one of the transmission wheels and is used to drive the transmission wheel to rotate, so that the flexible transmission member 132 is driven by the transmission wheel. Driven around multiple transmission wheels.
可以理解的是，夹取组件120与伸缩件112移动连接，夹取组件120设置于柔性传动件132上且基座121与柔性传动件132固定连接，即在柔性传动件132传动时，基座121可以随柔性传动件132而移动，在这一过程中，夹取组件120相对于伸缩件112移动，即夹取组件120沿第一方向移动，这一状态下传动轮组133的各个传动轮的相对位置可以保持不变，而在伸缩件112与固定件111进行相对移动时，设置在伸缩件112和固定件111上的传动轮的相对位置会产生变化。It can be understood that the clamping component 120 is movably connected to the telescopic member 112, the clamping component 120 is disposed on the flexible transmission member 132, and the base 121 is fixedly connected to the flexible transmission member 132, that is, when the flexible transmission member 132 transmits, the base 121 can move with the flexible transmission member 132. In this process, the clamping assembly 120 moves relative to the telescopic member 112, that is, the clamping assembly 120 moves along the first direction. In this state, each transmission wheel of the transmission wheel set 133 The relative position of the telescopic member 112 and the fixed member 111 may remain unchanged, but when the telescopic member 112 and the fixed member 111 move relative to each other, the relative positions of the transmission wheels provided on the telescopic member 112 and the fixed member 111 will change.
本申请实施例提供的取放货装置100通过多个传动轮的配合，既可以实现伸缩件112相对于固定件111的移动，也可以实现夹取组件120相对于伸缩臂的移动，简化了取货装置在夹取物料箱400时的多级驱动结构，减少伸缩组件110侧方的空间占用，使得整体结构更加紧凑。The pick-and-place device 100 provided in the embodiment of the present application can realize the movement of the telescopic member 112 relative to the fixed member 111 and the movement of the clamping assembly 120 relative to the telescopic arm through the cooperation of multiple transmission wheels, simplifying the movement of the picking and placing components. The multi-stage drive structure of the cargo device when clamping the material box 400 reduces the space occupied by the side of the telescopic assembly 110, making the overall structure more compact.
需要说明的是，伸缩件112沿X方向的长度可以近似看作为夹取组件120的移动行程，即夹取组件120可以在伸缩件112的两端之间移动，而伸缩件112相对于固定件111的移动，可以看作时伸缩件112与移动件之间沿竖直方向的重叠状态的变化，其中，伸缩件112和固定件111在竖直方向处于重叠状态时，可以看作伸缩件112的收缩状态，而伸缩件112相对于固定件111从其一端伸出时，即部分重 叠时，可以看做伸缩件112的伸出状态，第二驱动单元131在驱动传动轮转动时，可以带动伸缩件112和夹取组件120中的至少一者沿第一方向移动，例如，取放货的部分行程中，只带动夹取组件120移动，或者，在部分行程中，同时带动伸缩件112和夹取组件120移动。It should be noted that the length of the telescopic member 112 along the The movement of 111 can be regarded as a change in the overlap state between the telescopic member 112 and the moving member in the vertical direction. When the telescopic member 112 and the fixed member 111 are in an overlapping state in the vertical direction, they can be regarded as the telescopic member 112 the contracted state, and when the telescopic member 112 extends from one end thereof relative to the fixed member 111, that is, the partial weight When stacked, it can be regarded as the extended state of the telescopic member 112. When the second driving unit 131 drives the transmission wheel to rotate, it can drive at least one of the telescopic member 112 and the clamping assembly 120 to move in the first direction, for example, to take During the partial stroke of releasing goods, only the clamping assembly 120 is driven to move, or, during the partial stroke, the telescopic member 112 and the clamping assembly 120 are driven to move at the same time.
本申请提供的取放货装置100在进行取放货操作时，其首先可以与取放货的目标进行对接，以货架500的库位取货过程为例，先将夹取组件120移动至伸缩件112的前端，再通过伸缩件112的伸缩移动，可以将伸缩件112的端部与库位的库口下沿抵接，从而在取放货装置100与库位之间建立一个供物料箱400移动的通道，其后通过夹取组件120相对于伸缩件112的移动，利用夹取组件120将物料箱400从库位中脱出至伸缩件112上，再将伸缩件112缩回，完成取货。When the pick-and-place device 100 provided by the present application performs a pick-and-place operation, it can first connect with the target of picking and placing goods. Taking the pick-up process of the shelf 500 as an example, the clamping assembly 120 is first moved to the telescopic position. The front end of the telescopic member 112, and then through the telescopic movement of the telescopic member 112, the end of the telescopic member 112 can be brought into contact with the lower edge of the storage location, thereby establishing a material supply box between the pick-and-place device 100 and the storage location. 400 moving channel, and then through the movement of the clamping assembly 120 relative to the telescopic member 112, the material box 400 is taken out of the storage location onto the telescopic member 112 by the clamping assembly 120, and then the telescopic member 112 is retracted to complete the removal. goods.
由此可见，在取放货装置100的取货或者放货的步骤中，伸缩件112相对于固定件111的移动，以及夹取组件120相对于伸缩件112的移动需要进行控制，即第二驱动单元131在驱动传动轮组133转动以及柔性传动件132组传动时，需要在部分情况下保持伸缩件112与固定件111相对于不动，而夹取组件120相对于伸缩件112移动，在另一部分情况下保持夹取组件120与伸缩件112相对不动，而伸缩件112相对于固定件111移动。It can be seen from this that during the step of picking up or placing goods in the picking and placing device 100, the movement of the telescopic component 112 relative to the fixed component 111 and the movement of the clamping assembly 120 relative to the telescopic component 112 need to be controlled, that is, the second When the driving unit 131 drives the transmission wheel set 133 to rotate and the flexible transmission member 132 set to transmit, it needs to keep the telescopic part 112 and the fixed part 111 relatively stationary in some cases, while the clamping component 120 moves relative to the telescopic part 112. In another part of the situation, the clamping component 120 and the telescopic part 112 are kept relatively motionless, while the telescopic part 112 moves relative to the fixed part 111 .
如图7和图8所示，为了实现上述取放货过程中的各关节部件的移动需求，本申请实施例中的取货装置还可以包括锁止联动组件140，锁止联动组件140可以设置在伸缩组件110上，锁止联动组件140的至少部分结构可相对于伸缩件112移动，且不同的移动位置可以使锁止联动组件140的至少部分结构并与固定件111卡接或分离，从而将伸缩件112与固定件111之间锁定或解锁。As shown in Figures 7 and 8, in order to realize the movement requirements of each joint component during the above-mentioned picking and placing process, the picking device in the embodiment of the present application can also include a locking linkage component 140, and the locking linkage component 140 can be configured On the telescopic assembly 110, at least part of the structure of the locking linkage assembly 140 can move relative to the telescopic member 112, and different moving positions can cause at least part of the structure of the locking linkage assembly 140 to engage or separate from the fixing member 111, thereby Lock or unlock the telescopic part 112 and the fixed part 111.
可以理解的是，当伸缩件112和固定件111之间解锁时，传动轮组133可以在柔性传动件132传动时带动伸缩件112沿第一方向伸缩，而传动轮组133的部分传动轮在第一方向上具有可变的相对位置，即固定件111上的传动与伸缩件112上的传动轮的相对位置可以产生变化，相应的部分传动轮之间的柔性传动件132的长度也产生变化。It can be understood that when the telescopic member 112 and the fixed member 111 are unlocked, the transmission wheel set 133 can drive the telescopic member 112 to expand and contract in the first direction when the flexible transmission member 132 transmits, and some of the transmission wheels of the transmission wheel set 133 are in There is a variable relative position in the first direction, that is, the relative position of the transmission wheel on the fixed part 111 and the telescopic part 112 can change, and the length of the flexible transmission part 132 between the corresponding partial transmission wheels can also change. .
当伸缩件112和固定件111之间锁定时，传动轮组133中的各传动轮的相对位置均不变，此时第二驱动单元131驱动传动轮转动，柔性传动件132形成一个形状相对固定的封闭循环，从而在柔性传动件132传动，可以使夹取组件120相对于伸缩件112移动。When the telescopic part 112 and the fixed part 111 are locked, the relative position of each transmission wheel in the transmission wheel set 133 does not change. At this time, the second driving unit 131 drives the transmission wheel to rotate, and the flexible transmission part 132 forms a relatively fixed shape. The closed cycle, whereby the flexible transmission member 132 is driven, can cause the clamping assembly 120 to move relative to the telescopic member 112 .
在一些实施例中，伸缩件112的两端分别设有第一限位部1126和第二限位部1127，锁止联动组件140将伸缩件112与固定件111解锁时，夹取组件120与第一限位部1126或第二限位部1127抵接，从而使伸缩件112沿第一方向伸出或者缩回，且此时传动轮组133的各传动轮的相对位置如前述方案会产生相对变化；而当锁止联动组件140将伸缩件112与固定件111锁定时，夹取组件120在第一限位部1126和第二限位部1127之间移动，且此时传动轮组133的各传动轮的相对位置也保持不变。In some embodiments, first limiting portions 1126 and second limiting portions 1127 are respectively provided at both ends of the telescopic member 112. When the locking linkage assembly 140 unlocks the telescopic member 112 and the fixing member 111, the clamping assembly 120 and The first limiting portion 1126 or the second limiting portion 1127 abuts, thereby causing the telescopic member 112 to extend or retract in the first direction, and at this time, the relative position of each transmission wheel of the transmission wheel set 133 will be as described above. Relative change; when the locking linkage component 140 locks the telescopic component 112 and the fixed component 111, the clamping component 120 moves between the first limiting part 1126 and the second limiting part 1127, and at this time the transmission wheel set 133 The relative position of each transmission wheel also remains unchanged.
下面对传动轮组133的具体结构、设置方式，以及第二驱动机构130实现驱动的具体原理进行详细说明。The specific structure and arrangement of the transmission wheel set 133 and the specific driving principle of the second driving mechanism 130 will be described in detail below.
如图9和图10所示，结合图2和图8，在一种可能实现方式中，多个传动轮可以包括多个内传动轮和至少一个外传动轮，柔性传动件132绕设在多个内传动轮外侧，外传动轮抵接于柔性传动件132的外周面。As shown in Figures 9 and 10, combined with Figures 2 and 8, in one possible implementation, the plurality of transmission wheels may include multiple inner transmission wheels and at least one outer transmission wheel, and the flexible transmission member 132 is wound around multiple Outside the inner transmission wheel, the outer transmission wheel is in contact with the outer peripheral surface of the flexible transmission member 132 .
其中，外传动轮和部分内传动轮连接于伸缩件112，而其余的内传动轮则设置在固定件111上，且柔性传动件132传动时，带动夹取组件120移动，由夹取组件120触发锁止联动组件140解锁，再带动伸缩件112移动，从而带动连接于伸缩件112的传动轮相对于连接于固定件111的传动轮沿第一方向移动。Among them, the outer transmission wheel and part of the inner transmission wheel are connected to the telescopic member 112, while the remaining inner transmission wheels are arranged on the fixed member 111, and when the flexible transmission member 132 is driven, the clamping assembly 120 is driven to move, and the clamping assembly 120 is triggered. The locking linkage component 140 is unlocked and then drives the telescopic member 112 to move, thereby driving the transmission wheel connected to the telescopic member 112 to move in the first direction relative to the transmission wheel connected to the fixed member 111 .
示例性的，柔性传动件132可以为同步带，内传动轮可以为同步轮，且同步轮与同步带的内侧通过同步齿进行啮合，而外传动轮可以是平带轮，其与同步带的外侧抵接，从而作为导向轮起到引导同步带转向的作用。For example, the flexible transmission member 132 can be a synchronous belt, the inner transmission wheel can be a synchronous wheel, and the synchronous wheel meshes with the inside of the synchronous belt through synchronous teeth, and the outer transmission wheel can be a flat pulley, which engages with the outside of the synchronous belt. Contact, thus serving as a guide wheel to guide the steering of the synchronous belt.
在一些实施例中，多个内传动轮可以包括由柔性传动件132的传动方向依次排布的第一传动轮1331、第二传动轮1332和第四传动轮1334，外传动轮可以包括第三传动轮1333，第三传动轮1333设置于第二传动轮1332和第四传动轮1334之间，即柔性传动件132依次绕过第一传动轮1331、第二传动轮1332、第三传动轮1333和第四传动轮1334，并且形成封闭的传动循环。In some embodiments, the plurality of inner transmission wheels may include a first transmission wheel 1331 , a second transmission wheel 1332 and a fourth transmission wheel 1334 arranged in sequence according to the transmission direction of the flexible transmission member 132 , and the outer transmission wheel may include a third transmission wheel. wheel 1333, and the third transmission wheel 1333 is disposed between the second transmission wheel 1332 and the fourth transmission wheel 1334, that is, the flexible transmission member 132 sequentially bypasses the first transmission wheel 1331, the second transmission wheel 1332, the third transmission wheel 1333 and The fourth transmission wheel 1334 forms a closed transmission cycle.
为了充分利用固定件111和伸缩件112的长度，保证夹取组件120具有足够的取放货行程，第一传动轮1331和第二驱动单元131可以均设置在固定件111的第一端，第二传动轮1332可以设置在固定件111的第二端，而第三传动轮1333则可以设置在伸缩件112的第一端，第四传动轮1334可以设置在伸缩件112的第二端，形成的闭环的传动结构中，柔性传动件132先从固定件111的第一端延伸至固定件111的第二端，再从固定件111件的第二端延伸至伸缩件112的第一端，其后由伸缩件112的第一端延伸至伸缩件112的第二端，最后再从伸缩件112的第二端回到固定件111的第一端，从而通过柔性传动件132的传动既可以实现夹取组件120的移动，也可以实现伸缩件112的移动。 In order to make full use of the lengths of the fixing member 111 and the telescopic member 112 and ensure that the clamping assembly 120 has sufficient picking and placing strokes, the first transmission wheel 1331 and the second driving unit 131 can both be disposed at the first end of the fixing member 111. The second transmission wheel 1332 can be provided at the second end of the fixed member 111, the third transmission wheel 1333 can be provided at the first end of the telescopic member 112, and the fourth transmission wheel 1334 can be provided at the second end of the telescopic member 112, forming In the closed-loop transmission structure, the flexible transmission member 132 first extends from the first end of the fixed member 111 to the second end of the fixed member 111, and then extends from the second end of the fixed member 111 to the first end of the telescopic member 112, Then it extends from the first end of the telescopic member 112 to the second end of the telescopic member 112, and finally returns from the second end of the telescopic member 112 to the first end of the fixed member 111, so that the transmission through the flexible transmission member 132 can To realize the movement of the clamping assembly 120, the movement of the telescopic member 112 can also be realized.
可以理解的是，为了保证空间布局的合理性，第二驱动单元131可以设置在固定件111上，并用于驱动第一传动轮1331转动，即第一传动轮1331可以为主动轮，第二传动轮1332和第四传动轮1334为从动轮，第三传动轮1333为导向轮。为了保证沿竖直方向空间布局的合理性，第一传动轮1331的直径可以大于其他传动轮的直径，且本申请实施例对所有传动轮的具体尺寸数值不做限定。It can be understood that, in order to ensure the rationality of the spatial layout, the second driving unit 131 can be disposed on the fixing member 111 and used to drive the first transmission wheel 1331 to rotate. That is, the first transmission wheel 1331 can be a driving wheel, and the second transmission wheel 1331 can be a driving wheel. The wheel 1332 and the fourth transmission wheel 1334 are driven wheels, and the third transmission wheel 1333 is a guide wheel. In order to ensure the rationality of the spatial layout in the vertical direction, the diameter of the first transmission wheel 1331 may be larger than the diameters of other transmission wheels, and the embodiments of this application do not limit the specific size values of all transmission wheels.
在一些实施例中，基座121可以与第一传动轮1331和第四传动轮1334之间的柔性传动件132相对固定连接，当伸缩件112与固定件111保持相对不动，而柔性传动件132传动时，夹取组件120可以在第一传动轮1331和第四传动轮1334之间移动。此时，如果夹取组件120抵接在伸缩件112的第一端或者伸缩件112的第二端，则夹取组件120可以在柔性传动件132的传动作用下，推动伸缩件112相对于固定件111移动。In some embodiments, the base 121 can be relatively fixedly connected to the flexible transmission member 132 between the first transmission wheel 1331 and the fourth transmission wheel 1334. When the telescopic member 112 and the fixed member 111 remain relatively stationary, the flexible transmission member 132, the clamping assembly 120 can move between the first transmission wheel 1331 and the fourth transmission wheel 1334. At this time, if the clamping assembly 120 is in contact with the first end of the telescopic member 112 or the second end of the telescopic member 112, the clamping assembly 120 can push the telescopic member 112 relative to the fixed position under the driving action of the flexible transmission member 132. Piece 111 moves.
其中，当伸缩件112相对于固定件111伸出时，第一传动轮1331和第四传动轮1334之间的间距增加，第二传动轮1332和第三传动轮1333之间的间距减小，即可以理解为第二传动轮1332和第三传动相互靠近，而第一传动轮1331和第四传动轮1334相互远离，第二传动轮1332和第三传动轮1333之间的柔性传动件132的长度可以补偿第一传动轮1331和第四传动轮1334之间的柔性传动件132的长度。When the telescopic member 112 extends relative to the fixed member 111, the distance between the first transmission wheel 1331 and the fourth transmission wheel 1334 increases, and the distance between the second transmission wheel 1332 and the third transmission wheel 1333 decreases. That is, it can be understood that the second transmission wheel 1332 and the third transmission wheel are close to each other, while the first transmission wheel 1331 and the fourth transmission wheel 1334 are far away from each other. The flexible transmission member 132 between the second transmission wheel 1332 and the third transmission wheel 1333 is The length can compensate for the length of the flexible transmission member 132 between the first transmission wheel 1331 and the fourth transmission wheel 1334 .
当伸缩件112相对于固定件111缩回时，第一传动轮1331和第四传动轮1334之间的间距减小，第二传动轮1332和第三传动轮1333之间的间距增加，即可以理解为第二传动轮1332和第三传动相互远离，而第一传动轮1331和第四传动轮1334相互靠近，第一传动轮1331和第四传动轮1334之间的柔性传动件132的长度可以补偿第二传动轮1332和第三传动轮1333之间的柔性传动件132的长度。When the telescopic member 112 retracts relative to the fixed member 111, the distance between the first transmission wheel 1331 and the fourth transmission wheel 1334 decreases, and the distance between the second transmission wheel 1332 and the third transmission wheel 1333 increases, that is, It is understood that the second transmission wheel 1332 and the third transmission wheel are far away from each other, and the first transmission wheel 1331 and the fourth transmission wheel 1334 are close to each other. The length of the flexible transmission member 132 between the first transmission wheel 1331 and the fourth transmission wheel 1334 can be The length of the flexible transmission member 132 between the second transmission wheel 1332 and the third transmission wheel 1333 is compensated.
需要说明的是，第一传动轮1331和第四传动轮1334之间的间距与第二传动轮1332和第三传动轮1333之间的间距之和保持不变，从而可以保证伸缩件112和夹取组件120的移动精度，避免柔性传动的传动出现张力过大导致的卡死或者张力不足出现松弛等现象。It should be noted that the distance between the first transmission wheel 1331 and the fourth transmission wheel 1334 and the sum of the distance between the second transmission wheel 1332 and the third transmission wheel 1333 remain unchanged, thereby ensuring that the telescopic member 112 and the clamp The movement accuracy of the component 120 is determined to avoid the flexible transmission from getting stuck due to excessive tension or slack due to insufficient tension.
此外，为了保持柔性传动件132的张紧状态，在多个传动轮的其中一者上可以设置张紧机构(未示出)，张紧机构可以调整其对应位置的传动轮的位置，从而保持柔性传动件132具有较为合适的张紧状态，避免过紧导致传动困难或者过松导致传动失效。In addition, in order to maintain the tensioned state of the flexible transmission member 132, a tensioning mechanism (not shown) can be provided on one of the plurality of transmission wheels. The tensioning mechanism can adjust the position of the transmission wheel at its corresponding position, thereby maintaining The flexible transmission member 132 has a relatively appropriate tension state to avoid transmission difficulties caused by being too tight or transmission failure caused by being too loose.
本领域技术人员可以理解的是，伸缩件112上可以设置有第二导轨1124，第二导轨1124沿第一方向延伸，基座121朝向伸缩件112的一侧设置有第二滑块1213，第二导轨1124与第二滑块1213配合并支撑基座121，从而既可以对夹取组件120形成支撑，又可以保证夹取组件120移动的顺畅性。Those skilled in the art can understand that the telescopic member 112 may be provided with a second guide rail 1124 extending along the first direction, and the base 121 is provided with a second slider 1213 on one side facing the telescopic member 112. The two guide rails 1124 cooperate with the second slide block 1213 and support the base 121, thereby not only supporting the clamping assembly 120, but also ensuring the smooth movement of the clamping assembly 120.
基座121与第二滑块1213沿第二导轨1124的移动可以通过柔性传动件132的传动实现，在基座121与柔性传动件132连接时，基座121下方可以设置有两个相互盖合且分别位于柔性传动件132两侧的盖板(未示出)，两个盖板共同夹紧柔性传动件132，从而保证柔性传动件132传动时，夹取组件120与第一传动轮1331和第四传动轮1334之间的柔性传动件132保持固定的相对位置。此外，两个盖板可以通过螺纹紧固件或者卡扣等方式进行连接，本申请实施例对此不做具体限定。The movement of the base 121 and the second slider 1213 along the second guide rail 1124 can be realized through the transmission of the flexible transmission member 132. When the base 121 is connected to the flexible transmission member 132, two mutually covering members can be provided below the base 121. And there are cover plates (not shown) respectively located on both sides of the flexible transmission member 132. The two cover plates jointly clamp the flexible transmission member 132, thereby ensuring that when the flexible transmission member 132 is transmitting, the clamping assembly 120 and the first transmission wheel 1331 and The flexible transmission members 132 between the fourth transmission wheels 1334 maintain a fixed relative position. In addition, the two cover plates can be connected through threaded fasteners or buckles, which are not specifically limited in the embodiments of the present application.
在一些实施例中，传动轮组133和柔性传动件132均可以为两个，且两者可以成对设置，且两对传动轮组133和柔性传动件132可以分别设置在伸缩组件110的两侧，即在伸缩件112和固定件111的两侧形成镜像对称的传动结构，以提高驱动机构的稳定性。In some embodiments, there may be two transmission wheel sets 133 and flexible transmission members 132 , and they may be provided in pairs, and the two pairs of transmission wheel sets 133 and flexible transmission members 132 may be respectively provided on both sides of the telescopic assembly 110 . That is, a mirror-symmetric transmission structure is formed on both sides of the telescopic member 112 and the fixed member 111 to improve the stability of the driving mechanism.
可以理解的是，两个传动轮组133的第一传动轮1331通过驱动轴134连接，第二驱动单元131的输出端与驱动轴134连接，从而实现两侧传动轮组133的同步传动，并且保证伸缩件112和夹取组件120移动过程的稳定性。It can be understood that the first transmission wheel 1331 of the two transmission wheel sets 133 is connected through the drive shaft 134, and the output end of the second drive unit 131 is connected to the drive shaft 134, thereby achieving synchronous transmission of the transmission wheel sets 133 on both sides, and The stability of the movement process of the telescopic member 112 and the clamping assembly 120 is ensured.
示例性的，驱动轴134的两端可以通过轴承座和轴承支撑安装在固定件111的第一端，而第二驱动单元131可以为电机，且该电机的输出轴可以通过齿轮啮合的方式与驱动轴134进行配合，或者在电机输出轴与驱动轴134之间可以设置有减速器，本申请实施例对第二驱动单元131与驱动轴134的具体配合方式不做具体限定。For example, both ends of the drive shaft 134 can be installed on the first end of the fixed member 111 through bearing seats and bearing supports, and the second drive unit 131 can be a motor, and the output shaft of the motor can be meshed with the motor through gears. The drive shaft 134 cooperates, or a reducer may be provided between the motor output shaft and the drive shaft 134. The embodiment of the present application does not specifically limit the specific cooperation method between the second drive unit 131 and the drive shaft 134.
需要说明的是，驱动组件中的柔性传动件132除了可以采用同步带之外，还可以采用的结构类型包括但不限于链条164等其他形式，相应的传动轮可以是链轮等与之相匹配的结构，本申请实施例对此不做具体限定，也不再赘述。It should be noted that in addition to the synchronous belt, the flexible transmission member 132 in the driving assembly can also adopt other structural types including but not limited to chains 164 and other forms, and the corresponding transmission wheel can be a sprocket etc. to match it. The structure of this application is not specifically limited in the embodiments of this application and will not be described again.
由于第二驱动机构130在驱动伸缩件112以及夹取组件120移动的取放货步骤中，需要依靠锁止联动组件140在特定的位置将伸缩件112与固定件111锁定，下面对锁止联动组件140的具体结构以及原理进行详细说明。Since the second driving mechanism 130 drives the telescopic member 112 and the clamping assembly 120 to move during the loading and unloading steps, it needs to rely on the locking linkage assembly 140 to lock the telescopic member 112 and the fixed member 111 at a specific position. The specific structure and principle of the linkage component 140 will be described in detail.
如图11至图13所示，结合图8，在一种可能的实现方式中，锁止联动组件140可以包括连杆机构141和卡接件142，连杆机构141包括固定杆1414和多个活动杆，固定杆1414与多个活动杆依次连接，且固定杆1414与伸缩件112连接，活动杆可相对于伸缩件112摆动，卡接件142可以连接在固定杆1414与活动杆之间，在活动杆摆动时，可以实现卡接件142与固定件111的卡接与分离。As shown in FIGS. 11 to 13 , combined with FIG. 8 , in one possible implementation, the locking linkage assembly 140 may include a linkage mechanism 141 and a clamping member 142 . The linkage mechanism 141 includes a fixed rod 1414 and a plurality of The movable rod, the fixed rod 1414 is connected to a plurality of movable rods in sequence, and the fixed rod 1414 is connected to the telescopic part 112. The movable rod can swing relative to the telescopic part 112, and the clamping part 142 can be connected between the fixed rod 1414 and the movable rod. When the movable rod swings, the clamping member 142 and the fixing member 111 can be connected and separated.
其中，卡接件142的第一端可以与固定杆1414转动连接，卡接件142的第二端则可以与多个活动 杆中的任一者转动连接，且卡接件142可以在活动杆的带动下转动，当卡接件142与固定件111卡接时，卡接件142与固定件111卡接，从而伸缩件112与固定件111处于锁定状态，而当卡接件142与固定杆1414件分离时，伸缩件112与固定件111之间解锁。Among them, the first end of the clamping member 142 can be rotationally connected with the fixed rod 1414, and the second end of the clamping member 142 can be connected with a plurality of movable Any one of the rods is rotationally connected, and the clamping member 142 can rotate driven by the movable rod. When the clamping member 142 is clamped with the fixed member 111, the clamping member 142 is clamped with the fixed member 111, so that the telescopic member 112 and the fixing member 111 are in a locked state, and when the clamping member 142 is separated from the fixing rod 1414, the telescopic member 112 and the fixing member 111 are unlocked.
可以理解的是，根据取放货装置100的取放货流程步骤，在夹取组件120移动至X方向的不同位置时，需要实现伸缩件112与固定件111之间锁定状态和解锁状态的转换。It can be understood that according to the steps of the picking and placing process of the picking and placing device 100, when the clamping assembly 120 moves to different positions in the .
在一些实施例中，多个活动杆中的至少一者上可以设置有触发件，第二滑块1213上可以设置有推力件1214，第二滑块1213移动至第二导轨1124延伸方向的不同位置时，推力件1214可与触发件抵接或分离，即夹取组件120沿X方向移动至不同位置时可以触发推力件1214与触发件之间配合状态的变化，从而实现伸缩件112与固定件111的锁定或解锁。In some embodiments, at least one of the plurality of movable rods may be provided with a trigger member, and the second slide block 1213 may be provided with a thrust member 1214. The second slide block 1213 moves to different extension directions of the second guide rail 1124. position, the thrust member 1214 can abut or separate from the trigger member. That is, when the clamping component 120 moves to different positions along the Locking or unlocking of piece 111.
当推力件1214与触发件抵接时，推力件1214驱动活动杆摆动，以使卡接件142与固定件111脱离，此时伸缩件112在推动下可以相对于固定件111移动，并且夹取组件120整体相对于伸缩件112的位置不变。When the thrust member 1214 is in contact with the trigger member, the thrust member 1214 drives the movable rod to swing to disengage the clamping member 142 from the fixed member 111. At this time, the telescopic member 112 can move relative to the fixed member 111 under the push and clamp The position of the entire assembly 120 relative to the telescopic member 112 remains unchanged.
此外，锁止联动组件140还可以包括弹性件145，弹性件145可以为卡接件142与固定件111的卡接提供复位功能，其中，弹性件145的第一端可以与固定杆1414连接，弹性件145的第二端可以与卡接件142连接，推力件1214与触发件分离时，弹性件145拉动卡接件142转动，以使卡接件142与固定件111卡接，此时伸缩件112与固定件111保持相对静止，在柔性传动件132的传动下，夹取组件120相对于伸缩件112移动。In addition, the locking linkage assembly 140 may also include an elastic member 145. The elastic member 145 may provide a reset function for the clamping member 142 and the fixing member 111. The first end of the elastic member 145 may be connected to the fixing rod 1414. The second end of the elastic member 145 can be connected to the clamping member 142. When the thrust member 1214 is separated from the trigger member, the elastic member 145 pulls the clamping member 142 to rotate so that the clamping member 142 is clamped with the fixing member 111. At this time, it expands and contracts. The member 112 and the fixed member 111 remain relatively stationary. Driven by the flexible transmission member 132, the clamping assembly 120 moves relative to the telescopic member 112.
示例性的，弹性件145可以为拉力弹簧，或者可以是弹力绳、弹力橡胶等其他可以提供拉力的部件，弹性件145的型号、类型以及弹性阻尼系数可以根据安装空间以及伸缩件112与固定件111的卡接力的大小需求进行设计，本申请实施例对此不做具体限定。For example, the elastic member 145 may be a tension spring, or may be an elastic cord, elastic rubber, or other components that can provide tension. The model, type, and elastic damping coefficient of the elastic member 145 may be determined according to the installation space and the telescopic member 112 and the fixing member. The card relay size of 111 is designed according to the size requirements, and the embodiments of this application do not specifically limit this.
本领域技术人员可以理解的是，为了保证连杆机构141摆动的稳定性，连杆机构141可以为四连杆结构，下面对此进行示例说明。Those skilled in the art can understand that, in order to ensure the stability of the swing of the link mechanism 141, the link mechanism 141 may have a four-link structure, and an example will be described below.
请继续参照图8、图11、图12和图13，固定杆1414可以沿第一方向延伸，固定杆1414的长度与第二导轨1124的长度相匹配，多个活动杆可以包括第一活动杆1411、第二活动杆1412和第三活动杆1413，第一活动杆1411和第二活动杆1412分别与固定杆1414的两端转动连接，第三活动杆1413的两端分别与第一活动杆1411和第二活动杆1412转动连接，从而形成四连杆结构。Please continue to refer to Figures 8, 11, 12 and 13. The fixed rod 1414 can extend along the first direction. The length of the fixed rod 1414 matches the length of the second guide rail 1124. The plurality of movable rods can include the first movable rod. 1411. The second movable rod 1412 and the third movable rod 1413. The first movable rod 1411 and the second movable rod 1412 are respectively connected with the two ends of the fixed rod 1414. The two ends of the third movable rod 1413 are respectively connected with the first movable rod. 1411 and the second movable rod 1412 are rotationally connected to form a four-link structure.
其中，固定杆1414与第三活动杆1413的长度可以较长，第一活动杆1411和第二活动杆1412的长度可以较短，以减小连杆机构141摆动时的活动范围，避免产生干涉。卡接件142的第二端可以与第三活动杆1413转动连接，第一活动杆1411上可以设置有第一触发件143，第二活动杆1412上可以设置有第二触发件144，在第二滑块1213移动至第二导轨1124的行程两端时，推力件1214可以分别触发第一触发件143和第二触发件144，即分别通过与第一触发件143或第二触发件144抵接来带动第一活动杆1411或第二活动杆1412摆动，以实现连杆机构141的运动，从而实现卡接件142与固定件111的解锁。Among them, the length of the fixed rod 1414 and the third movable rod 1413 can be longer, and the length of the first movable rod 1411 and the second movable rod 1412 can be shorter to reduce the range of movement of the linkage mechanism 141 when swinging and avoid interference. . The second end of the clamping member 142 can be rotationally connected with the third movable rod 1413. The first movable rod 1411 can be provided with a first triggering member 143, and the second movable rod 1412 can be provided with a second triggering member 144. When the two slide blocks 1213 move to both ends of the stroke of the second guide rail 1124, the thrust member 1214 can trigger the first trigger member 143 and the second trigger member 144 respectively, that is, by abutting against the first trigger member 143 or the second trigger member 144 respectively. Then, the first movable rod 1411 or the second movable rod 1412 is driven to swing to realize the movement of the link mechanism 141, thereby realizing the unlocking of the clamping member 142 and the fixing member 111.
需要说明的是，夹取组件120相对于伸缩件112两端的往复移动，对应推力件1214在第一触发件143和第二触发件144之间往复移动，而推力件1214对第一触发件143和第二触发件144的抵接力的方向相反，因此，为了保证在推力件1214与第一触发件143和第二触发件144抵接时，第三活动杆1413都可以向同一个方向摆动，以使卡接件142与固定件111分离解锁，对第一触发件143和第二触发件144的设置位置可以进行区别设计，其中，在第一活动杆1411的一侧，第一触发件143可以位于第一活动杆1411的两个转轴之间，而在第二活动杆1412的一侧，第二触发件144可以位于第二活动杆1412的两个转轴外端，从而在第一触发件143和第二触发件144受到的抵接力的方向相反，但可以使得连杆机构141具有相同的摆动状态。It should be noted that the reciprocating movement of the clamping assembly 120 relative to both ends of the telescopic member 112 corresponds to the reciprocating movement of the thrust member 1214 between the first triggering member 143 and the second triggering member 144 , and the thrust member 1214 moves against the first triggering member 143 The direction of the contact force is opposite to that of the second trigger member 144. Therefore, in order to ensure that when the thrust member 1214 contacts the first trigger member 143 and the second trigger member 144, the third movable rod 1413 can swing in the same direction, In order to separate and unlock the latching member 142 from the fixing member 111, the setting positions of the first triggering member 143 and the second triggering member 144 can be designed differently, wherein, on one side of the first movable rod 1411, the first triggering member 143 It can be located between the two rotating axes of the first movable lever 1411, and on one side of the second movable lever 1412, the second triggering member 144 can be located at the outer ends of the two rotating axes of the second movable lever 1412, so that the first triggering member 144 143 and the second trigger member 144 receive contact forces in opposite directions, but the link mechanism 141 can have the same swing state.
在一些实施例中，卡接件142的第一端可以设置有卡接部1421和拉力部1422，固定件111上设置有沿第一方向排布的卡接槽1112，卡接件142与固定件111卡接时，卡接部1421卡入卡接槽1112内，保证卡接的可靠性以及结构强度，拉力部1422可以与弹性件145连接，且拉力部1422与卡接部1421分别位于卡接件142与固定件111连接位置的相对两侧，从而触发件与弹性件145对卡接件142的带动转动方向相反，从而实现锁定和解锁的功能。In some embodiments, the first end of the clamping member 142 may be provided with a clamping part 1421 and a tensioning part 1422. The fixing member 111 is provided with clamping grooves 1112 arranged along the first direction. The clamping member 142 is connected with the fixing part 142. When the component 111 is clamped, the clamping part 1421 snaps into the clamping groove 1112 to ensure the reliability and structural strength of the clamping. The tensile part 1422 can be connected with the elastic member 145, and the tensile part 1422 and the clamping part 1421 are respectively located in the clamping part. The connecting member 142 is connected to the fixing member 111 on opposite sides of the position, so that the triggering member and the elastic member 145 drive the clamping member 142 in opposite directions, thereby realizing the locking and unlocking functions.
请继续参照图12，卡接槽1112可以由固定件111上安装的齿板形成，多个卡接槽1112可以沿X方向依次连续排布，当第二触发件144被撞击和抵接时，第二活动杆1412顺时针摆动，并带动第三活动杆1413向左移动，此时，由于固定杆1414的位置不变，卡接件142与固定杆1414连接点的位置也不变，第三活动杆1413则可以带动卡接件142的另一端向左移动，从而使得连接件125产生逆时针的转动，进而卡接部1421可以从卡接槽1112中脱离；而当第二触发件144摆脱抵接后，在弹性件145的拉力作用下，弹性件145拉动拉力部1422，使得卡接件142可以产生顺时针转动，进而卡接部1421 可以与卡接槽1112进行卡接，同时第三活动杆1413也可以向右摆动至原状态。Please continue to refer to Figure 12. The snap-in groove 1112 can be formed by a toothed plate installed on the fixing member 111. The plurality of snap-in slots 1112 can be continuously arranged in the X direction. When the second trigger 144 is struck and abutted, The second movable rod 1412 swings clockwise and drives the third movable rod 1413 to move to the left. At this time, since the position of the fixed rod 1414 does not change, the position of the connection point between the clamping member 142 and the fixed rod 1414 also does not change. The movable rod 1413 can drive the other end of the clamping member 142 to move to the left, thereby causing the connecting member 125 to rotate counterclockwise, and the clamping portion 1421 can be detached from the clamping groove 1112; when the second triggering member 144 is detached After contact, under the action of the tensile force of the elastic member 145, the elastic member 145 pulls the tensile part 1422, so that the latch part 142 can rotate clockwise, and then the latch part 1421 It can be engaged with the engaging groove 1112, and at the same time, the third movable lever 1413 can also swing to the right to its original state.
请继续参照图2和图9，在一种可能的实现方式中，伸缩件112可以包括托盘1121和分别设置于托盘1121两侧的侧板1122，侧板1122上设置有至少一个支撑件1125，托盘1121与支撑件1125连接，托盘1121用于承载物料箱400，锁止联动组件140位于托盘1121背离承载物料箱400的一侧，固定件111的两侧分别设置有第三导轨1111，侧板1122分别与第三导轨1111滑动连接，从而既可以为第二驱动机构130提供安装空间，用可以保证物料箱400可以具有可靠有效的承载。Please continue to refer to Figures 2 and 9. In one possible implementation, the telescopic member 112 may include a tray 1121 and side plates 1122 respectively provided on both sides of the tray 1121. At least one support member 1125 is provided on the side plates 1122. The pallet 1121 is connected to the support member 1125. The pallet 1121 is used to carry the material box 400. The locking linkage component 140 is located on the side of the pallet 1121 away from the material box 400. Third guide rails 1111 are provided on both sides of the fixing member 111. Side plates 1122 are respectively slidably connected to the third guide rails 1111, thereby providing an installation space for the second driving mechanism 130 and ensuring that the material box 400 can have reliable and effective bearing capacity.
需要说明的是，当托盘1121上未承载有物料箱400时，可以通过夹取组件120对第一触发件143或第二触发件144的触发使得伸缩件112与固定件111解锁，伸缩件112的移动由夹取组件120直接推动，而在托盘1121上承载有物料箱400时，则可以是由夹取组件120对物料箱400施加推力或拉力，再有物料箱400与托盘1121之间的摩擦力带动伸缩件112相对于固定件111移动。It should be noted that when the material box 400 is not loaded on the pallet 1121 , the first trigger 143 or the second trigger 144 can be triggered by the clamping assembly 120 to unlock the telescopic member 112 and the fixed member 111 . The movement is directly driven by the clamping component 120, and when the material box 400 is carried on the pallet 1121, the clamping component 120 can exert a pushing or pulling force on the material box 400, and there is also a gap between the material box 400 and the pallet 1121. The friction force drives the telescopic component 112 to move relative to the fixed component 111 .
请继续参照图1、图2、图8和图13，在一种可能的实现方式中，锁止联动组件140还可以包括第三触发件146，第三触发件146与固定杆1414转动连接，托盘1121上设置有开口1123，第三触发件146至少部分从该开口1123伸出，并延伸至伸缩件112承载物料箱400的一侧，第三触发件146用于和物料箱400配合，在托盘1121上承载有物料箱400时，物料箱400可以将第三触发件146下压，触发伸缩件112与固定件111的解锁。Please continue to refer to Figures 1, 2, 8 and 13. In a possible implementation, the locking linkage assembly 140 may also include a third trigger 146, and the third trigger 146 is rotationally connected to the fixed rod 1414. The tray 1121 is provided with an opening 1123. The third triggering member 146 at least partially extends from the opening 1123 and extends to the side of the telescopic member 112 carrying the material box 400. The third triggering member 146 is used to cooperate with the material box 400. When the material box 400 is carried on the pallet 1121, the material box 400 can press down the third triggering member 146 to trigger the unlocking of the telescopic member 112 and the fixing member 111.
可以理解的时，第三触发件146可以与卡接件142抵接，且在物料箱400与第三触发件146抵接时，第三触发件146带动卡接件142转动，以使伸缩件112与固定件111分离，从而可以在托盘1121上承载有物料箱400时，保持伸缩件112与固定件111的相对可滑移状态。此外，为了保证物料箱400与托盘1121具有足够的接触面积，避免物料箱400掉落，第三触发件146可以位于靠近第二活动杆1412的一侧。It can be understood that the third triggering member 146 can contact with the clamping member 142, and when the material box 400 contacts the third triggering member 146, the third triggering member 146 drives the clamping member 142 to rotate, so that the telescopic member 112 is separated from the fixing part 111, so that when the material box 400 is carried on the pallet 1121, the relative slidable state of the telescopic part 112 and the fixing part 111 can be maintained. In addition, in order to ensure that the material box 400 has sufficient contact area with the tray 1121 and prevent the material box 400 from falling, the third trigger 146 may be located on a side close to the second movable rod 1412 .
示例性的，固定杆1414上可以设有避让口1414a，第三触发件146与避让口1414a的侧壁转动连接，第三触发件146上设有第一抵接部1461，卡接件142朝向固定杆1414的一侧设有第二抵接部1423，第二抵接部1423延伸至固定杆1414的底侧，第一抵接部1461穿过避让口1414a与第二抵接部1423抵接，从而可以在第三触发件146转动时，带动卡接件142转动。For example, the fixing rod 1414 may be provided with an escape opening 1414a, the third triggering member 146 is rotationally connected to the side wall of the escape opening 1414a, the third triggering member 146 is provided with a first contact portion 1461, and the clamping member 142 faces A second contact portion 1423 is provided on one side of the fixed rod 1414. The second contact portion 1423 extends to the bottom side of the fixed rod 1414. The first contact portion 1461 passes through the escape opening 1414a and contacts the second contact portion 1423. , so that when the third triggering member 146 rotates, the clamping member 142 can be driven to rotate.
需要说明的是，上述的锁止联动组件140可以为一个、两个和多个，并且可以在伸缩件112上沿伸缩件112的宽度方向布置在不同位置，以保证锁定的可靠性，并且不同锁止联动组件140可以同步移动或摆动。It should be noted that the above-mentioned locking linkage components 140 can be one, two or more, and can be arranged at different positions on the telescopic member 112 along the width direction of the telescopic member 112 to ensure the reliability of locking, and different The locking linkage components 140 can move or swing synchronously.
请继续参照图2和图7，本申请实施例提供的取放货装置100还可以包括第二检测单元150，第二检测单元150与固定件111连接，且第二检测单元150用于检测物料箱400的姿态和物料箱400的电子标识中的至少一者，从而可以准确判断在取放物料箱400时取放货装置100的初始位置，以及可以识别物料箱400的信息，准确执行对应的货物取放运送任务。Please continue to refer to Figures 2 and 7. The pick-and-place device 100 provided by the embodiment of the present application may also include a second detection unit 150. The second detection unit 150 is connected to the fixing member 111, and the second detection unit 150 is used to detect materials. At least one of the posture of the material box 400 and the electronic identification of the material box 400 can be accurately determined to determine the initial position of the picking and placing device 100 when picking up and placing the material box 400, and the information of the material box 400 can be identified, and the corresponding execution can be accurately Cargo pick-up and delivery tasks.
可以理解的是，第二检测单元150可以有多个，不同的第二检测单元150可以检测不同的物料箱400的信息。示例性的，多个第二检测单元150可以包括3D相机，用于检测物料箱400的尺寸及摆放姿态，使得取放货装置100在操作时可以对准物料箱400，多个第二检测单元150还可以包括扫描器或2D相机等，用于检测物料箱400上的可识别标识，例如二维码、条形码、数字符号等，以判断物料箱400的身份是否为当前任务的正确执行对象。It can be understood that there may be multiple second detection units 150 , and different second detection units 150 may detect information about different material boxes 400 . Exemplarily, the plurality of second detection units 150 may include a 3D camera for detecting the size and placement posture of the material box 400 so that the picking and placing device 100 can be aligned with the material box 400 during operation. The plurality of second detection units 150 may The unit 150 may also include a scanner or a 2D camera, etc., for detecting identifiable identifiers on the material box 400, such as QR codes, barcodes, digital symbols, etc., to determine whether the identity of the material box 400 is the correct execution object of the current task. .
请参照图14和图15，本申请实施例提供的取放货装置100还可以包括旋转组件160，旋转组件160可以包括固定支架161、第四驱动单元163和旋转平台162，第四驱动单元163用于驱动旋转平台162相对于固定支架161转动，伸缩组件110设置在旋转平台162上，在应用至搬运机器人上时，可以实现在搬运机器人的不同侧进行取放货操作。Please refer to Figures 14 and 15. The pick-and-place device 100 provided by the embodiment of the present application may also include a rotating assembly 160. The rotating assembly 160 may include a fixed bracket 161, a fourth driving unit 163, and a rotating platform 162. The fourth driving unit 163 The telescopic assembly 110 is used to drive the rotating platform 162 to rotate relative to the fixed bracket 161. The telescopic assembly 110 is disposed on the rotating platform 162. When applied to a handling robot, the telescopic assembly 110 can realize loading and unloading operations on different sides of the handling robot.
示例性的，第四驱动单元163可以为电机，且该电机可以安装在旋转平台162上，在第四驱动单元163与固定支架161之间，可以通过链条164和两个链轮(未示出)进行配合，其中一个链轮可以与固定支架161相对固定，且旋转平台162可以与该链轮转动连接，另一个链轮则可以转动设置在旋转平台162的底部，链条164可以绕设在两个链轮上，第四驱动单元163可以驱动旋转平台162上的链轮转动，从而使旋转平台162相对于固定支架161产生相对旋转，进而实现伸缩组件110相对于固定支架161的旋转。Exemplarily, the fourth driving unit 163 can be a motor, and the motor can be installed on the rotating platform 162. Between the fourth driving unit 163 and the fixed bracket 161, a chain 164 and two sprockets (not shown) can be used. ) to cooperate, one of the sprockets can be relatively fixed to the fixed bracket 161, and the rotating platform 162 can be rotationally connected to the sprocket, and the other sprocket can be rotated and disposed at the bottom of the rotating platform 162, and the chain 164 can be wound around both sides. On each sprocket, the fourth driving unit 163 can drive the sprocket on the rotating platform 162 to rotate, thereby causing the rotating platform 162 to rotate relative to the fixed bracket 161, thereby realizing the rotation of the telescopic assembly 110 relative to the fixed bracket 161.
此外，请继续参照图1和图2，托盘1121的前端可以设置有缓冲件，在伸缩件112相对于固定件111伸出时，缓冲件可以与货架500的边缘抵接，从而起到缓冲作用，同时可以减小或消除噪声。在托盘1121的前端还可以设置有微动开关，在伸缩件112与货架500的边缘抵接时，可以触发微动开关，从而可以判断出伸缩件112与货架500对接成功，进而夹取组件120可以与物料箱400进行插接配合。当然，在托盘1121的后端也可以设置有相应的开关单元(未示出)，以检测判断伸缩件112是否完全缩回。 In addition, please continue to refer to FIGS. 1 and 2 , the front end of the tray 1121 may be provided with a buffer member. When the telescopic member 112 extends relative to the fixed member 111 , the buffer member may contact the edge of the shelf 500 to play a buffering role. , while reducing or eliminating noise. A micro switch can also be provided at the front end of the pallet 1121. When the telescopic member 112 contacts the edge of the shelf 500, the micro switch can be triggered, so that it can be judged that the telescopic member 112 and the shelf 500 are successfully connected, and then the clamping assembly 120 can be It can be plugged and matched with the material box 400. Of course, a corresponding switch unit (not shown) may also be provided at the rear end of the tray 1121 to detect and determine whether the telescopic member 112 is fully retracted.
请参照图16至图24，以应用于搬运机器人上为例，下面对本申请实施例的取放货装置100的对货架500进行具体取货的步骤进行示例性说明。Please refer to FIGS. 16 to 24 , taking the application to a transport robot as an example, the following is an exemplary description of the specific steps of picking up goods from the shelf 500 of the pick-and-place device 100 according to the embodiment of the present application.
步骤一：如图16所示，伸缩件112相对于固定件111处于收缩状态，夹取组件120从伸缩件112的第一端移动至伸缩件112的第二端，从而可以触发伸缩件112与固定件111的解锁。Step 1: As shown in Figure 16, the telescopic member 112 is in a contracted state relative to the fixed member 111, and the clamping assembly 120 moves from the first end of the telescopic member 112 to the second end of the telescopic member 112, thereby triggering the telescopic member 112 and the Unlocking of fastener 111.
步骤二：如图17所示，夹取组件120带动伸缩件112相对于固定件111伸出，并且伸缩件112的端部与货架500的边缘抵接，从而夹取组件120的两个夹持件123相互靠近，并且可以与物料箱400的水平插槽410进行插接，夹持住物料箱400。Step 2: As shown in Figure 17, the clamping assembly 120 drives the telescopic member 112 to extend relative to the fixed member 111, and the end of the telescopic member 112 contacts the edge of the shelf 500, so that the two clamping members of the clamping assembly 120 The pieces 123 are close to each other and can be plugged into the horizontal slot 410 of the material box 400 to clamp the material box 400 .
步骤三：如图18所示，夹取组件120相对于伸缩件112往回移动，从而夹取组件120将物料箱400部分拉至伸缩件112的托盘1121上，此时伸缩件112与固定件111锁定，两者相对位置保持固定，以避免物料箱400掉落。Step 3: As shown in Figure 18, the clamping assembly 120 moves back relative to the telescopic member 112, so that the clamping assembly 120 partially pulls the material box 400 to the tray 1121 of the telescopic member 112. At this time, the telescopic member 112 and the fixing member 111 is locked, and the relative positions of the two are kept fixed to prevent the material box 400 from falling.
步骤四：如图19所示，夹取组件120将物料箱400的全部拉至托盘1121上，此时物料箱400的压力触发伸缩件112与固定件111的解锁，从而夹取组件120拖动物料箱400移动时，在物料箱400的摩擦力作用下，伸缩件112可以相对于固定件111缩回。Step 4: As shown in Figure 19, the clamping component 120 pulls the entire material box 400 onto the pallet 1121. At this time, the pressure of the material box 400 triggers the unlocking of the telescopic part 112 and the fixing part 111, so that the clamping component 120 drags When the material box 400 moves, the telescopic component 112 can retract relative to the fixed component 111 under the friction of the material box 400 .
步骤五：如图20所示，伸缩件112完全缩回，伸缩件112与货架500的边缘分离，物料箱400被夹取组件120拉至固定件111的上方，此时伸缩组件110整体回到取货前的初始位置状态。Step 5: As shown in Figure 20, the telescopic component 112 is fully retracted, the telescopic component 112 is separated from the edge of the shelf 500, and the material box 400 is pulled above the fixing component 111 by the clamping component 120. At this time, the telescopic component 110 returns as a whole. The initial position state before picking up the goods.
步骤六：如图21所示，旋转组件160驱动伸缩组件110与物料箱400一起旋转90°，使得物料箱400朝向搬运机器人的储物槽221。Step 6: As shown in Figure 21, the rotating component 160 drives the telescopic component 110 to rotate 90° together with the material box 400, so that the material box 400 faces the storage slot 221 of the handling robot.
步骤七：如图22所示，夹取组件120推动物料箱400移动，在物料箱400摩擦力的作用下，伸缩件112伸出与储物槽221的边缘抵接。Step 7: As shown in FIG. 22 , the clamping assembly 120 pushes the material box 400 to move. Under the friction of the material box 400 , the telescopic member 112 extends to contact the edge of the storage slot 221 .
步骤八：如图23所示，夹取组件120继续推动物料箱400移动，物料箱400从托盘1121上移动至储物槽221内，此后夹取组件120的两个夹持件123可以相互远离，从物料箱400上脱出。Step 8: As shown in Figure 23, the clamping assembly 120 continues to push the material box 400 to move. The material box 400 moves from the tray 1121 to the storage slot 221. After that, the two clamping members 123 of the clamping assembly 120 can move away from each other. , take off from the material box 400.
步骤九：如图24所示，夹取组件120相对于伸缩件112回收，并且带动伸缩件112相对于固定件111缩回，以回到初始状态。Step 9: As shown in Figure 24, the clamping component 120 is retracted relative to the telescopic component 112, and drives the telescopic component 112 to retract relative to the fixed component 111 to return to the initial state.
需要说明的是，将搬运机器人上的物料箱400取放至货架500的库位内的操作，可以与上述的操作步骤类似，此处不再赘述。It should be noted that the operation of picking up and placing the material box 400 on the transport robot into the storage location of the shelf 500 can be similar to the above-mentioned operation steps, and will not be described again here.
不同于上述技术方案中夹取组件120取放物料箱400的方式，本申请实施例还可以通过另一种方式取放物料箱400。Different from the way in which the clamping assembly 120 picks up and places the material box 400 in the above technical solution, the embodiment of the present application can also pick up and place the material box 400 in another way.
请参照图25至图31，在另一种实现方式中，取放货装置100可以包括伸缩组件110和推拉组件170，伸缩组件110包括固定件111和伸缩件112，伸缩件112设置在固定件111上，且可相对于固定件111沿第一方向伸缩，推拉组件170设置在伸缩件112上，推拉组件170用于带动物料箱400进行移动，即进行物料箱400的取放，伸缩件112可以对物料箱400起到承载作用。Please refer to Figures 25 to 31. In another implementation, the pick-and-place device 100 may include a telescopic component 110 and a push-pull component 170. The telescopic component 110 includes a fixed component 111 and a telescopic component 112. The telescopic component 112 is disposed on the fixed component. 111 and can be telescopic in the first direction relative to the fixing part 111. The push-pull component 170 is provided on the telescopic component 112. The push-pull component 170 is used to drive the material box 400 to move, that is, to pick and place the material box 400. The telescopic component 112 It can play a bearing role for the material box 400.
可以理解的是，推拉组件170可以包括基板171、拉动件172和第三驱动机构173，基板171与伸缩件112连接，第三驱动机构173设置于基板171上，拉动件172与第三驱动机构173连接，第三驱动机构173可以驱动拉动件172沿第三方向进行移动。It can be understood that the push-pull assembly 170 may include a base plate 171, a pulling member 172 and a third driving mechanism 173. The base plate 171 is connected to the telescopic member 112. The third driving mechanism 173 is disposed on the base plate 171. The pulling member 172 is connected to the third driving mechanism. 173 is connected, the third driving mechanism 173 can drive the pulling member 172 to move along the third direction.
为了便于说明，以固定件111为参照，定义固定件111的长度方向为X方向，即第一方向为X方向，伸缩件112可以沿X方向进行伸缩，定义基板171的高度方向为Z方向，即第三方向为Z方向，拉动件172可以沿Z方向进行移动。由于伸缩件112与拉动件172都可以进行往复移动，因此第一方向的移动包括X方向的前后移动，第三方向的移动包括Z方向的上下移动。For the convenience of explanation, taking the fixing member 111 as a reference, the length direction of the fixing member 111 is defined as the X direction, that is, the first direction is the X direction, the telescopic member 112 can expand and contract along the X direction, and the height direction of the base plate 171 is defined as the Z direction. That is, the third direction is the Z direction, and the pulling member 172 can move along the Z direction. Since both the telescopic member 112 and the pulling member 172 can move back and forth, the movement in the first direction includes forward and backward movement in the X direction, and the movement in the third direction includes up and down movement in the Z direction.
请参照图25、图26、图27、图28、图29和图30，当推拉组件170移动至与物料箱400靠近或抵接的位置时，通过拉动件172的伸缩移动可以实现拉动件172与物料箱400的配合，其中，物料箱400的外壁可以设置有竖直插槽420，在第三驱动机构173的驱动下，拉动件172可以通过移动与竖直插槽420插接或脱离。Please refer to Figures 25, 26, 27, 28, 29 and 30. When the push-pull assembly 170 moves to a position close to or in contact with the material box 400, the pulling member 172 can be realized by telescopic movement of the pulling member 172. In cooperation with the material box 400, the outer wall of the material box 400 can be provided with a vertical slot 420. Driven by the third driving mechanism 173, the pulling member 172 can be inserted into or disengaged from the vertical slot 420 by moving.
可以理解的是，拉动件172的截面尺寸可以等于或小于竖直插槽420的槽口尺寸，以使拉动件172可以进入竖直插槽420内，当拉动件172向上移动时，拉动件172可以***竖直插槽420内，当拉动件172向下移动时，拉动件172可以从竖直插槽420内脱离，而当拉动件172进入竖直插槽420内时，随着推拉组件170整体的移动，拉动件172便可以带动物料箱400移动，从而实现物料箱400的取放操作。It can be understood that the cross-sectional size of the pulling member 172 may be equal to or smaller than the notch size of the vertical slot 420 so that the pulling member 172 can enter the vertical slot 420. When the pulling member 172 moves upward, the pulling member 172 It can be inserted into the vertical slot 420. When the pulling member 172 moves downward, the pulling member 172 can be detached from the vertical slot 420. When the pulling member 172 enters the vertical slot 420, as the push-pull assembly 170 With the overall movement, the pulling member 172 can drive the material box 400 to move, thereby realizing the pick-and-place operation of the material box 400 .
需要说明的是，作为被取放的对象，物料箱400的设置有竖直插槽420的外壁可以朝向货架500的库位的出入口，本申请实施例提供的取放货装置100对物料箱400在货架500上进行取放时，推拉组件170可以通过拉动件172与物料箱400的外侧壁进行插接配合，从而在推拉组件170带动物料箱400移动时，推拉组件170和伸缩件112都不需要进入存放物料箱400的库位内部，因此，取放货装置100在取放物料箱400时不会占用库位的内部空间，在货架500的库位存放物料箱400时可以实现小间距或者无间距存放，进而提高了仓储的空间利用率。 It should be noted that, as an object to be picked and placed, the outer wall of the material box 400 provided with the vertical slot 420 can face the entrance and exit of the storage location of the shelf 500. The picking and placing device 100 provided in the embodiment of the present application can be used for the material box 400. When picking and placing on the shelf 500 , the push-pull component 170 can be plugged and matched with the outer wall of the material box 400 through the pulling component 172 , so that when the push-pull component 170 drives the material box 400 to move, the push-pull component 170 and the telescopic component 112 do not move. It is necessary to enter the interior of the storage location where the material box 400 is stored. Therefore, the picking and placing device 100 will not occupy the internal space of the storage location when picking up and placing the material box 400. When the material box 400 is stored in the storage location of the shelf 500, a small spacing or No spacing storage, thus improving the space utilization of warehousing.
此外，推拉组件170还可以包括推板177，推板177连接于基板171上，且推板177朝向物料箱400，以推动物料箱400移动，即推板177位于第三驱动机构173和拉动件172相对于基板171的同一侧。示例性的，推板177可以通过紧固件与基板171进行装配连接。In addition, the push-pull assembly 170 may also include a push plate 177 connected to the base plate 171 and facing the material box 400 to push the material box 400 to move. That is, the push plate 177 is located between the third driving mechanism 173 and the pulling member. 172 relative to the same side of base plate 171 . For example, the push plate 177 can be assembled and connected with the base plate 171 through fasteners.
下面对第三驱动机构173对拉动件172的驱动方式进行详细说明。The driving method of the third driving mechanism 173 to the pulling member 172 will be described in detail below.
在一种可能的实现方式中，第三驱动机构173可以包括第三驱动单元1731、第三传动件1732、第四传动件1733和连接杆1734，第三驱动单元1731设置在基板171上，第三传动件1732与第三驱动单元1731的输出端连接，且第三传动件1732可以在第三驱动单元1731的驱动下转动，而第四传动件1733与第三传动件1732配合，且第四传动件1733可以在第三传动件1732的驱动下沿第三方向移动，即沿Z方向进行上下移动。In a possible implementation, the third driving mechanism 173 may include a third driving unit 1731, a third transmission member 1732, a fourth transmission member 1733 and a connecting rod 1734. The third driving unit 1731 is disposed on the base plate 171. The third transmission member 1732 is connected to the output end of the third drive unit 1731, and the third transmission member 1732 can rotate under the drive of the third drive unit 1731, and the fourth transmission member 1733 cooperates with the third transmission member 1732, and the fourth transmission member 1733 cooperates with the third transmission member 1732. The transmission member 1733 can move along the third direction driven by the third transmission member 1732, that is, move up and down along the Z direction.
可以理解的是，第三驱动单元1731可以输出旋转运动，并带动第三传动件1732转动，而第四传动件1733与第三传动件1732的配合可以将旋转运动转换为直线移动，连接杆1734的第一端可以与第三传动件1732连接，连接杆1734的第二端与拉动件172连接，从而在第四传动件1733移动时，可以带动拉动件172同步进行移动，进而实现拉动件172与竖直插槽420的插接或脱离的配合。It can be understood that the third driving unit 1731 can output rotational motion and drive the third transmission member 1732 to rotate, and the cooperation between the fourth transmission member 1733 and the third transmission member 1732 can convert the rotational motion into linear movement. The connecting rod 1734 The first end of the connecting rod 1734 can be connected to the third transmission member 1732, and the second end of the connecting rod 1734 is connected to the pulling member 172, so that when the fourth transmission member 1733 moves, the pulling member 172 can be driven to move synchronously, thereby realizing the pulling member 172 Mating or unmating fit with vertical slot 420.
需要说明的是，由于拉动件172与竖直插槽420的插接配合需要进行往复移动，而拉动件172沿Z方向的上下移动可以分别与第三传动件1732的正转和反转相对，例如，当第三传动件1732正转时，对应拉动件172沿Z方向往上移动，而当第三传动件1732反转时，对应拉动件172沿Z方向往下移动。It should be noted that since the insertion fit between the pulling member 172 and the vertical slot 420 requires reciprocating movement, the up and down movement of the pulling member 172 along the Z direction may be opposite to the forward and reverse rotation of the third transmission member 1732, respectively. For example, when the third transmission member 1732 rotates forward, the corresponding pulling member 172 moves upward along the Z direction, and when the third transmission member 1732 rotates reversely, the corresponding pulling member 172 moves downward along the Z direction.
此外，为了保证拉动件172沿第三方向移动时的顺畅性和稳定性，第三驱动机构173还可以包括导向件1735，导向件1735可以设置在基板171上，导向件1735上设有导向孔，导向孔沿第三方向延伸，连接杆1734穿设过导向孔，且连接杆1734可以在第四传动件1733的带动下沿导向孔移动，即导向件1735可以为第四传动件1733的移动起到限位导向作用。In addition, in order to ensure the smoothness and stability of the pulling member 172 when moving in the third direction, the third driving mechanism 173 may also include a guide member 1735. The guide member 1735 may be disposed on the base plate 171, and the guide member 1735 is provided with a guide hole. , the guide hole extends along the third direction, the connecting rod 1734 passes through the guide hole, and the connecting rod 1734 can move along the guide hole driven by the fourth transmission member 1733, that is, the guide member 1735 can move the fourth transmission member 1733 It plays the role of limiting guide.
在本申请实施例中，通过第三驱动机构173实现对拉动件172的驱动，其目的在于将旋转运动转换为直线移动，因此可以采用不同的第三传动件1732和第四传动件1733的配合方式，包括但不限于丝杠传动方式、齿轮齿条的方式，带轮与传动带的方式等，本申请实施例对此不做具体限定。当然，也可以考虑采用直线电机或者气缸进行直接驱动拉动件172的方式。下面以其中一种驱动方式为例进行说明。In the embodiment of the present application, the pulling member 172 is driven through the third driving mechanism 173, and its purpose is to convert the rotational motion into linear movement. Therefore, different combinations of the third transmission member 1732 and the fourth transmission member 1733 can be used. Methods include but are not limited to screw transmission methods, gear and rack methods, pulley and transmission belt methods, etc., which are not specifically limited in the embodiments of the present application. Of course, it is also possible to consider using a linear motor or a cylinder to directly drive the pulling member 172 . The following takes one of the driving methods as an example to illustrate.
在一些实施例中，第三传动件1732可以为丝杆，第四传动件1733可以为丝杆螺母，第三驱动单元1731可以为电机，丝杆可以沿第三方向延伸，即丝杆沿Z方向延伸，丝杆的第一端与电机的输出轴连接，丝杆的第二端与导向件1735转动连接，丝杆螺母套设于丝杆上，且在丝杆转动时，丝杆螺母沿丝杆的延伸方向移动，连接杆1734与丝杆螺母连接，从而可以通过丝杆的旋转控制拉动件172的移动行程和位置。In some embodiments, the third transmission member 1732 can be a screw rod, the fourth transmission member 1733 can be a screw nut, the third driving unit 1731 can be a motor, and the screw rod can extend along the third direction, that is, the screw rod can extend along Z direction extends, the first end of the screw is connected to the output shaft of the motor, the second end of the screw is rotationally connected to the guide 1735, the screw nut is sleeved on the screw, and when the screw rotates, the screw nut moves along the The extension direction of the screw rod moves, and the connecting rod 1734 is connected to the screw nut, so that the moving stroke and position of the pulling member 172 can be controlled by the rotation of the screw rod.
可以理解的是，丝杆可以设置在电机与导向件1735之间，从而对丝杆起到支撑作用，丝杆与电机的输出轴可以直接连接，也可以通过联轴器当部件间接连接，而丝杆在与导向件1735连接时，由于在丝杆转动但导向件1735相对不动，因此丝杆可以通过轴承与导向件1735进行配合，从而保证丝杆转动的顺畅性。It can be understood that the screw rod can be disposed between the motor and the guide member 1735 to support the screw rod. The screw rod and the output shaft of the motor can be directly connected or indirectly connected through a coupling as a component. When the screw rod is connected to the guide member 1735, since the guide member 1735 is relatively motionless while the screw rod rotates, the screw rod can cooperate with the guide member 1735 through the bearing, thereby ensuring the smooth rotation of the screw rod.
为了保证拉动件172移动过程的平稳，连接杆1734可以为两个，而导向孔也可以为两个，两个连接杆1734可以分别穿过两个导向孔，两个连接杆1734均可以呈杆状，并且两个连接杆1734可以平行设置，此外，两个连接杆1734可以对称分布于第三传动件1732的两侧，从而可以实现第四传动件1733带动拉动件172移动时受力的平衡性。In order to ensure the smooth movement of the pulling member 172, there can be two connecting rods 1734, and there can also be two guide holes. The two connecting rods 1734 can pass through the two guide holes respectively, and the two connecting rods 1734 can both be in the form of rods. shape, and the two connecting rods 1734 can be arranged in parallel. In addition, the two connecting rods 1734 can be symmetrically distributed on both sides of the third transmission member 1732, so that the force balance can be achieved when the fourth transmission member 1733 drives the pulling member 172 to move. sex.
本领域技术人员可以理解的是，在布局空间允许的情况下，可以采用三个或者更多个连接杆1734与导向件1735进行配合导向，从而进一步提高支撑强度，本申请实施例对此不做具体限定。Those skilled in the art can understand that if the layout space allows, three or more connecting rods 1734 can be used to cooperate with the guides 1735 for guidance, thereby further improving the support strength. This is not done in the embodiment of the present application. Specific limitations.
需要说明的是，由于拉动件172沿Z方向的移动可以由第三驱动单元1731作为动力源，并且有第三传动件1732与第四传动件1733作为力与运动的传递单元，因此，拉动件172的移动速度和行程一方面取决于第三驱动单元1731的输出转速以及转动的周数，另一方面取决于第三传动件1732和第四传动件1733的参数，例如，采用丝杆和丝杆螺母配合时，取决与丝杆的直径以及螺距。对于选定类型和参数的第三传动件1732和第四传动件1733而言，拉动件172的移动行程和速度可以通过对第三驱动单元1731的输出控制进行调节，而对第三驱动单元1731的控制可以利用外部信号进行参照，下面将对此进行说明。It should be noted that since the movement of the pulling member 172 along the Z direction can be driven by the third driving unit 1731 as a power source, and the third transmission member 1732 and the fourth transmission member 1733 serve as transmission units for force and motion, therefore, the pulling member 172 The moving speed and stroke of 172 depend on the output speed and the number of rotations of the third driving unit 1731 on the one hand, and on the other hand depend on the parameters of the third transmission member 1732 and the fourth transmission member 1733, for example, using a screw and a wire. When the rod nut is matched, it depends on the diameter and pitch of the screw rod. For the third transmission member 1732 and the fourth transmission member 1733 of selected types and parameters, the moving stroke and speed of the pulling member 172 can be adjusted through the output control of the third drive unit 1731, and the third drive unit 1731 The control can be referenced using external signals, which will be explained below.
在一种可能的实现方式中，推拉组件170还可以包括第三检测单元174和感应件175，第三检测单元174设置在基板171上，感应件175与第四传动件1733连接，即在拉动件172沿Z方向移动时，感应件175也会同步进行移动，第三检测单元174用于检测感应件175，以检测第四传动件1733沿第三方向移动时的相对位置。In a possible implementation, the push-pull assembly 170 may also include a third detection unit 174 and a sensing member 175. The third sensing unit 174 is provided on the base plate 171, and the sensing member 175 is connected to the fourth transmission member 1733, that is, when pulling When the member 172 moves along the Z direction, the sensing member 175 will also move simultaneously. The third detection unit 174 is used to detect the sensing member 175 to detect the relative position of the fourth transmission member 1733 when it moves along the third direction.
可以理解的是，当拉动件172需要与竖直插槽420进行插接配合或者需要脱离时，第三检测单元174可以判断出拉动件172的行程位置，从而可以保证拉动件172与竖直插槽420的插接动作的准确性。 第三检测单元174可以采用的类型包括但不限于光电传感器、触点开关等。It can be understood that when the pulling member 172 needs to be plugged into or disengaged from the vertical slot 420, the third detection unit 174 can determine the stroke position of the pulling member 172, thereby ensuring that the pulling member 172 is in contact with the vertical slot 420. The accuracy of the plugging action of slot 420. The types that the third detection unit 174 can adopt include but are not limited to photoelectric sensors, contact switches, etc.
在一些实施例中，第三检测单元174可以为两个，两个第三检测单元174分别位于第四传动件1733沿第三方向的移动行程的两端，从而两个第三检测单元174可以分别对拉动件172相对于竖直插槽420的插接和脱离的状态进行检测，准确控制拉动件172的行程。In some embodiments, there may be two third detection units 174 , and the two third detection units 174 are respectively located at both ends of the movement stroke of the fourth transmission member 1733 along the third direction, so that the two third detection units 174 may The insertion and disengagement states of the pulling member 172 relative to the vertical slot 420 are detected respectively, and the stroke of the pulling member 172 is accurately controlled.
示例性的，当采用光电传感器时，两个第三检测单元174可以沿Z方向布置在感应件175的移动行程的两端，在沿Z方向的上侧的第三检测单元174被感应件175遮挡时，可以判断出拉动件172与竖直插槽420已经完成插接，此时推拉组件170可以带动物料箱400移动，在沿Z方向的下侧的第三检测单元174被感应件175遮挡时，可以判断出拉动件172与插接槽完成脱离，此时推拉组件170可以与物料箱400分离。For example, when a photoelectric sensor is used, two third detection units 174 can be arranged at both ends of the movement stroke of the sensing member 175 along the Z direction, and the third detection unit 174 on the upper side along the Z direction is moved by the sensing member 175 When blocking, it can be judged that the pulling member 172 and the vertical slot 420 have been connected. At this time, the push-pull assembly 170 can drive the material box 400 to move, and the third detection unit 174 on the lower side along the Z direction is blocked by the sensing member 175 , it can be judged that the pulling member 172 is completely separated from the insertion slot, and the push-pull assembly 170 can be separated from the material box 400 at this time.
由于不同的应用场景下，物料箱400的类型和尺寸规格可能不同，因此，为了提高取放货装置100的适用性，并降低控制难度，可以在第三驱动机构173与基板171装配时，将两者的安装配合的相对位置设置为可调节的结构，从而在物料箱400的竖直插槽420位置相对于推拉组件170变化时，依然可以进行物料箱400的取放操作。Since the type and size specifications of the material box 400 may be different in different application scenarios, in order to improve the applicability of the picking and placing device 100 and reduce the control difficulty, the third driving mechanism 173 can be assembled with the base plate 171. The relative positions of the installation and matching of the two are set to an adjustable structure, so that when the position of the vertical slot 420 of the material box 400 changes relative to the push-pull assembly 170, the material box 400 can still be picked and placed.
在一种可能的实现方式中，推拉组件170还可以包括调节板176，调节板176与基板171连接，第三驱动机构173与调节板176连接，即第三驱动机构173可以通过调节板176与基板171间接连接，调节板176的位置相对于基板171可调，从而实现第三驱动机构173相对于基板171的位置调节。In a possible implementation, the push-pull assembly 170 may also include an adjustment plate 176 , the adjustment plate 176 is connected to the base plate 171 , and the third driving mechanism 173 is connected to the adjustment plate 176 , that is, the third driving mechanism 173 can be connected to the adjustment plate 176 through the adjustment plate 176 . The base plate 171 is indirectly connected, and the position of the adjustment plate 176 is adjustable relative to the base plate 171 , thereby realizing position adjustment of the third driving mechanism 173 relative to the base plate 171 .
可以理解的是，基板171上可以设有多个调节孔1711，多个调节孔1711可以沿第三方向排布，调节板176可与不同的调节孔1711配合，以调节调节板176与基板171沿所述第三方向的相对位置，从而可以适应不同规格和尺寸的物料箱400的取放需求。It can be understood that the base plate 171 can be provided with multiple adjustment holes 1711 , and the multiple adjustment holes 1711 can be arranged along the third direction. The adjustment plate 176 can cooperate with different adjustment holes 1711 to adjust the adjustment plate 176 and the base plate 171 The relative position along the third direction can adapt to the picking and placing requirements of material boxes 400 of different specifications and sizes.
示例性的，调节孔1711可以沿排布方向依次连通形成调节槽，即多个调节孔1711为一组，在基板171上可以设置多组调节孔1711，从而形成多个连接位置，每组调节孔1711均有一个调节孔1711与调节板176连接，例如，可以有四组调节孔1711，且排成两列，每列为沿Z方向的两组调节孔1711。此外，调节板176可以通过螺纹紧固件与基板171进行连接杆1734，例如，通过螺栓依次穿过连接板以及调节孔1711，将连接杆1734压紧在基板171上，保证安装的可靠性。For example, the adjustment holes 1711 can be connected sequentially along the arrangement direction to form adjustment grooves, that is, multiple adjustment holes 1711 form a group. Multiple groups of adjustment holes 1711 can be provided on the base plate 171 to form multiple connection positions. Each of the holes 1711 has an adjustment hole 1711 connected to the adjustment plate 176. For example, there can be four sets of adjustment holes 1711 arranged in two rows, and each row has two sets of adjustment holes 1711 along the Z direction. In addition, the adjusting plate 176 can connect the connecting rod 1734 to the base plate 171 through threaded fasteners. For example, bolts pass through the connecting plate and the adjusting hole 1711 in sequence, and the connecting rod 1734 is pressed against the base plate 171 to ensure the reliability of installation.
为了在降低取放货装置100整体重量的同时，保证结构强度，基板171可以为钣金件，例如为截面是L型的折弯板，且在基板171上可以设置一个、两个或者更多个加强筋，以提高结构强度。In order to reduce the overall weight of the pick-and-place device 100 while ensuring structural strength, the base plate 171 can be a sheet metal part, for example, a bent plate with an L-shaped cross section, and one, two or more can be disposed on the base plate 171 Reinforcement ribs to increase structural strength.
需要说明的是，由于拉动件172与物料箱400配合时，拉动件172是上下移动进行插接配合，物料箱400上的竖直插槽420的槽口需要朝向拉动件172。请参照图31，竖直插槽420可以位于物料箱400的上部边缘，且竖直插槽420的槽口朝下，同时为了其他物流工序中边缘操作任务搬动物料箱400，竖直插槽420的槽口边缘可以设置有波浪形凹槽，对应人的手指，提高物料箱400搬运的舒适性。It should be noted that when the pulling member 172 cooperates with the material box 400, the pulling member 172 moves up and down for plug-fitting, and the notch of the vertical slot 420 on the material box 400 needs to face the pulling member 172. Please refer to Figure 31. The vertical slot 420 can be located at the upper edge of the material box 400, and the notch of the vertical slot 420 faces downward. At the same time, the material box 400 can be moved with the vertical slot for edge operation tasks in other logistics processes. The edge of the notch 420 can be provided with wavy grooves, corresponding to human fingers, to improve the comfort of handling the material box 400.
本申请实施例还提供一种搬运机器人，请继续参照图1，该搬运机器人包括机器人主体200、升降装置300和上述技术方案中的取放货装置100，升降装置300设置于机器人主体200上，并可沿机器人主体200的高度方向移动，取放货装置100设置于升降装置300上，从而升降装置300可以带动取放货装置100移动，实现不同高度上的取放货操作。An embodiment of the present application also provides a handling robot. Please continue to refer to Figure 1. The handling robot includes a robot body 200, a lifting device 300 and the pick-and-place device 100 in the above technical solution. The lifting device 300 is provided on the robot body 200. It can move along the height direction of the robot body 200. The picking and placing device 100 is arranged on the lifting device 300, so that the lifting device 300 can drive the picking and placing device 100 to move, thereby realizing picking and placing operations at different heights.
其中，机器人主体200可以包括底座210和储物架220，储物架220安装于底座210上，升降装置300设置于储物架220上，且可沿储物架220的高度方向移动，储物架220背离取放货装置100的一侧可以设置有多个储物槽221，多个储物槽221沿储物架220的高度方向间隔分布。The robot body 200 may include a base 210 and a storage rack 220. The storage rack 220 is installed on the base 210. The lifting device 300 is disposed on the storage rack 220 and can move along the height direction of the storage rack 220. A plurality of storage slots 221 may be provided on the side of the rack 220 away from the loading and unloading device 100 . The plurality of storage slots 221 are spaced apart along the height direction of the storage rack 220 .
示例性的，升降装置300可以通过电机进行驱动，并通过同步带或链传动的方式带动取放货装置100沿机器人主体200的高度方向上下移动。For example, the lifting device 300 can be driven by a motor, and drive the picking and placing device 100 to move up and down along the height direction of the robot body 200 through a synchronous belt or chain drive.
本领域技术人员可以理解的是，在储物槽221设置在搬运机器人的后侧时，取放货装置可以设置于机器人主体200的前侧，而根据上述取放货装置100的结构，其可以实现在机器人主体200的前侧、左侧、右侧与其他设备对接完成取放货操作，同时还可以在机器人主体200的后侧的储物槽221中完成取放货的操作，只需相应旋转90°或者180°即可。Those skilled in the art can understand that when the storage slot 221 is disposed on the rear side of the transport robot, the pick-and-place device can be disposed on the front side of the robot body 200. According to the structure of the above-mentioned pick-and-place device 100, it can The front, left and right sides of the robot body 200 can be docked with other equipment to complete the picking and placing operations. At the same time, the picking and placing operations can also be completed in the storage slot 221 on the rear side of the robot body 200, as long as the corresponding Just rotate it 90° or 180°.
本申请实施例还提供一种物流***，包括货架和前述技术方案中的搬运机器人，搬运机器人上设置有前述技术方案中的取放货装置，搬运机器人和取放货装置的结构与前述方案中类似且具有前述技术方案的所有技术效果，此处不再赘述，货架可以实现物料箱的小间距或无间距(箱间距、层间距等)存放，提高空间利用率。Embodiments of the present application also provide a logistics system, including a shelf and a handling robot in the foregoing technical solution. The handling robot is provided with a pick-and-place device in the foregoing technical solution. The structures of the handling robot and the pick-and-place device are the same as those in the foregoing solution. Similar to and having all the technical effects of the aforementioned technical solutions, which will not be described in detail here, the shelves can realize the storage of material boxes with small spacing or no spacing (box spacing, layer spacing, etc.) to improve space utilization.
最后应说明的是：以上各实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述各实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请技术方案的范围。 Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application, but not to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to depart from the scope of the technical solution of the present application.

Claims (30)

  1. 一种取放货装置，其特征在于，用于取放物料箱，所述取放货装置包括伸缩组件和推拉组件，所述伸缩组件包括固定件和可相对于所述固定件沿第一方向伸缩的伸缩件，所述推拉组件设置于所述伸缩件上；A device for picking up and placing goods, characterized in that it is used for picking up and placing material boxes. The device for picking up and placing goods includes a telescopic component and a push-pull component. The telescopic component includes a fixing component and can move in a first direction relative to the fixing component. A telescopic telescopic member, the push-pull component is arranged on the telescopic member;
    所述推拉组件包括基座、拉动件和第一驱动机构，所述基座可滑动的设置于所述伸缩件上，所述第一驱动机构设置于所述基座上，所述拉动件连接于所述第一驱动机构，所述第一驱动机构用于驱动所述拉动件沿第二方向移动，以使所述拉动件插接在所述物料箱外侧壁的插槽内，或者与所述插槽脱离，其中，所述第二方向和所述第一方向之间具有夹角。The push-pull assembly includes a base, a pulling member and a first driving mechanism. The base is slidably provided on the telescopic member. The first driving mechanism is provided on the base. The pulling member is connected to In the first driving mechanism, the first driving mechanism is used to drive the pulling member to move in the second direction, so that the pulling member is inserted into the slot on the outer wall of the material box, or is connected with the The slot is detached, wherein there is an included angle between the second direction and the first direction.
  2. 根据权利要求1所述的取放货装置，其特征在于，所述第一方向沿水平方向，且所述第二方向沿竖直方向。The pick-and-place device according to claim 1, wherein the first direction is along a horizontal direction, and the second direction is along a vertical direction.
  3. 根据权利要求2所述的取放货装置，其特征在于，所述拉动件凸出于所述基座的顶部。The loading and unloading device according to claim 2, wherein the pulling member protrudes from the top of the base.
  4. 根据权利要求1-3任一项所述的取放货装置，其特征在于，所述推拉组件还包括推板，所述推板连接于所述基座，且所述推板朝向所述物料箱，以推动所述物料箱移动。The pick-and-place device according to any one of claims 1 to 3, characterized in that the push-pull assembly further includes a push plate, the push plate is connected to the base, and the push plate faces the material box to push the material box to move.
  5. 根据权利要求1-3任一项所述的取放货装置，其特征在于，所述第一驱动机构包括第一驱动单元、第一传动件、第二传动件和连接件，所述第一驱动单元设置在所述基座上，所述第一驱动单元的输出端与所述第一传动件连接，以驱动所述第一传动件转动；The pick-and-place device according to any one of claims 1 to 3, characterized in that the first driving mechanism includes a first driving unit, a first transmission member, a second transmission member and a connecting member, and the first A driving unit is arranged on the base, and the output end of the first driving unit is connected to the first transmission member to drive the first transmission member to rotate;
    所述第二传动件与所述第一传动件配合，且所述第二传动件和所述拉动件相对固定，并可在所述第一传动件的驱动下沿所述第二方向移动。The second transmission member cooperates with the first transmission member, and the second transmission member and the pulling member are relatively fixed and can move in the second direction driven by the first transmission member.
  6. 根据权利要求5所述的取放货装置，其特征在于，所述第一驱动机构还包括导向件，所述连接件连接于所述第二传动件和所述拉动件之间；所述导向件设置在所述基座上，所述导向件上设有沿所述第二方向延伸的导向孔，所述连接件穿设过所述导向孔，且所述连接件在所述第二传动件的带动下沿所述导向孔移动。The device for picking and placing goods according to claim 5, characterized in that the first driving mechanism further includes a guide member, and the connecting member is connected between the second transmission member and the pulling member; the guide member The guide member is arranged on the base, the guide member is provided with a guide hole extending along the second direction, the connecting member passes through the guide hole, and the connecting member is in the second transmission It moves along the guide hole driven by the component.
  7. 根据权利要求6所述的取放货装置，其特征在于，所述第一传动件为丝杆，所述第二传动件为丝杆螺母，所述丝杆沿所述第二方向延伸，所述丝杆的第一端与所述第一驱动单元的输出轴连接，所述丝杆的第二端与所述导向件转动连接；所述丝杆螺母套设于所述丝杆上，且在所述丝杆转动时，所述丝杆螺母沿所述丝杆的延伸方向移动。The pick-and-place device according to claim 6, wherein the first transmission member is a screw rod, the second transmission member is a screw nut, and the screw rod extends along the second direction. The first end of the screw rod is connected to the output shaft of the first driving unit, the second end of the screw rod is rotationally connected to the guide member; the screw nut is sleeved on the screw rod, and When the screw rod rotates, the screw rod nut moves along the extension direction of the screw rod.
  8. 根据权利要求7所述的取放货装置，其特征在于，所述连接件为两个，所述导向孔为两个，两个所述连接件分别穿过两个所述导向孔；两个所述连接件平行设置，且两个所述连接件对称分布于所述第一传动件的两侧。The device for picking and placing goods according to claim 7, characterized in that there are two connecting members and two guide holes, and the two connecting members pass through two of the guide holes respectively; The connecting parts are arranged in parallel, and the two connecting parts are symmetrically distributed on both sides of the first transmission part.
  9. 根据权利要求5所述的取放货装置，其特征在于，所述推拉组件还包括第一检测单元和感应件，所述第一检测单元设置在所述基座上，所述感应件与所述第二传动件连接，所述第一检测单元用于检测所述感应件，以检测所述第二传动件沿所述第二方向移动时的相对位置。The pick-and-place device according to claim 5, wherein the push-pull assembly further includes a first detection unit and a sensing component, the first detection unit is disposed on the base, and the sensing component is connected to the sensing component. The second transmission member is connected, and the first detection unit is used to detect the sensing member to detect the relative position of the second transmission member when it moves along the second direction.
  10. 根据权利要求9所述的取放货装置，其特征在于，所述第一检测单元为两个，两个所述第一检测单元分别位于所述第二传动件沿所述第二方向的移动行程的两端。The device for picking and placing goods according to claim 9, characterized in that there are two first detection units, and the two first detection units are respectively located at the position where the second transmission member moves along the second direction. Both ends of the trip.
  11. 根据权利要求5所述的取放货装置，其特征在于，所述推拉组件还包括调节板，所述调节板与所述基座连接，所述第一驱动机构与所述调节板连接；所述基座上设有多个调节孔，多个所述调节孔沿所述第二方向排布，所述调节板可与不同的所述调节孔配合，以调节所述调节板与所述基座沿所述第二方向的相对位置。The device for picking and placing goods according to claim 5, characterized in that the push-pull assembly further includes an adjustment plate, the adjustment plate is connected to the base, and the first driving mechanism is connected to the adjustment plate; The base is provided with a plurality of adjustment holes, and the plurality of adjustment holes are arranged along the second direction. The adjustment plate can cooperate with different adjustment holes to adjust the adjustment plate and the base. The relative position of the seat along the second direction.
  12. 根据权利要求1-3任一项所述的取放货装置，其特征在于，所述伸缩组件还包括第二驱动机构，所述第二驱动机构包括第二驱动单元、柔性传动件和传动轮组，所述传动轮组包括多个平行设置的传动轮，多个所述传动轮分别位于所述固定件和所述伸缩件上，所述柔性传动件绕设于多个所述传动轮上；The pick-and-place device according to any one of claims 1 to 3, characterized in that the telescopic assembly further includes a second driving mechanism, and the second driving mechanism includes a second driving unit, a flexible transmission member and a transmission wheel. The transmission wheel set includes a plurality of transmission wheels arranged in parallel, the plurality of transmission wheels are respectively located on the fixed member and the telescopic member, and the flexible transmission member is wound around the plurality of transmission wheels. ;
    所述推拉组件与所述伸缩件移动连接，所述基座与所述柔性传动件连接并随所述柔性传动件而移动，所述第二驱动单元连接于所述传动轮，并用于驱动所述传动轮转动，以使所述柔性传动件在所述传动轮驱动下绕多个所述传动轮传动，并带动所述伸缩件和所述推拉组件中的至少一者沿所述第一方向移动。The push-pull component is movably connected to the telescopic member, the base is connected to the flexible transmission member and moves with the flexible transmission member, and the second driving unit is connected to the transmission wheel and used to drive all The transmission wheel rotates, so that the flexible transmission member is driven by the transmission wheel to transmit around a plurality of the transmission wheels, and drives at least one of the telescopic member and the push-pull assembly along the first direction. move.
  13. 根据权利要求12所述的取放货装置，其特征在于，还包括锁止联动组件，所述锁止联动组件设置于所述伸缩组件上，所述锁止联动组件的至少部分结构可随所述伸缩件移动并与所述固定件卡接或分离，以将所述伸缩件与所述固定件之间锁定或解锁；The loading and unloading device according to claim 12, further comprising a locking linkage component, the locking linkage component is disposed on the telescopic component, and at least part of the structure of the locking linkage component can be adapted to any situation. The telescopic part moves and is engaged or separated from the fixed part to lock or unlock the telescopic part and the fixed part;
    所述伸缩件和所述固定件之间解锁时，所述传动轮组被构造为在所述柔性传动件传动时带动所述伸缩件沿所述第一方向伸缩；When the telescopic part and the fixed part are unlocked, the transmission wheel set is configured to drive the telescopic part to telescope in the first direction when the flexible transmission part is driven;
    所述伸缩件和所述固定件之间锁定时，所述传动轮组中的各所述传动轮的相对位置均不变。When the telescopic part and the fixed part are locked, the relative position of each transmission wheel in the transmission wheel set does not change.
  14. 根据权利要求13所述的取放货装置，其特征在于，所述伸缩件的两端分别设有第一限位部和 第二限位部，所述伸缩件与所述固定件解锁时，所述推拉组件与所述第一限位部或所述第二限位部抵接，以使所述伸缩件沿所述第一方向伸出或者缩回。The device for picking and placing goods according to claim 13, characterized in that, both ends of the telescopic member are respectively provided with first limiting parts and The second limiting part, when the telescopic part and the fixed part are unlocked, the push-pull component abuts the first limiting part or the second limiting part, so that the telescopic part moves along the Extend or retract in the first direction.
  15. 根据权利要求13所述的取放货装置，其特征在于，多个所述传动轮包括多个内传动轮和至少一个外传动轮，所述柔性传动件绕设在多个所述内传动轮外侧，所述外传动轮抵接于所述柔性传动件的外周面；The pick-and-place device according to claim 13, wherein the plurality of transmission wheels includes a plurality of inner transmission wheels and at least one outer transmission wheel, and the flexible transmission member is arranged around the outside of the plurality of inner transmission wheels. , the outer transmission wheel is in contact with the outer peripheral surface of the flexible transmission member;
    所述外传动轮和部分所述内传动轮连接于所述伸缩件，所述伸缩件和所述固定件之间解锁且所述柔性传动件传动时，连接于所述伸缩件的所述传动轮相对于连接于所述固定件的所述传动轮沿所述第一方向移动，以带动所述伸缩件伸缩。The outer transmission wheel and part of the inner transmission wheel are connected to the telescopic part. When the telescopic part and the fixed part are unlocked and the flexible transmission part is driven, the transmission wheel connected to the telescopic part The transmission wheel connected to the fixed component moves along the first direction to drive the telescopic component to expand and contract.
  16. 根据权利要求15所述的取放货装置，其特征在于，多个所述内传动轮包括由所述柔性传动件的传动方向依次排布的第一传动轮、第二传动轮和第四传动轮，所述外传动轮包括第三传动轮，所述第三传动轮设置于所述第二传动轮和所述第四传动轮之间，所述第一传动轮和所述第一驱动单元均设置于所述固定件的第一端，且所述第一驱动单元驱动所述第一传动轮转动，所述第二传动轮设置于所述固定件的第二端，所述第三传动轮设置于所述伸缩件的第一端，所述第四传动轮设置于所述伸缩件的第二端；The picking and placing device according to claim 15, characterized in that the plurality of inner transmission wheels include a first transmission wheel, a second transmission wheel and a fourth transmission wheel arranged in sequence according to the transmission direction of the flexible transmission member. wheel, the outer transmission wheel includes a third transmission wheel, the third transmission wheel is disposed between the second transmission wheel and the fourth transmission wheel, the first transmission wheel and the first driving unit both The first drive unit drives the first transmission wheel to rotate, the second transmission wheel is provided at the second end of the fixed component, and the third transmission wheel The fourth transmission wheel is provided at the first end of the telescopic member, and the fourth transmission wheel is provided at the second end of the telescopic member;
    所述基座与所述第一传动轮和所述第四传动轮之间的所述柔性传动件连接。The base is connected to the flexible transmission member between the first transmission wheel and the fourth transmission wheel.
  17. 根据权利要求16所述的取放货装置，其特征在于，所述伸缩件上设置有沿所述第一方向延伸的第一导轨，所述基座朝向所述伸缩件的一侧设置有滑块，所述第一导轨与所述滑块配合并支撑所述基座。The loading and unloading device according to claim 16, wherein the telescopic member is provided with a first guide rail extending along the first direction, and the base is provided with a slider on one side facing the telescopic member. block, the first guide rail cooperates with the slide block and supports the base.
  18. 根据权利要求17所述的取放货装置，其特征在于，所述锁止联动组件包括连杆机构和卡接件，所述连杆机构包括固定杆和多个活动杆，所述固定杆与多个所述活动杆依次连接，且所述固定杆与所述伸缩件固定连接，所述活动杆可相对于所述伸缩件摆动；The device for picking and placing goods according to claim 17, characterized in that the locking linkage assembly includes a linkage mechanism and a clamping member, the linkage mechanism includes a fixed rod and a plurality of movable rods, the fixed rod and A plurality of the movable rods are connected in sequence, and the fixed rod is fixedly connected to the telescopic part, and the movable rod can swing relative to the telescopic part;
    所述卡接件的第一端与所述固定杆转动连接，所述卡接件的第二端与多个所述活动杆中的任一者转动连接，且所述卡接件在所述活动杆的带动下转动，以使所述卡接件与所述固定件卡接或分离。The first end of the clamping member is rotationally connected to the fixed rod, the second end of the clamping member is rotationally connected to any one of the plurality of movable rods, and the clamping member is in the The movable rod is driven to rotate, so that the clamping part is connected with or separated from the fixed part.
  19. 根据权利要求18所述的取放货装置，其特征在于，多个所述活动杆中的至少一者上设置有触发件，所述滑块上设置有推力件，所述滑块移动至所述第一导轨延伸方向的不同位置时，所述推力件可与所述触发件抵接或分离，且所述推力件与所述触发件抵接时，所述推力件驱动所述活动杆摆动，以使所述卡接件与所述固定件分离。The device for picking and placing goods according to claim 18, characterized in that at least one of the plurality of movable rods is provided with a trigger member, and the slide block is provided with a thrust member, and the slide block moves to the desired position. At different positions in the extension direction of the first guide rail, the thrust member can contact or separate from the trigger member, and when the thrust member contacts the trigger member, the thrust member drives the movable rod to swing , to separate the clamping component from the fixing component.
  20. 根据权利要求19所述的取放货装置，其特征在于，所述锁止联动组件还包括弹性件，所述弹性件的第一端与所述固定杆连接，所述弹性件的第二端与所述卡接件连接，所述推力件与所述触发件分离时，所述弹性件拉动所述卡接件转动，以使所述卡接件与所述固定件卡接。The device for picking and placing goods according to claim 19, characterized in that the locking linkage assembly further includes an elastic member, the first end of the elastic member is connected to the fixed rod, and the second end of the elastic member Connected to the clamping member, when the thrust member is separated from the triggering member, the elastic member pulls the clamping member to rotate, so that the clamping member is clamped with the fixing member.
  21. 根据权利要求20所述的取放货装置，其特征在于，所述固定杆沿所述第一方向延伸，所述固定杆的长度与所述第一导轨的长度相匹配；多个所述活动杆包括第一活动杆、第二活动杆和第三活动杆，所述第一活动杆和所述第二活动杆分别与所述固定杆的两端转动连接，所述第三活动杆的两端分别与所述第一活动杆和所述第二活动杆转动连接；The loading and unloading device according to claim 20, wherein the fixed rod extends along the first direction, and the length of the fixed rod matches the length of the first guide rail; a plurality of the movable rods extend along the first direction. The rod includes a first movable rod, a second movable rod and a third movable rod. The first movable rod and the second movable rod are respectively rotationally connected to both ends of the fixed rod. Both ends of the third movable rod The ends are respectively rotatably connected to the first movable rod and the second movable rod;
    所述卡接件的第二端与所述第三活动杆转动连接，所述触发件包括设置在所述第一活动杆上的第一触发件和设置在所述第二活动杆上的第二触发件，以在所述滑块移动至所述第一导轨的行程两端时，分别触发所述第一触发件和所述第二触发件。The second end of the clamping member is rotationally connected to the third movable lever, and the triggering member includes a first triggering member provided on the first movable lever and a third triggering member provided on the second movable lever. Two triggering parts are used to respectively trigger the first triggering part and the second triggering part when the slider moves to both ends of the stroke of the first guide rail.
  22. 根据权利要求21所述的取放货装置，其特征在于，所述第一触发件位于固定杆与所述第三活动杆之间，所述第二触发件位于所述固定杆背离所述第三活动杆的一侧。The loading and unloading device according to claim 21, wherein the first triggering member is located between the fixed rod and the third movable rod, and the second triggering member is located between the fixed rod and the third movable rod. Three movable levers on one side.
  23. 根据权利要求20所述的取放货装置，其特征在于，所述卡接件的第一端设置有卡接部，所述固定件上设置有沿所述第一方向排布的多个卡接槽，所述卡接件与所述固定件抵接时，所述卡接部卡入所述卡接槽内。The device for picking and placing goods according to claim 20, characterized in that the first end of the clamping member is provided with a clamping portion, and the fixing member is provided with a plurality of clamps arranged along the first direction. When the clamping part abuts against the fixing part, the clamping part snaps into the clamping slot.
  24. 根据权利要求19-23任一项所述的取放货装置，其特征在于，所述传动轮组和所述柔性传动件均为两个，且所述传动轮组和所述柔性传动件成对设置于所述伸缩组件的两侧；两个所述传动轮组的所述第一传动轮通过驱动轴连接，所述第一驱动单元的输出端与所述驱动轴连接。The pick-and-place device according to any one of claims 19 to 23, characterized in that there are two transmission wheel sets and two flexible transmission parts, and the transmission wheel set and the flexible transmission part are two. The pairs are arranged on both sides of the telescopic assembly; the first transmission wheels of the two transmission wheel sets are connected through a drive shaft, and the output end of the first drive unit is connected to the drive shaft.
  25. 根据权利要求24所述的取放货装置，其特征在于，所述锁止联动组件还包括第三触发件，所述第三触发件与所述固定杆转动连接，并延伸至所述伸缩件承载所述物料箱的一侧；所述第三触发件与所述卡接件抵接，且在所述物料箱与所述第三触发件抵接时，所述第三触发件带动所述卡接件转动，以使伸缩件与固定件分离。The loading and unloading device according to claim 24, wherein the locking linkage assembly further includes a third triggering member, the third triggering member is rotationally connected to the fixed rod and extends to the telescopic member. The side that carries the material box; the third triggering part is in contact with the clamping part, and when the material box is in contact with the third triggering part, the third triggering part drives the The clamping component rotates to separate the telescopic component from the fixed component.
  26. 根据权利要求25所述的取放货装置，其特征在于，所述固定杆上设有避让口，所述第三触发件与所述避让口的侧壁转动连接，所述第三触发件上设有第一抵接部，所述卡接件朝向所述固定杆的一侧设有第二抵接部，所述第二抵接部延伸至所述固定杆的底侧，所述第一抵接部穿过所述避让口与所述第二抵接部抵接，以在所述第三触发件转动时，带动所述卡接件转动。 The loading and unloading device according to claim 25, wherein the fixing rod is provided with an escape opening, the third triggering member is rotationally connected to the side wall of the escape opening, and the third triggering member is A first contact portion is provided, and a second contact portion is provided on one side of the clamping member facing the fixed rod. The second contact portion extends to the bottom side of the fixed rod, and the first The contact portion passes through the escape opening and contacts the second contact portion, so as to drive the latch member to rotate when the third trigger member rotates.
  27. 根据权利要求1-3任一项所述的取放货装置，其特征在于，还包括第二检测单元，所述第二检测单元与所述固定件连接，且所述第二检测单元用于检测所述物料箱的姿态和所述物料箱的电子标识中的至少一者。The pick-and-place device according to any one of claims 1 to 3, further comprising a second detection unit, the second detection unit is connected to the fixing member, and the second detection unit is used to At least one of the attitude of the material box and the electronic identification of the material box is detected.
  28. 根据权利要求1-3任一项所述的取放货装置，其特征在于，所述取放货装置还包括旋转组件，所述旋转组件包括固定支架、第三驱动单元和旋转平台，所述第三驱动单元用于驱动所述旋转平台相对于所述固定支架转动，所述伸缩组件设置在所述旋转平台上。The device for picking and placing goods according to any one of claims 1 to 3, characterized in that, the device for picking and placing goods further includes a rotating assembly, the rotating assembly includes a fixed bracket, a third driving unit and a rotating platform, The third driving unit is used to drive the rotating platform to rotate relative to the fixed bracket, and the telescopic assembly is provided on the rotating platform.
  29. 一种搬运机器人，其特征在于，包括机器人主体、升降装置和如权利要求1-28任一项所述的取放货装置，所述升降装置设置于所述机器人主体上，并可沿所述机器人主体的高度方向移动，所述取放货装置设置于所述升降装置上。A handling robot, characterized in that it includes a robot main body, a lifting device and a loading and unloading device according to any one of claims 1 to 28, the lifting device is arranged on the robot main body and can be moved along the The robot body moves in the height direction, and the loading and unloading device is arranged on the lifting device.
  30. 根据权利要求29所述的搬运机器人，其特征在于，所述机器人主体包括底座和储物架，所述储物架安装于所述底座上，所述升降装置设置于所述储物架上，且可沿所述储物架的高度方向移动；The handling robot according to claim 29, wherein the robot body includes a base and a storage rack, the storage rack is installed on the base, and the lifting device is provided on the storage rack, And can move along the height direction of the storage rack;
    所述储物架上设置有多个储物槽，多个所述储物槽沿所述储物架的高度方向间隔分布。 The storage rack is provided with a plurality of storage slots, and the plurality of storage slots are spaced apart along the height direction of the storage rack.
PCT/CN2023/096916 2022-06-01 2023-05-29 Goods storage and retrieval apparatus and transport robot WO2023231984A1 (en)

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CN202210617489.1 2022-06-01
CN202210617489.1A CN114803260A (en) 2022-06-01 2022-06-01 Goods taking and placing device and transfer robot

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WO2023231984A1 true WO2023231984A1 (en) 2023-12-07

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CN117464344A (en) * 2023-12-26 2024-01-30 今创集团股份有限公司 Energy storage container assembly quality
CN117900139A (en) * 2024-03-18 2024-04-19 太原福莱瑞达物流设备科技有限公司 Multidirectional sorting stack conveyor
CN118061146A (en) * 2024-04-17 2024-05-24 洛阳圣鑫重工科技有限公司 Power detection equipment strorage device and power equipment detects car

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CN115057147B (en) * 2022-08-08 2022-11-01 湖南工商大学 Commodity circulation transportation is with anticollision type express delivery storage device and get and put device
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CN118061146A (en) * 2024-04-17 2024-05-24 洛阳圣鑫重工科技有限公司 Power detection equipment strorage device and power equipment detects car

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