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CN-224225843-U - Taking and placing device and warehousing system

CN224225843UCN 224225843 UCN224225843 UCN 224225843UCN-224225843-U

Abstract

The embodiment of the application provides a pick-and-place device and a warehousing system. The picking and placing device comprises a base, a moving mechanism, a picking and placing component, a first sensor and a second sensor, wherein the base is provided with a bearing area, the bearing area is provided with an inlet and an outlet, the inlet and the outlet are configured to enable a target object to enter and exit the bearing area, the moving mechanism is arranged on the base, the picking and placing component is arranged on the moving mechanism and driven by the moving mechanism to move relative to the base along a first direction so as to be in butt joint with the target object, the picking and placing component can rotate relative to the moving mechanism at least around a first rotating axis, the first sensor is configured to detect the distance between the moving mechanism and the target object, and the picking and placing component rotates relative to the moving mechanism around the first rotating axis under the condition that the first sensor detects that the distance between the first rotating axis and the target object is a first preset distance, so that the picking and placing component can be switched between a butt joint state and a state avoiding state with the target object.

Inventors

  • XIAO YUHUI
  • ZHANG ZHUANG
  • LIANG YAN
  • LOU XUEFEI

Assignees

  • 北京极智嘉科技股份有限公司

Dates

Publication Date
20260512
Application Date
20250123

Claims (20)

  1. 1. A pick-and-place apparatus comprising: A base (211) having a load-bearing region (2111), the load-bearing region (2111) having an access (2112), the access (2112) configured for a target item to enter and exit the load-bearing region (2111); a moving mechanism (212) provided on the base (211); The object taking component (213) is arranged on the moving mechanism (212), and the object taking component (213) is driven by the moving mechanism (212) to move relative to the base (211) along a first direction so as to be in butt joint with the target object; A first sensor (214), the first sensor (214) being configured to detect a distance between the movement mechanism (212) and a target item; In case the first sensor (214) detects that the distance between the first rotation axis and the target object is a first preset distance, the object taking part (213) rotates around the first rotation axis relative to the moving mechanism (212), To switch between a docked state with the target item and an undocked state with the target item; in the abutting state, the object taking component (213) is matched with or disengaged from a stress structure of the target object; and in the avoidance state, the object taking part (213) is avoided from the space where the target object is located.
  2. 2. The pick-and-place device according to claim 1, wherein a first drive assembly (2113) is provided on the base (211), the first drive assembly (2113) being in driving connection with the movement mechanism (212), the first drive assembly (2113) being configured to drive the movement mechanism (212) to move in the first direction relative to the base (211).
  3. 3. The pick-and-place device according to claim 2, wherein the first drive assembly (2113) comprises: A first driving member (2113 a); And the transmission piece (2113 b) extends along the first direction, the transmission piece (2113 b) is connected with the moving mechanism (212), and the first driving piece (2113 a) is matched with the transmission piece (2113 b) so as to drive the moving mechanism (212) to move.
  4. 4. A pick-and-place device according to claim 3, wherein the first driving member (2113 a) is provided on the base (211), and wherein the transmission member (2113 b) comprises: The screw rod is arranged on the base (211) along the first direction and is in transmission connection with the first driving piece (2113 a); And the screw nut is sleeved on the periphery of the screw, is connected with the moving mechanism (212), and drives the moving mechanism (212) to move along the first direction under the condition that the first driving piece (2113 a) drives the screw to rotate.
  5. 5. A pick-and-place device according to claim 3, wherein the first driving member (2113 a) is provided on the base (211), and wherein the transmission member (2113 b) comprises: A drive gear in driving connection with the first drive member (2113 a); A drive belt wound around the drive gear, the drive belt being arranged in the first direction, the drive belt being connected to the movement mechanism (212); the first driving piece (2113 a) drives the driving belt through the driving gear so as to drive the moving mechanism (212) to move along the first direction.
  6. 6. A pick-and-place device according to claim 3, wherein said first driving member (2113 a) is provided in said movement mechanism (212), and said transmission member (2113 b) comprises: a transmission member provided on the base (211) along the first direction; The first driving piece (2113 a) drives the meshing gear to rotate, and the meshing gear walks along the driving piece so as to drive the moving mechanism (212) to move along the first direction.
  7. 7. A pick-and-place device according to claim 3, wherein the base (211) is provided with a sliding rail (2114), the sliding rail (2114) extending in the first direction, and the moving mechanism (212) comprises: A slider (2124) slidably disposed on the slide rail (2114); And a third mounting bracket (2125) provided on the slider (2124), and the first driving member (2113 a) is provided on the third mounting bracket (2125).
  8. 8. The pick-and-place device according to claim 1, characterized in that the base (211) is provided with a conveying mechanism (2115), said conveying mechanism (2115) extending in the first direction; Under the condition that the object taking component (213) drives the target object to enter the bearing area (2111) from the inlet and outlet (2112) and move to a preset position, the object taking component (213) is disengaged from the target object; Or alternatively Under the condition that the conveying mechanism (2115) drives the target object to move from the bearing area (2111) to the inlet and outlet (2112) to a preset position, the object taking component (213) is matched with the target object, and pushes the target object to move towards the inlet and outlet (2112).
  9. 9. The pick-and-place device according to claim 8, wherein said conveying means (2115) comprise two, two of said conveying means (2115) being spaced apart along a second direction, said second direction intersecting said first direction.
  10. 10. Pick-and-place device according to claim 8, characterized in that said base (211) is provided with a second sensor (2116), said second sensor (2116) being configured to detect the position of said target item in said carrying area (2111) to determine whether said target item has reached said preset position.
  11. 11. The pick-and-place device according to claim 10, characterized in that the second sensor (2116) comprises a first correlation sensor, a first signal emitting element (2116 a) of the first correlation sensor being provided on one side of the carrying area (2111), a first signal receiving element (2116 b) of the first correlation sensor being provided on the other side of the carrying area (2111), a signal transmission path of the first correlation sensor intersecting with a direction of movement of the target object in the carrying area (2111); When the target object moves from the inlet and outlet (2112) to the bearing area (2111) and the first signal receiving element (2116 b) does not receive the signal sent by the first signal transmitting element (2116 a), determining that the target object moves to a preset position, and removing the matching of the object taking part (213) and the stressed structure; when the target object moves from the bearing area (2111) to the inlet and outlet (2112) and the first signal receiving element (2116 b) receives the signal sent by the first signal transmitting element (2116 a), the target object is determined to move to a preset position, and the object taking component (213) is matched with the stressed structure.
  12. 12. Pick-and-place device according to claim 10, characterized in that the second sensor (2116) is located in the middle of the carrying area (2111) in the first direction.
  13. 13. The pick-and-place device according to claim 10, wherein a third sensor (2117) is provided on the base (211), the third sensor (2117) being provided at the access opening (2112), the third sensor (2117) being configured to detect whether the target item is present at the access opening (2112); In the case that the target object exists in the inlet and outlet (2112), the object taking component (213) is disengaged from the force bearing structure according to the preset position determined by the second sensor (2116), or the object taking component (213) is engaged with the force bearing structure according to the preset position determined by the second sensor (2116).
  14. 14. The pick-and-place device according to claim 13, characterized in that the third sensor (2117) comprises a second correlation sensor, wherein a second signal emitting element (2117 a) of the second correlation sensor is arranged at one side of the carrying area (2111), wherein a second signal receiving element (2117 b) of the second correlation sensor is arranged at the other side of the carrying area (2111), wherein a signal transmission path of the second correlation sensor intersects with the movement direction of the target object at the access opening (2112); -determining that the target item is present at the access opening (2112) in case the second signal receiving element (2117 b) does not receive the signal emitted by the second signal emitting element (2117 a).
  15. 15. The pick-and-place device of any one of claims 1-13, wherein, The moving mechanism (212) is provided with a second mounting bracket (2121), the second mounting bracket (2121) is rotatably arranged on the moving mechanism (212) around a second rotation axis, the object taking component (213) and the first sensor (214) are arranged on the second mounting bracket (2121), and the second rotation axis is different from the first rotation axis in direction.
  16. 16. The pick-and-place device according to claim 15, wherein said access opening (2112) comprises a first access opening (2112 a) and a second access opening (2112 b), said first access opening (2112 a) and said second access opening (2112 b) being arranged opposite in said first direction; The second mounting bracket (2121) rotates around the second rotation axis relative to the moving mechanism (212) so as to drive the object taking component (213) and the first sensor (214) to face any one of the first inlet and outlet (2112 a) and the second inlet and outlet (2112 b).
  17. 17. The pick-and-place device according to claim 16, wherein a second driving member (2122) is provided on the second mounting bracket (2121), the second driving member (2122) being in driving connection with the pick-and-place member (213), the second driving member (2122) being configured to drive the pick-and-place member (213) to rotate about the first rotation axis with respect to the movement mechanism (212).
  18. 18. The pick-and-place device according to claim 16, wherein a third driving member (2123) is provided on the moving mechanism (212), the third driving member (2123) being in driving connection with the second mounting bracket (2121), and the third driving member (2123) being configured to drive the second mounting bracket (2121) to rotate about the second rotation axis relative to the moving mechanism (212) so as to drive the pick-up member (213) to rotate relative to the moving mechanism (212).
  19. 19. The pick-and-place device of claim 16, wherein the movement mechanism (212) is provided with a limiting member (2126), the limiting member (2126) being disposed on a rotational path of the second mounting bracket (2121) about the second rotational axis, the limiting member (2126) being configured to define a rotational angle of the second mounting bracket (2121) relative to the movement mechanism (212) to position the pick-and-place component (213) toward the first access opening (2112 a) or to position the pick-and-place component (213) toward the second access opening (2112 b).
  20. 20. The pick-and-place device according to any of claims 1-13, wherein a fourth sensor (2118) is provided on the base (211), the fourth sensor (2118) being provided at the access opening (2112), the fourth sensor (2118) being configured to detect the presence of a target object on the carrier.

Description

Taking and placing device and warehousing system Technical Field The application belongs to the technical field of storage equipment, and particularly relates to a taking and placing device, namely a storage system. Background In a warehouse system, in order to fully utilize the longitudinal space of the warehouse system, a goods shelf is generally arranged in the warehouse system, and a plurality of layers of goods shelves are arranged along the height direction of the warehouse system to store target objects in the goods shelves, so that the longitudinal space of the warehouse system is fully utilized. To facilitate removal of the target item from the cargo space, or placement of the target item on the cargo space, a pick-and-place mechanism is typically employed to apply a force to the target item against a front face of the target item such that the target item moves from the cargo space to the pick-and-place device, or the target item moves from the pick-and-place device to the cargo space. In the prior art, in order to ensure the stability of acting force applied to a target object by the picking and placing mechanism, a claw is arranged, a hook is rotationally connected with a sliding block on the picking and placing device, the sliding block drives the claw to move along the direction close to a goods space, after the sliding block moves to a proper position, the claw rotates and expands relative to the sliding block and is matched with a hook on the front end face of the target object on the goods space, after the claw is matched with the hook, the claw moves towards the direction far away from the goods, and the target object is transferred from the goods space to the picking and placing device. However, in the related art, when the claw is unfolded, it is difficult to accurately match with the hook on the target object, so that the picking and placing efficiency of the target object is low. Disclosure of utility model The embodiment of the application provides a picking and placing device and a warehousing system, which can be accurately matched with a target object when a claw is unfolded, so that the picking and placing efficiency and safety of the target object are improved. In one aspect, an embodiment of the present application provides a pick-and-place apparatus, including: the base is provided with a bearing area, the bearing area is provided with an inlet and an outlet, and the inlet and the outlet are configured to allow a target object to enter and exit the bearing area; the moving mechanism is arranged on the base; The object taking component is arranged on the moving mechanism, and is driven by the moving mechanism to move along a first direction relative to the base so as to be in butt joint with a target object; A first sensor configured to detect a distance between the moving mechanism and the target object; when the first sensor detects that the distance between the first rotating axis and the target object is a first preset distance, the object taking component rotates around the first rotating axis relative to the moving mechanism, To switch between a docked state with the target item and an undocked state with the target item; in the butt joint state, the object taking component is matched with or disengaged from a stress structure of the target object; In the avoidance state, the object taking part avoids the space where the target object is located. In one implementation, a first drive assembly is provided on the base and is in driving connection with the movement mechanism, the first drive assembly being configured to drive the movement mechanism to move in a first direction relative to the base. In one implementation, a first drive assembly includes: A first driving member; The transmission piece extends along the first direction, the transmission piece is connected with the moving mechanism, and the first driving piece is matched with the transmission piece to drive the moving mechanism to move. In one implementation, the first driving member is disposed on the base, and the transmission member includes: the screw rod is arranged on the base along the first direction and is in transmission connection with the first driving piece; The screw nut is sleeved on the periphery of the screw and connected with the moving mechanism, and the screw nut drives the moving mechanism to move along the first direction under the condition that the first driving piece drives the screw to rotate. In one implementation, the first driving member is disposed on the base, and the transmission member includes: The transmission gear is in transmission connection with the first driving piece; The first driving piece drives the driving belt through the driving gear so as to drive the moving mechanism to move along the first direction. In one implementation, the first driving member is disposed on the moving mechanism, and the transmission member includes: the transmission piece is arranged on the ba