CN209684551U - Movable equipment - Google Patents

Abstract

The utility model relates to warehouse logistics technical fields, more particularly to a kind of movable equipment.A kind of movable equipment, to grab and carry object to be handled, including main body and the grasping mechanism connecting with the main body, the main body can be moved, and the grasping mechanism being capable of the relatively described bulk motion.The width in passageway in warehouse can be saved using the movable equipment, to keep the arrangement in warehouse more compact, while improving utilization rate of warehouse, improve cargo transport efficiency.

Description

Movable equipment

Technical field

The utility model relates to warehouse logistics technical fields, more particularly to a kind of movable equipment.

Background technique

Warehouse logistics refer mainly to utilize self-built or lease storehouse, place, storage, keeping, handling, dispatching cargo.Closely Over year under the overall situation of e-commerce rapid development, when the robot cargo transport technology in modern warehouse logistics field has become Lower hot spot.Compared with traditional shipping mode, have high degree of automation, flexible in application, safe and reliable, high-efficient etc. many excellent Point, these advantages are but also robot cargo transport technology becomes the important technology in modern logistics warehousing system.

Currently, robot cargo transport during, for robot can be passed through, general passageway can all be arranged compared with Width the movement such as advances, retreats, turns and rotates in place to allow robot to realize in passageway.And wider mistake is set Road, it is necessary to purchase or lease bigger storehouse or place, not only increase in this way cost and increase cargo transport away from From low efficiency of freighting.

Utility model content

Based on this, it is necessary to which in view of the above technical problems, it is removable to provide that a kind of cargo storage density is high, cargo transport is high-efficient Dynamic equipment.

In order to achieve the above objectives, the utility model uses following technical proposal:

A kind of movable equipment is grabbed to grab and carry object to be handled including main body and with what the main body was connect Mechanism is taken, the main body can move, and the grasping mechanism being capable of the relatively described bulk motion.

The grasping mechanism includes prong unit and the driving prong unit motion in one of the embodiments, Flexible driving unit, the prong unit include the fixed frame for being installed on the main body, are installed on the fixed frame and being capable of phase To the fixed frame movement the first prong and with first prong connection and can first prong it is opposite described in Second prong of fixed frame relatively described first tine motion when moving, the flexible driving unit and first prong connect It connects, for driving the relatively described fixed frame movement of first prong.

Pass through company between first prong and second prong and the fixed frame in one of the embodiments, Connected components connection, the connection component is to drive second fork when first prong fixed frame relatively moves Relatively described first tine motion of tooth.

The connection component is stroke amplifier module in one of the embodiments, and the stroke amplifier module can be When the flexible driving unit drives first tine motion, the movement travel of second prong is made to be greater than first fork The movement travel of the relatively described fixed frame of tooth.

In one of the embodiments, the stroke amplifier module include first pulley, the first drawstring, second pulley and Second drawstring, the first pulley are fixed on first prong, and the fixed frame is fixed in one end of first drawstring, The other end is around in the first pulley and is fixed on second prong, and the second pulley is fixed on first prong, Second prong is fixed in one end of second drawstring, and the other end is around in the second pulley and is fixed on the fixation Frame.

It is equipped between the fixed frame and first prong to be in one of the embodiments, oriented to first fork First guide frame of tooth movement, is equipped between first prong and second prong to be oriented to the second tine motion Second guide frame.

In one of the embodiments, first guide frame include the first directive wheel on the fixed frame with And it is opened in the first guide groove on first prong, first directive wheel is adapted to first guide groove；Described Two guide frames include that the second directive wheel being set on second prong and second be opened on first prong are led To slot, second directive wheel is adapted to second guide groove.

The flexible driving unit includes the first actuator, gear and rack gear in one of the embodiments, and described the One actuator is equipped with output shaft, and first actuator is installed on the fixed frame, and the gear is installed on the output Axis, the rack gear is connect with first prong and the rack gear and the gear mesh.

The grasping mechanism further includes lifting unit in one of the embodiments, the prong unit and the lifting Unit connection, the lifting unit installation on the body, and can move in the vertical direction relative to the main body.

The grasping mechanism further includes rotary unit in one of the embodiments, the rotary unit and the lifting Unit is connected and can be rotated relative to the lifting unit, and is gone up and down under the drive of the lifting unit, the prong unit It is mounted on the rotary unit.

The grasping mechanism further includes image acquisition units in one of the embodiments, and described image acquisition unit is used To acquire the posture information for carrying object on second prong.

The movable equipment further includes processing unit in one of the embodiments, and the processing unit can control The posture information of the carrying object of acquisition described in described image acquisition unit, and the control rotary unit, lifting unit movement.

Compared with prior art, the movable equipment is by being arranged flexible driving unit and prong unit, so that institute Cargo can be grabbed in such a way that side is inserted by stating movable equipment, and movable equipment is without turning or original place rotation, to save The arrangement of the width in province passageway, warehouse is more compact, while improving the utilization rate in warehouse, shortens the distance of cargo transport, mentions High cargo transport efficiency.

Detailed description of the invention

Fig. 1 is warehouse structure schematic diagram provided by the utility model；

Fig. 2 is the structural schematic diagram of movable equipment provided by the utility model；

Fig. 3 is the side view of movable equipment provided by the utility model；

Fig. 4 is the structural schematic diagram of grasping mechanism provided by the utility model；

Fig. 5 is the side view of grasping mechanism provided by the utility model；

Fig. 6 is the enlarged drawing in Fig. 5 provided by the utility model at A；

Fig. 7 is the structural schematic diagram of stroke amplifier module provided by the utility model；

Fig. 8 is the working state schematic representation of movable equipment provided by the utility model；

Fig. 9 is another working state schematic representation of movable equipment provided by the utility model；

Figure 10 is another working state schematic representation of movable equipment provided by the utility model.

In figure, warehouse 10, shelf 11, channel 12, object to be handled 14, movable equipment 200, main body 21, driving unit 210, carrier frame 211, driving wheel 212, storage unit 220, pillar 221, partition 222, grasping mechanism 22, lifting unit 240, mounting plate 241, sliding block 2411, positioning plate 2412, rotary unit 250, the second actuator 251, turntable 252, flexible driving Unit 260, the first actuator 261, gear 262, rack gear 263, prong unit 270, fixed frame 271, fixed plate 2711, first are pitched Tooth 272, the second prong 273, recessing groove 273a, stroke amplifier module 274, first pulley 2741, the first drawstring 2742, second are sliding Take turns the 2743, second drawstring 2744, the first guide frame 275, the first directive wheel 275a, the first guide groove 275b, the second guiding knot Structure 276, the second directive wheel 276a, the second guide groove 276b, image acquisition units 280.

Specific embodiment

The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work Every other embodiment obtained, fall within the protection scope of the utility model.

It should be noted that it can be directly on another component when component is referred to as " being installed in " another component Or there may also be components placed in the middle.When a component is considered as " being set to " another component, it, which can be, is directly set Set on another component or may be simultaneously present component placed in the middle.When a component is considered as " being fixed on " another group Part, it, which can be, is directly anchored on another component or may be simultaneously present component placed in the middle.

Unless otherwise defined, all technical and scientific terms used herein are led with the technology for belonging to the utility model The normally understood meaning of the technical staff in domain is identical.Terminology used in the description of the utility model herein only be The purpose of description specific embodiment, it is not intended that in limitation the utility model.Term as used herein " and/or " include Any and all combinations of one or more related listed items.

Referring to Fig. 1, the utility model provides a kind of movable equipment 200, the movable equipment 200 is applied to warehouse 10, to grab and carry object to be handled, the warehouse 10 includes multiple picking stations (not shown), multiple rows of shelf 11, the storehouse Equipped with control centre's (not shown) in library 10, X, Y, Z three-dimensional system of coordinate are constructed in the warehouse, is laid in the warehouse There is positioning identifier, multiple rows of 11 compartment of terrain of shelf is set in the warehouse 10, is formed between the adjacent two rows shelf 11 For the channel 12 that the movable equipment 200 passes through, the picking station, the shelf 11 are equipped with object 14 to be handled；The control Center processed to send instruction, control the movable equipment 200 moved in the warehouse 10 and with the picking station, shelf 11 or movable equipment 200 interact in itself, realize object 14 to be handled on picking station and shelf 11 automatically grab and from Dynamic carrying in the present embodiment, can be pallet on the object 14 to be handled, be also possible to container or cargo.Certainly, described Cargo or container can also be stored on pallet, or empty pallet.

Please refer to figs. 2 and 3, the grasping mechanism that the movable equipment 200 includes main body 21, connect with the main body 21 22 and processing unit (not shown), the main body 21 can move, the grasping mechanism 22 is to be handled to grab and carry Object 14, the processing unit receives the transmitted instruction of the control centre to interact with the control centre, described in control Main body 21 is mobile and grasping mechanism 22 grabs and carry object 14 to be handled.Certainly, in other embodiments, the processing unit Independent operating, and by the independently transmitted instruction of the processing unit, control the mobile main body 21 and the crawl of grasping mechanism 22 and Carry object 14 to be handled.

The main body 21 includes driving unit 210, storage unit 220 and positioning unit (not shown), the driving unit 210 locomotive function to realize the movable equipment 200, the storage unit 220 are set on the driving unit 210, To store the object to be handled 14, the positioning unit is set on the driving unit 210, to match with the positioning identifier It closes to obtain the current location information of the movable equipment 200.The grasping mechanism 22 is set in the storage unit 220 and uses To grab and carry object 14 to be handled.Herein, it is to be understood that the object to be handled of the grasping mechanism 22 crawl and carrying 14 can be, and the grasping mechanism 22 is grabbed from the goods station, shelf, be also possible to the grasping mechanism 22 from storage unit It is grabbed on 220.

The driving unit 210 includes carrier frame 211, driving wheel 212, driving motor (not shown) and the driving Motor is set in the carrier frame 211, and the driving wheel 212 is installed on the carrier frame 211, and electric with the driving Machine connection.The driving motor drives the driving wheel 212 to move, to realize the advance, retrogressing, turning of the movable equipment And the movement such as rotate in place.

Specifically, there are two the driving wheel 212 at least has, and two driving wheels 212 be symmetrically installed on it is described 11 two sides of carrier frame.The quantity of the driving motor can be with the quantity Matching of the driving wheel 212, each driving wheel 212 can drive movement by matching driving motor, i.e., each driving wheel 212 is driven by individual driving motor, with Keep the movement of the movable equipment 200 more flexible.

The driving motor is servo motor or other kinds of motor.The control centre or movable equipment 200 send instruction, and the processing unit on the movable equipment 200 receives instruction, and the instruction is transferred to the driving list Member 210, the driving motor receive instruction, and the driving wheel 212 is driven to keep the movable equipment 200 mobile.

Storage unit 220 includes pillar 221 and partition 222, and the quantity of the pillar 221 has more, the more branch Column 221 is vertically set to the carrier frame 211.Preferably, the more pillars 221 are in a manner of array etc. vertically i.e. along Z Axis direction is set on the carrier frame 11, for example, the quantity of the pillar 221 is three, three pillars 221 can be with The mode of triangular pitch is set on the carrier frame 11；For another example, the quantity of the pillar 221 is four, four branch Column 221 can be set on the carrier frame 11 in such a way that quadrangle is arranged.The partition 222 is connect with the pillar 221, Space of the partition 222 to separate the storage unit 220, to form the moving goods rack for storing the object 14 to be handled 223.Preferably, the partition 222 can be for whole face plate or with hollow out or partition.

The positioning unit is set to the bottom of the carrier frame 211, and the positioning unit is visual sensor or penetrates Video sensor, when the movable equipment 200 is moved to designated position, the positioning unit and the positioning identifier cooperate, To obtain the position of the positioning identifier, that is, the X-coordinate and Y-coordinate value of designated position are obtained, and the location information is fed back To the processing unit of the movable equipment 200, so that the location information is fed back to the control by the movable equipment 200 Center, with arrival designated position of the determination movable equipment 200.

The grasping mechanism 22 main body 21 can move relatively, and the grasping mechanism 22 includes lifting unit 240, rotation Turn unit 250, flexible driving unit 260, prong unit 270 and image acquisition units 280, the lifting unit 240 to install In in the storage unit 220, the rotary unit 250 is installed on the lifting unit 240, and in the lifting unit 24 Under the action of along the main body vertical direction elevating movement, the flexible driving unit 260 and the prong unit 270 are set to On rotary unit 250, and rotate under the action of rotary unit 250, the flexible driving unit 260 with it is described Prong unit 270 connects, and to drive the prong unit 270 to move, the prong unit 270 is to grab object to be handled 14, to object 14 to be handled is put into the storage unit 220 from picking station, the crawl of shelf 11, alternatively, by described to be handled Object 14 is removed from the storage unit 220 is put into the picking station, on shelf 11.Described image acquisition unit 280 is to adopt Collect the pose of object 14 to be handled on the prong unit 270.

Referring to Figure 4 together and Fig. 5, lifting unit 240 include third actuator (not shown), mounting plate 241 and guide rail (not shown), the guide rail are set on the pillar 221 along the length direction of the pillar 221, and the mounting plate 241 is installed In on the guide rail, the rotary unit 250 is installed on the mounting plate 241, the third actuator and the mounting plate 241 directly or indirectly connect, to drive the mounting plate 241 to move along the guide rail, to realize the rotary unit 250 Lifting, that is, realize 280 integral elevating of the flexible driving unit 260, prong unit 270 and image acquisition units.

Further, the third actuator is equipped with the encoder (not shown) to link with the third actuator, institute Encoder is stated to calculate the circle number of the third actuator rotation, and the circle number of calculating is fed back into the processing unit, institute Stating processing unit controls the start and stop of the third actuator according to the value of feedback, and then controls the mounting plate 241 along institute The height of lifting rail is stated, to realize the whole of the flexible driving unit 260, prong unit 270 and image acquisition units 280 Body is elevated to designated position, and grabs and carry object to be handled by the prong unit 270.

Specifically, the elemental height of the prong unit 270 is in the three-dimensional system of coordinate it is known that the object to be handled Three-dimensional coordinate is it is known that which after the movable equipment reaches the designated position in the warehouse, the control centre is to institute The processing unit for stating movable equipment 200 sends the instruction of the required height gone up and down, and the processing unit receives described instruction, and The circle number that the third actuator needs to rotate is calculated by the encoder, is led to control the mounting plate 241 along described The specified height of rail lifting, so that the prong unit 270 lifting is to specified height crawl and carries object to be handled.

Certainly, in other embodiments, the lifting unit 240 is not limited to above-mentioned described structure, can also be it His mechanism, for example, the lifting unit 240 is pulley mechanism, link chain mechanism etc..

Further, the mounting plate 241 includes the sliding block 2411 being installed on the guide rail, and is set to the sliding block Positioning plate 2412 on 2411, the rotary unit 250 are installed on the positioning plate 2412.

Referring to Fig. 6, the rotary unit 250 includes the second actuator 251 and turntable 252, second actuator 251 It is installed on the mounting plate 241, the turntable 252 is rotatably mounted on the mounting plate 241 and drives with described second Part 251 connects, and second actuator 251 drives the turntable 252 to turn an angle, by 12 both racks of channel Object to be handled 14 on 11 grabs, and is put into the storage unit 220, or will be to be handled on the moving goods rack 225 The crawl of object 14 is put into 12 both racks 11 of channel.The flexible driving unit 260, the prong unit 270 and institute It states image acquisition units 280 to be mounted on the turntable 252, and can be rotated with the turntable 252, thus, when described turn When disk 252 rotates, the flexible driving unit 260, the prong unit 270 and described image acquisition unit 280 can be made Unitary rotation.

Further, the angle that the turntable 252 rotates is determined by the movable equipment 200 or the control centre Fixed, the movable equipment 200 or the control centre send rotation instruction, and second actuator 251 receives the rotation Turn instruction, and the turntable 252 is driven to rotate to specified angle.Preferably, second actuator 251 can be servo motor Or other kinds of motor.

Preferably, second actuator 251 is equipped with the encoder to link with second actuator 251 and (schemes not Show), the circle number that the encoder is rotated to calculate second actuator 251, and the circle number of calculating is fed back into the place Unit is managed, the processing unit controls the start and stop of second actuator 251 according to the value of feedback, turns so that control is described The angle that disk 252 rotates, so that the flexible driving unit 260, the prong unit 270 and described image acquisition unit 280 can rotate specified angle, and make to carry object described in 270 face of prong unit.

The flexible driving unit 260 includes the first actuator 261, gear 262 and rack gear 263, first driving Part 261 is equipped with output shaft (not shown), and first actuator 261 is installed on the prong unit 270, the gear 262 are installed on the output shaft, and the rack gear 263 is connect with the prong unit 270 and the rack gear 263 and the gear 262 is ratcheting.First actuator 261 drives the gear 262 to rotate, so that the rack gear 263 be made to hang down in the rack gear 263 It directly in the plane where the column 221, i.e., is moved in X0Y plane, so that the prong unit 270 be driven to move.

First actuator 261 can be servo motor or other kinds of motor.The flexible driving unit 260 Movement travel determine that the movement travel of that is, described rack gear 263 is by can by the movable equipment 200 or the control centre Perhaps the control centre determines that the movable equipment 200 or the control centre send movement and refer to mobile device 200 It enables, is rotated to control first actuator 261, so that the movement of the rack gear 263.

Preferably, first actuator 261 is equipped with the encoder to link with first actuator 261 and (schemes not Show), the circle number that the encoder is rotated to calculate first actuator 261, and the circle number of calculating is fed back into the place Unit is managed, the processing unit controls the start and stop of first actuator 261 according to the value of feedback, to control the tooth The circle number of 262 rotation of wheel, so that the rack gear 263 moves to designated position, so that it is specified to move to the prong unit 270 Position, to carry out carrying the crawl and carrying of object.

Certainly, in other embodiments, the flexible driving unit 260 can also be other flexible driving units, such as It can directly be motor.

The prong unit 270 is collapsible prong unit, and the prong unit 270 includes fixed frame 271, the first prong 272 and second prong 273, the fixed frame 271 be fixed on the turntable 252 and rotated with the rotation of the turntable 252, First prong 272 is installed on the fixed frame 271 and is fixedly connected with the rack gear 263, and simultaneously can be relatively described Fixed frame 271 moves, it is preferable that the rack gear 263 drives first prong 272 to do exercises in X0Y plane, described Second prong 273 connect with first prong 272 to grab the object to be handled 14, the second prong 273 and can be in institute Relatively described first prong 272 is stated when the first prong 272 fixed frame 271 relatively moves in the flat in-plane moving of X0Y.

Specifically, the fixed plate 2711 that the fixed frame 271 can be in substantially " rectangle " and be disposed in parallel relation to one another by two pieces It constituting, two pieces of fixed plates 2711 are fixed on the turntable 252 and the height of two pieces of fixed plates 2711 is consistent, and two pieces Installation space is formed between the fixed plate 2711, the gear 262 and rack gear 263 are located in the installation space.It is described First prong 272 is substantially in " rectangle ".Second prong 273 is substantially in " rectangle ", second prong 273 and described first Prong 272 is arranged in parallel.Further, offer recessing groove 273a on second prong 273, the recessing groove 273a to The position for avoiding described image acquisition unit 280, so that described image acquisition unit 280 can be acquired positioned at second prong The posture information of object to be handled on 273.

Further, pass through company between first prong 272 and second prong 273 and the fixed frame 271 Connected components 274 connect, the connection component 274 to first prong 272 relatively the fixed frame 271 move when, band Relatively described first prong 271 of second prong 273 is moved to move.

Preferably, the connection component 274 is stroke amplifier module, and the stroke amplifier module can be in the flexible drive When moving cell 260 drives first prong 272 to move, the movement travel of second prong 273 is made to be greater than first fork The movement travel of the relatively described fixed frame 11 of tooth 272.In the present embodiment, the stroke amplifier module 274 makes described first The movement travel of the relatively described fixed frame 11 of prong 272 and the movement travel of the relatively described fixed frame 11 of first prong 272 It is proportional to.Herein, the movement travel of the relatively described fixed frame 11 of first prong 272 and first prong 272 The proportionality coefficient of relatively described 11 movement travel of fixed frame is K, and the K can be 2,3 or other numerical value.Certainly, K Specific value can be set according to practical situation.In the present embodiment, for example, working as the K=2, first prong 272 Path increment be 300mm, then the path increment of second prong 273 be 600mm.From the description above it is found that setting stroke Amplifier module 274 is capable of increasing the stroke of second prong 273, to reduce the size of the entire 27 prong unit 270 To save space.

Specifically, referring to Fig. 7, the stroke amplifier module includes first pulley 2741, the first drawstring 2742, second cunning Wheel 2743 and the second drawstring 2744, the first pulley 2741 are fixed on first prong 272, first drawstring The fixed frame 271 is fixed in 2742 one end, and the other end is around in the first pulley 2741 and is fixed on second prong 273, the second pulley 2743 is fixed on first prong 272, and one end of second drawstring 2744 is fixed on described Second prong 273, the other end are around in the second pulley 2743 and are fixed on the fixed frame 271.Preferably, described first is sliding Take turns the center of 2741 centers and the second pulley 2743 in the same plane.

When second prong 273 stretches out, the rack gear 263 drives first prong 272 to stretch out, at this point, described First pulley 2741 is used as driving wheel, and the second pulley 2743 is used as driven wheel, and first drawstring 2742 pulls described the Two prongs 273 are stretched out to amplify 273 elongation of the second prong.When second prong 273 retraction, the rack gear 263 First prong 272 is driven to bounce back, at this point, the second pulley 2743 is used as driving wheel, 2741 conduct of first pulley Driven wheel, second drawstring 2744 pull the retraction of the second prong 273 to amplify 273 amount of recovery of the second prong.

Preferably, the first pulley 2741 is fixed pulley, and the second pulley 2743 is also fixed pulley.

In other embodiments, the stroke amplifier module is not limited to above-mentioned described structure, the stroke amplification group Part can also be realized using other mechanisms, such as ratchet assembly etc..

Further, it is equipped between the fixed frame 271 and first prong 272 to be oriented to first prong First guide frame 275 of 272 movements；It is equipped between first prong 272 and second prong 273 described to be oriented to Second guide frame 276 of the second prong 273 movement.

Specifically, first guide frame 275 include the first directive wheel 275a on the fixed frame 271 with And it is opened in the first guide groove 275b, the first directive wheel 275a and first guide groove on first prong 272 275b adaptation, the first directive wheel 275a can be slided along the first guide groove 275b；Second guide frame 276 Including the second directive wheel 276a being set on second prong 273 and what is be opened on first prong 272 second lead To slot 276b, the second directive wheel 276a is adapted to the second guide groove 276b, and the second directive wheel 276a being capable of edge The second guide groove 276b sliding.Preferably, the first guide groove 275b, the second guide groove 276b are along described The length direction of one prong 272 opens up.

Certainly, in other embodiments, the first guide frame 275, second guide frame 276 are not limited to above-mentioned institute State the structure of description.First guide frame 275, second guide frame 276 can use his structure with it to realize, For example, by using guide rail, slide block structure.

Described image acquisition unit 280 is visual sensor or radio frequency sensor.During use, when described second Prong 273, which stretches out, grabs object to be handled, and the object to be handled bounces back with second prong 273 to be resetted, and described image acquisition is single The pose image of object to be handled on second prong 273 at this time 280 is acquired by member, and by collected pose image It is transferred to the processing unit, and the control centre, the control centre or the processing are transferred to by the processing unit Obtained level appearance image to be handled is compared by unit with the standard pose image of object to be handled, described to be handled to judge Whether object has deviation in the pose of second prong 273, thus in order to correct the deviation.Herein, the deviation includes X-axis deviation, Y-axis deviation, angular deviation.

And specific deviation correction method and principle are as described below.

The use process of the movable equipment 200 is described below:

The movable equipment 200 is removed the object to be handled 14 on the shelf 11 of passageway two sides by prong unit 270 The process transported/grabbed in the storage unit 220 is as follows:

Firstly, as shown in Figure 1, the movable equipment 200 is moved to specified 11 side of shelf from the passageway 12；Institute It states prong unit 270 and is located at initial position, the lifting unit 240 drives the rotary unit 250, the flexible driving single Member 260 rises to the first specified height, makes to specify object 14 to be handled on shelf 11 described in 270 face of prong unit, As shown in Fig. 8, Fig. 9 and Figure 10, the flexible driving unit 260 drives the elongation of the second prong 273 to be handled to specifying The lower section of object 14；The lifting unit 240 continues to rise, and connects the bottom of the object to be handled 14 with second prong 273 It touches and lifts；The flexible driving unit 260 drives second prong 273 to bounce back so that first prong 272 with it is described Second prong 273 folds, so that the object to be handled 14 bounces back simultaneously；

Then, the lifting unit 240 drives the rotary unit 250, the flexible driving unit 260 to rise to specified Second height；The rotation of rotary unit 250 makes storage described in 270 face of prong unit to specified first angle Unit 220；The flexible driving unit 260 drives second prong 273 to extend, and drives the object to be handled 14 common It is moved to storage unit 220；The lifting unit 240 declines, and makes the bottom of the object to be handled 14 and second prong 273 It is detached from；The flexible driving unit 260 drives second prong 273 to bounce back, so that realizing will be on the shelf 11 of passageway two sides Object to be handled 14 carry/grab in the storage unit 220.

The movable equipment 200 by prong unit 270 by the storage unit 220 object to be handled 14 carry/ The process grabbed on the shelf 11 of the passageway two sides is as follows:

Firstly, the movable equipment 200 is moved to specified 11 side of shelf from the passageway；Lifting unit 240 drives The rotary unit 250, the flexible driving unit 260 rise to the second specified height, and the rotation of rotary unit 250 is extremely Specified first angle makes to specify object 14 to be handled in storage unit 220 described in 270 face of prong unit；It is described to stretch Contracting driving unit 260 drives the elongation of the second prong 273 to the lower section for specifying object 14 to be handled；The lifting unit 240 after It is continuous to rise, so that the bottom of the object to be handled 14 is contacted and is lifted with second prong 273；The flexible driving unit 260 Second prong 273 is driven to bounce back, so that the object to be handled 14 bounces back simultaneously.

Then, the lifting unit 240 drives the rotary unit 250, the flexible driving unit 260 to rise to specified The first height, make shelf 11 described in 270 face of prong unit, the flexible driving unit 260 drives second fork Tooth 273 extends, and the object to be handled 14 is driven to be moved to the shelf 11 jointly, and the lifting unit 240 declines, and makes described The bottom of object 14 to be handled and second prong 273 are detached from；The flexible driving unit 260 drives second prong 273 Retraction is folded with first prong 272, carries the object to be handled 14 in the storage unit 220 to realize And grab the shelf 11 of the passageway two sides.

Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited In contradiction, all should be considered as described in this specification.

Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed, But it cannot be understood as the limitations to utility model patent range.It should be pointed out that for the common skill of this field For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to The protection scope of the utility model.Therefore, the scope of protection shall be subject to the appended claims for the utility model patent.

Claims (11)

1. a kind of movable equipment, to grab and carry object to be handled, including main body and the crawl being connect with the main body Mechanism, the main body can move, the grasping mechanism can the relatively described bulk motion, the grasping mechanism includes prong list The flexible driving unit of member and the driving prong unit motion, which is characterized in that the prong unit includes being installed on institute State the fixed frame of main body, be installed on the fixed frame and be capable of the first prong of fixed frame movement relatively and with it is described The connection of first prong and can in first prong fixed frame movement relatively relatively described first tine motion the Two prongs, the flexible driving unit are connect with first prong, for driving the relatively described fixed frame of first prong Movement.

2. movable equipment according to claim 1, which is characterized in that first prong and second prong and It is connected between the fixed frame by connection component, the connection component is in the relatively described fixed frame fortune of first prong When dynamic, relatively described first tine motion of the second prong is driven.

3. movable equipment according to claim 2, which is characterized in that the connection component is stroke amplifier module, institute The fortune of second prong can be made when the flexible driving unit drives first tine motion by stating stroke amplifier module Dynamic stroke is greater than the movement travel of the relatively described fixed frame of first prong.

4. movable equipment according to claim 3, which is characterized in that the stroke amplifier module include first pulley, First drawstring, second pulley and the second drawstring, the first pulley are fixed on first prong, first drawstring The fixed frame is fixed in one end, and the other end is around in the first pulley and is fixed on second prong, the second pulley It is fixed on first prong, second prong is fixed in one end of second drawstring, and the other end is around in described second Pulley is simultaneously fixed on the fixed frame.

5. movable equipment according to claim 1, which is characterized in that set between the fixed frame and first prong There is the first guide frame to be oriented to first tine motion, is equipped with and uses between first prong and second prong To be oriented to the second guide frame of the second tine motion.

6. movable equipment according to claim 5, which is characterized in that first guide frame includes set on described solid The first guide groove determining the first directive wheel on frame and being opened on first prong, first directive wheel and described the One guide groove adaptation；Second guide frame includes the second directive wheel on second prong and is opened in described The second guide groove on first prong, second directive wheel are adapted to second guide groove.

7. movable equipment according to claim 1, which is characterized in that the flexible driving unit includes the first driving Part, gear and rack gear, first actuator are equipped with output shaft, and first actuator is installed on the fixed frame, The gear is installed on the output shaft, and the rack gear is connect with first prong and the rack gear and the gear mesh.

8. movable equipment described in -7 any one according to claim 1, which is characterized in that the grasping mechanism further includes rising Unit drops, and the lifting unit installation on the body, and can move in the vertical direction relative to the main body.

9. movable equipment according to claim 8, which is characterized in that the grasping mechanism further includes rotary unit, institute It states rotary unit to connect and can be rotated relative to the lifting unit with the lifting unit, and in the drive of the lifting unit Lower lifting, the prong unit are mounted on the rotary unit.

10. movable equipment according to claim 9, which is characterized in that the grasping mechanism further includes Image Acquisition list Member, described image acquisition unit carry the posture information of object to acquire on second prong.

11. movable equipment according to claim 10, which is characterized in that the movable equipment further includes that processing is single Member, the processing unit can control the posture information of the carrying object of acquisition described in described image acquisition unit, and described in control Rotary unit, lifting unit movement.