CN111358261A - Logistics terminal - Google Patents

Abstract

The invention provides a logistics terminal. The commodity circulation terminal includes that the tray snatchs the mechanism, and the tray snatchs the mechanism and includes: the support can move towards the direction close to or far away from the tray; the grabbing components are arranged on one side of the support close to the tray and comprise rotating parts with connecting ends; and a synchronization component, the synchronization component comprising: at least two rotating wheels, which are respectively and correspondingly arranged on the rotating parts; and the main synchronous belt is sleeved on the rotating wheels and drives the rotating wheels to synchronously rotate, so that the connecting end of each rotating part is synchronously connected with or separated from the tray under the driving of each rotating wheel. The invention can simplify the control process and has lower cost.

Description

Logistics terminal

Technical Field

The invention relates to the technical field of logistics, in particular to a logistics terminal.

Background

With the rapid development of artificial intelligence technology, automation technology and information technology, the intelligent degree of terminal logistics is continuously improved, and an intelligent logistics terminal is a necessary trend of terminal logistics development and is also a basic device for national construction of smart cities.

At present, intelligence commodity circulation terminal includes the cabinet body, is equipped with the access hole on the cabinet body, and the internal storage area that is equipped with of cabinet to the internal tray that still is provided with of cabinet snatchs part and a plurality of tray, and article can be placed on the tray, and the tray snatchs the part and is used for snatching the tray or place the tray. When the operation of storing and taking articles is carried out, the intelligent logistics terminal controls the tray grabbing component to grab the tray and move to the storing and taking opening or the storing area of the cabinet body to complete the storing and taking of the articles. The tray gripping mechanism generally comprises two or more mechanical arms, and each mechanical arm is independently driven by a motor; in order to enable the tray gripping mechanism to reliably grip the tray, it is necessary to add a device such as a synchronous controller to the plurality of motors, and to synchronize or stop the motors corresponding to the respective robot arms so as to synchronize the operations of the respective robot arms.

However, in the logistics terminal, since devices such as a synchronous controller need to be added to a plurality of motors, the control process is complicated, and the cost is high.

Disclosure of Invention

The invention provides a logistics terminal which can simplify a control process and reduce cost.

The invention provides a logistics terminal which comprises a tray grabbing mechanism, wherein the tray grabbing mechanism comprises at least two grabbing components and a synchronous component, the synchronous component is a belt transmission component and comprises rotating wheels linked with the grabbing components and a main synchronous belt sleeved on the rotating wheels, so that the main synchronous belt can drive the rotating wheels to synchronously rotate as long as the main synchronous belt is driven to run or one of the rotating wheels is driven to rotate, and the grabbing components synchronously act.

In some embodiments of the present application, the axes of the rotating wheels are parallel to each other. This facilitates simultaneous tensioning of the primary timing belt on each of the rotary wheels.

In some embodiments of the application, the outer periphery of the rotating wheel is provided with the outer teeth, the main synchronous belt and the rotating wheel are correspondingly provided with the inner teeth, or the main synchronous belt and the rotating wheel are chains, the meshing mode of the inner teeth and the outer teeth has no elastic sliding and slipping phenomena, the transmission ratio is accurate, and the work is reliable and efficient.

In some embodiments of the present application, the modules and numbers of teeth of the rotating wheels are equal. This ensures that the wheels rotate synchronously.

In some embodiments of the present application, the synchronizing assembly further includes a driving assembly, and the driving assembly is used for driving the main synchronizing belt to run or driving a rotating wheel to drive the main synchronizing belt to run. The driving assembly drives the main synchronous belt to run, the main synchronous belt can drive each rotating wheel to rotate synchronously, if the driving assembly drives one rotating wheel to run, the meshing relation between the rotating wheel and the main synchronous belt can enable the main synchronous belt to run synchronously with the rotating wheel, and then each rotating wheel runs synchronously with the rotating wheel.

In some embodiments of the present application, the drive assembly includes a prime mover located in the region enclosed by the primary timing belt. The space occupied by the drive assembly can be further reduced.

In some embodiments of the present application, the driving assembly further includes a screw transmission mechanism as a transmission mechanism, so that rotation of the output shaft of the prime mover is converted into linear motion of the nut, and the main synchronous belt can be driven to run.

In some embodiments of the present application, the primary timing belt further includes two connection portions with adjustable relative positions to be used as a tensioning mechanism of the primary timing belt.

In some embodiments of the present application, a mounting hole is formed in one of the two connecting portions, and an elongated adjustment hole is formed in the other connecting portion corresponding to the mounting hole, so that the relative position of the two connecting portions can be adjusted by adjusting the position of the fastening member in the adjustment hole.

In some embodiments of the present application, the engaging member of the rotating portion engages and disengages from the engaging portion of the tray to connect and disconnect the grasping assembly and the tray. The tray is not easy to slide in the process of grabbing and releasing the tray, so that the reliability of grabbing the tray by the tray grabbing mechanism is improved.

The construction of the present invention and other objects and advantages thereof will be more apparent from the following description of the preferred embodiments taken in conjunction with the accompanying drawings.

Drawings

Fig. 1 is a schematic perspective view of a logistics terminal 200 according to an embodiment of the invention;

fig. 2 is a schematic structural diagram of a tray grabbing mechanism 100 in a logistics terminal 200 according to an embodiment of the present invention;

fig. 3 is an exploded schematic view of the tray grabbing mechanism 100 in the logistics terminal 200 according to an embodiment of the present invention;

fig. 4 is a schematic diagram illustrating a matching structure of the engaging member 212 and the engaging portion 31 in the tray grabbing mechanism 100 of the logistics terminal 200 according to an embodiment of the present invention;

fig. 5 is an exploded schematic view of the tray grabbing mechanism 100 of the logistics terminal 200 according to an embodiment of the invention;

fig. 6 is a cross-sectional view of the tray gripping mechanism 100 of the logistics terminal 200 according to an embodiment of the invention;

fig. 7 is a schematic structural diagram of the tray grabbing mechanism 100 of the logistics terminal 200 according to the embodiment of the present invention, wherein the number of grabbing components 20 is 3;

fig. 8 is a schematic structural diagram of another structure when the number of the gripping assemblies 2 in the tray gripping mechanism 100 of the logistics terminal 200 is 3 according to the embodiment of the invention;

fig. 9 is a schematic view of an installation structure of a primary timing belt 60 in the tray grabbing mechanism 100 of the logistics terminal 200 according to an embodiment of the present invention;

fig. 10 is an exploded view of the driving assembly 90 of the tray grabbing mechanism 100 of the logistics terminal 200 according to an embodiment of the present invention;

fig. 11 is a schematic view of a connection structure of the tray grabbing mechanism 100 and the telescopic assembly 207 in the logistics terminal 200 according to an embodiment of the present invention.

Description of reference numerals:

100-a tray grabbing mechanism; 10-a support; 11-a housing chamber; 20-a grasping assembly; 21-a rotating part; 211-rotation axis; 2112-first support hole; 2113-second support aperture; 2114-second bearing; 212-a catch; 22-a housing; 221-necking down; 30-a tray; 31-an engaging portion; 311-a duct; 3111-outer contour of the edge of the orifice; 312-a card slot; 313-a body portion; 314-a mounting portion; 50-a synchronization component; 51-a rotator wheel; 511-external teeth; 512-internal teeth; 60-a primary synchronous belt; 61-operation section; 62-a connecting part; 621-mounting holes; 631-an adjustment hole; 633-pressing block; 70-a position sensor; 71-detecting the metal; 72-first fixed support; 73-proximity sensors; 90-a drive assembly; 91-a prime mover; 911-a first fixture; 912-a second fastener; 913-an extended structure; 92-a screw; 93-a nut; 931 — second outer teeth;

200-a logistics terminal; 201-main control cabinet; 2011-access port; 2012-a display unit; 202-storage cabinet; 2021-storage area; 203-a conveying mechanism; 2031-a delivery channel; 204-a sliding assembly; 205-a lifting assembly; 2051-lifting slide rails; 206-a shuttle walking assembly; 207-a telescopic assembly; 2071-supporting plate; 2072 — a first synchronizing wheel; 2073-a first timing belt; 2074-connecting block; 2075-a first slide rail; 2077 — drive motor; 2078-extension arm; 2079-a first slider; 209-canopy; 2091-canopy roof; 2092-canopy support; 210-monitoring unit.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Examples

< basic working principle of Intelligent Logistics terminal >

The intelligent logistics terminal is based on the Internet of things and can identify, temporarily store, monitor and manage articles. The internet of things is a network which connects articles with the internet according to an agreed protocol through information sensing equipment such as Radio Frequency Identification (RFID), an infrared sensor, a global positioning system and a laser scanner, and performs information exchange and communication so as to realize intelligent identification, positioning, tracking, monitoring and management of the articles.

The intelligent logistics terminal is based on the internet of things technology, carries out data acquisition on the stored and accessed objects through various sensors such as RFID and a camera, then transmits the acquired data to the controller for processing, processes all kinds of access mechanisms arranged inside the intelligent logistics terminal, and realizes the reciprocating movement of the objects from the access port to the storage area so as to realize the storage and the access of the objects. And exchange and communicate information through various sensors, including GSM short message reminding, RFID identification, camera monitoring and the like.

< composition of physical distribution terminal >

The logistics terminal provided by the embodiment of the invention can be an intelligent logistics terminal and can also be a common logistics terminal. In this embodiment, an intelligent logistics terminal is taken as an example for explanation, and a common logistics terminal is similar to the intelligent logistics terminal and is not described herein again.

Fig. 1 is a schematic perspective view of a logistics terminal 200 according to an embodiment of the present invention.

Referring to fig. 1, a logistics terminal 200 according to an embodiment of the present invention includes: a main control cabinet 201, a storage cabinet 202, a monitoring unit 210, a canopy 209, a conveying mechanism 203, and a tray grabbing mechanism 100.

The main control cabinet 201 and at least one storage cabinet 202 are connected and assembled in a detachable connection mode to form the logistics terminal 200.

The monitoring unit 210 is used for monitoring the access operation of the operator.

The rain shed 209 is disposed on the top of the main control cabinet 201 and/or the storage cabinet 202 to prevent rain, snow and the like from entering the main control cabinet 201 in rainy days.

The conveying mechanism 203, the tray grasping mechanism 100, and the tray are provided within the logistics terminal 200, the conveying mechanism 203 is used for conveying the tray grasping mechanism 100, the tray grasping mechanism 100 is used for grasping or releasing the tray 30, and the tray 30 is used for carrying the article.

[ Main control cabinet ]

Referring to fig. 1, an access opening 2011 for putting articles in and an access control system (not shown) for controlling the articles to be automatically stored are arranged on the main control cabinet 201, a storage area 2021 for storing articles is arranged in the storage cabinet 202, when the main control cabinet 201 and the storage cabinet 202 are combined, the access opening 2011 is communicated with the storage area 2021, and the access control system controls the conveying mechanism 203 to move between the access opening 2011 and the storage area 2021, so that the conveying mechanism 203 conveys the articles put in from the access opening 2011 to the storage area 2021 for storage, or conveys the articles stored in the storage area 2021 to the access opening 2011, thereby realizing the automatic access of the articles.

The access port 2011 is provided in the body of the main control cabinet 201, and a display unit 2012 in the access control system is also provided in the body of the main control cabinet 201. Among them, the display unit 2012 is used for the user to operate and display image information.

[ storage cabinets ]

Fig. 1 is a schematic diagram of an internal structure of the storage cabinet 202 after one side wall of the storage cabinet is removed, the storage cabinet 202 includes a plurality of storage areas 2021, in this embodiment, the storage area 2021 for storing articles is not visible from the appearance of the storage cabinet 202, and the outer surface is a smooth plane.

A conveying channel 2031 for the conveying mechanism 203 to travel is further disposed in the storage cabinet 202, and the storage area 2021 may be located on one side of the conveying channel 2031 in the Y direction, or may be located on both sides of the conveying channel 2031 in the Y direction, which is not limited in this embodiment.

It should be noted that the logistics terminal 200 shown in fig. 1 includes four storage cabinets 202, the four storage cabinets 202 are uniformly disposed on two sides of the main control cabinet 201 in the X direction, and the two storage cabinets 202 on one side are disposed oppositely in the Y axis direction, but not limited thereto, according to the installation space and the storage requirement of the logistics terminal 200, the number of the storage cabinets 202 may be one or multiple, and the multiple storage cabinets 202 may be located on one side of the main control cabinet 201 or disposed on two sides of the main control cabinet 201.

When the two storage cabinets 202 are disposed oppositely in the Y-axis direction, the two storage cabinets 202 do not need to separately set the conveying channel 2031, the space at the boundary position between the two storage cabinets 202 can be defined as the conveying channel 2031, and the conveying channel 2031 is communicated with the storage cabinets 202 disposed oppositely at two sides, that is, the storage areas 2021 of the storage cabinets 202 at two sides of the conveying channel 2031 are both open, so as to facilitate taking and placing articles from the storage areas 2021 at two sides.

[ monitoring Unit ]

The monitoring unit 210 may be, for example, a 360 ° omni-directional dead-angle-free camera, and the monitoring unit 210 may be disposed at top corners of both sides of the logistics terminal 200 to cover a monitoring surface to the maximum extent, so as to improve the security of the logistics terminal 200.

[ Rainshed ]

The canopy 209 includes canopy roof plate 2091 and canopy support 2092, and canopy roof plate 2091 passes through canopy support 2092 and connects the roof at the main control cabinet 201 cabinet body, and at least partial structure of canopy roof plate 2091 stretches out the place ahead of main control cabinet 201 to ensure that when rainy day, the canopy 209 can hide rain for operating personnel.

Wherein, canopy roof 2091 and canopy support 2092, canopy support 2092 all can adopt the mode of dismantling the connection with the main control cabinet 201 body's roof, for example bolted connection etc..

[ conveying mechanism ]

Referring to fig. 1, the conveyance mechanism 203 includes a slide assembly 204, a lift assembly 205, a shuttle assembly 206, and a telescoping assembly 207.

In the conveying mechanism 203, a sliding assembly 204 is disposed on the conveying channel 2031 in the storage cabinet 202, and the sliding assembly 204 may be a guide rail or a slide block (e.g., a V-shaped slide block) with a sliding groove;

the shuttle unit 206 is disposed on the sliding unit 204 and is slidable relative to the sliding unit 204 along the extending direction (X-axis direction) of the sliding unit 204.

The lifting assembly 205 may include a lifting rail 2051 extending along the Z-axis direction and vertically disposed, and a lifting slider (not shown) capable of lifting along the lifting rail.

One end, for example, the bottom end, of the lifting slide rail 2051 is connected to the shuttle walking assembly 206, so that the lifting slide rail 2051 and the lifting slider can slide along the X-axis direction under the driving of the shuttle walking assembly 206.

The telescopic assembly 207 is connected to the lifting slide block, and therefore can be driven by the lifting slide block to lift up and down along the Z-axis direction. The telescoping assembly 207 may also rotate about the direction of extension (Z-axis) of the lift sled 2051, and the telescoping assembly 207 may also telescope in a direction closer to or farther away from the tray.

The tray grabbing mechanism 100 is connected to the telescopic assembly 207, so that the tray grabbing mechanism can move towards the direction close to the tray or away from the tray under the driving of the telescopic assembly 207.

In the embodiment of the present invention, the tray grabbing mechanism 100 can move along the direction X in fig. 1 by the cooperation of the sliding assembly 204 and the shuttle walking assembly 206, the tray grabbing mechanism 100 can move along the direction Z in fig. 1 by the movement of the lifting slider in the lifting assembly 205, and the tray grabbing mechanism 100 can rotate along the axis Z in fig. 1 and can move along the direction Y in fig. 1 by the movement or rotation of the telescopic assembly 207.

When the conveying mechanism 203 receives an instruction for conveying an article, the access control system calculates coordinate parameters between the tray grabbing mechanism 100 and the article, calculates the shortest movement route of the conveying mechanism 203 through an optimization algorithm, simultaneously starts a servo drive motor of each shaft, the shuttle walking assembly 206 moves rapidly along the X axis, the telescopic assembly 207 moves on the lifting guide rail along the Z axis through the lifting slider, when the telescopic assembly 207 moves to the same height as the article, the telescopic assembly 207 rotates along the Z axis, the tray grabbing mechanism 100 moves rapidly to the front position of the tray where the article is located, and the tray grabbing mechanism 100 grabs the tray and conveys the tray to a specified position (such as a storage area 2021 or an access opening 2011).

[ tray grasping mechanism ]

Fig. 2 is a schematic structural diagram of the tray gripping mechanism 100 in the logistics terminal 200 according to the embodiment of the present invention, and fig. 3 is a schematic exploded structural diagram of the tray gripping mechanism 100 in the logistics terminal 200 according to the embodiment of the present invention.

In an embodiment of the present invention, referring to fig. 2, the tray gripping mechanism 100 includes a support 10, and the support 10 is movable toward or away from the tray 30. For example, the support 10 can be connected to the telescopic assembly 207, and the telescopic assembly 207 can move to a direction close to or away from the tray 30.

The support 10 may extend in a direction perpendicular to the direction toward or away from the tray 30, and may be formed, for example, as a rod-like member. The support 10 has a receiving chamber 11 therein communicating with the outside, and some structural members of the tray grasping mechanism 100 may be disposed in the receiving chamber 11.

Referring to fig. 3, the tray grasping mechanism 100 further includes at least two grasping assemblies 20, the grasping assemblies 20 being disposed on a side of the support base 10 adjacent to the tray 30, the grasping assemblies 20 including a rotating portion 21 having a connecting end.

The number of the grasping units 20 may be determined according to the size of the tray 30, and may be 2, 3 or more, and the grasping units 20 are described below as two.

The structure of the gripper assembly 20 will be described in detail below, and the rotary part 21 of the gripper assembly 20 has a connection end that can be connected to the pallet 30.

For example, referring to fig. 2 and 3, the rotating portion 21 includes: the engaging piece 212 is fixed to one end of the rotating shaft 211 close to the tray 30, and the engaging piece 212 is interlocked with the rotating shaft 211, and the engaging piece 212 is formed as a connecting end of the rotating portion 21.

It is understood that the engaging piece 212 may be formed integrally with or separately from the rotation shaft 211.

The tray 30 is provided with an engaging portion 31 engaged with the engaging member 212, the engaging member 212 can be engaged with the engaging portion 31 when driven by the rotating shaft 211 to rotate in a certain direction, for example, counterclockwise, by a predetermined angle, and the engaging member 212 can be disengaged from the engaging portion 31 when driven by the rotating shaft 211 to rotate in a reverse direction by the predetermined angle, or continue to rotate counterclockwise by the predetermined angle.

It is understood that the coupling and decoupling of the gripper assembly 20 and the tray 30 is achieved by the engagement and decoupling of the engagement piece 212 of the rotating portion 21 with the engagement portion 31 on the tray 30. The tray 30 is not easily slid in the process of grabbing and releasing the tray 30, thereby improving the reliability of the tray grabbing mechanism 100 in grabbing the tray 30.

Fig. 4 is a schematic diagram illustrating a matching structure of the engaging member 212 and the engaging portion 31 in the tray grabbing mechanism 100 of the logistics terminal 200 according to an embodiment of the present invention.

The engaging principle of the engaging member 212 and the engaging portion 31 will be described in detail with reference to fig. 3 and 4.

Referring to fig. 4, the side end of the tray 30 is partially cut away, and the main body of the tray 30 is omitted, and only the structure for connection at the edge is shown. As a possible implementation manner, the end of the engaging member 212 facing away from the rotating shaft 211 is provided with a straight-line-shaped claw, and the straight-line-shaped claw means that the whole claw is elongated in a horizontal plane.

The engaging portion 31 may be provided at an end of the tray 30 near the stand 10. The engaging portion 31 includes a hole 311 for the engaging member 212 to enter, and a locking groove 312, wherein the locking groove 312 is disposed on a sidewall of the hole 311 for matching and locking with the engaging member 212.

Referring to fig. 4, for convenience of processing, the locking groove 312 may be a through groove penetrating through the thickness direction of the tray 30, and the hole 311 is opened on an end surface of the tray 30 close to the grasping unit 20.

The outer profile of the cross section of the hole 311 perpendicular to the axial direction may be greater than or equal to the outer profile of the engaging member 212, so that the engaging member 212 extends into the hole 311.

In addition, at the boundary position between the duct 311 and the locking groove 312, the outer contour 3111 of the edge of the duct may have the same shape as the outer contour of the locking piece 212, or only the outer contour of the edge of the duct 311 is in a long strip shape, and the width dimension 3111 of the outer contour of the edge of the duct 311 is smaller than the length dimension of the long strip-shaped clamping jaw.

The rotating shaft 211 drives the engaging member 212 to extend into the hole 311, and when the engaging member 212 is just located in the slot 312, i.e. close to the boundary position of the hole and the slot, the rotating shaft 211 only needs to rotate by a preset angle, so that the engaging member 212 is blocked on the wall of the slot 312, and the engaging member 212 and the slot 312 can be engaged; the rotation shaft 211 can return to the release position of the engaging piece 212 and the engaging portion 31 by rotating the rotation shaft 211 in the opposite direction by a predetermined angle, and the rotation shaft 211 can bring the engaging piece 212 out of the hole 311 of the engaging portion 31.

In other embodiments, the engaging member 212 may also be a multi-tooth claw, as long as the engaging member can engage with the tray 30 by rotating or rotating in the opposite direction to grip the tray 30, which is not limited in this embodiment.

In the embodiment of the present invention, the rotation shaft 211 is rotatably supported by the support 10, for example, as shown in fig. 3, a first support hole 2112 is provided on an end surface of the support 10 on a side close to the tray 30, and an end of the rotation shaft 211 facing away from the engaging piece 212 may be supported by the first support hole 2112 via a first bearing (not shown).

For better support of the rotating shaft 211, the grasping assembly 20 further includes a housing 22 surrounding the rotating shaft 211, two opposite surfaces of the housing 22, such as an end surface of the housing 22 facing the holder 10, and a second supporting hole 2113 and a third supporting hole (not shown) are respectively provided on the end surface of the housing 22 facing the tray 30, and the second supporting hole 2113 of the housing 22 is coaxially disposed with the first supporting hole 2112 of the holder 10 so that the rotating shaft 211 passes through both the housing 22 and the holder 10.

The end of the housing 22 provided with the second supporting hole 2113 is fixed to the stand 10, and may be regarded as an extended structure of the stand 10. For example, the first bearing may be simultaneously inserted into the first support hole 2112 and the second support hole 2113.

A portion of the rotation shaft 211 near the engaging piece 212 is supported in the third support hole 2114 of the housing 22 through the second bearing 2114.

In order to avoid interference between the end portion of the housing 22 close to the hole 311 and the hole 311 when the engaging member 212 extends into the engaging portion 31, the outer contour of the end portion of the housing 22 close to the hole 311 may form a partial constricted portion 221, the outer contour of the constricted portion 221 may be smaller than the inner contour of the hole 311, and the engaging member 212 may be closer to the tray 30 than the end portion of the housing 22, so that after the engaging member 212 enters the hole 311, the end portion of the constricted portion 221 of the housing 22 may enter the hole 311 without interference with the hole 311.

In other embodiments, referring to fig. 3 and 4, the necking portion 221 may be configured to have an outer contour size gradually increasing from the tray 30 to the support 10, and correspondingly, an inner contour size of the hole 311 gradually increases from the tray 30 to the support 10, so that the necking portion 221 can more easily enter the inside of the hole 311.

Fig. 5 is an exploded view of the tray gripping mechanism 100 of the logistics terminal 200 according to the embodiment of the invention, and fig. 6 is a cross-sectional view of the tray gripping mechanism 100 of the logistics terminal 200 according to the embodiment of the invention.

In the embodiment of the present invention, the tray grabbing mechanism 100 includes at least two grabbing assemblies 20, and a synchronizing assembly 50 is further provided to synchronize the grabbing assemblies 20. The synchronizing assembly 50 may be disposed in the receiving cavity 11 of the stand 10.

Referring to fig. 5 and 6, the synchronization unit 50 includes:

at least two rotary wheels 51, at least two rotary wheels 51 are respectively correspondingly arranged on each rotary part 21; and a main timing belt 60, the main timing belt 60 being wound around the respective rotary wheels 51 and being in a tensioned state.

It will be appreciated that the primary timing belt 60 is under tension, so that the primary timing belt 60 rotates the rotary wheels 51 synchronously when the primary timing belt 60 is running. Alternatively, when one of the rotary wheels 51 rotates, the main timing belt 60 is driven to run, and the rotary wheels 51 are driven to rotate synchronously by the main timing belt 60.

The rotation wheels 51 rotate synchronously, so that the engaging pieces 212 of the rotation portions 21 can be synchronously engaged with or disengaged from the engaging portions 31 of the tray 30 by the rotation wheels 51.

Since the rotor 51 is fixed to the rotating portion 21, when the rotor 51 rotates, the rotating portion 21 is driven to rotate together, and as described above, the rotation of the rotating portion 21 corresponds to the engagement and disengagement of the engaging piece 212 and the engaging portion 31, so that the main timing belt 60 can drive the rotors 51 to rotate synchronously, and the connection end of each rotating portion 21 is driven by the rotors 51 to synchronously connect to or disconnect from the tray 30.

Referring to fig. 6, the rotator 51 may be fixed to the rotation shaft 211 of the rotation part 21, and for example, the rotator 51 may be sleeved on the rotation shaft 211 of the rotation part 21. It will be appreciated that in the case where the rotation wheel 51 is located in the receiving cavity 11 of the cradle 10 and the rotation shaft 211 is located outside the cradle 10, the rotation shaft 211 may pass through the cradle 10 through a bearing or the like and be rotatably supported on the wall portion of the cradle 10.

In order to allow the main timing belt 60 to be tensioned on the rotation wheels 51, the axes O of the rotation wheels 51 need to be parallel to each other. Fig. 5 and 6 show the case where the rotors 51 are axially aligned on the same plane. When the number of the rotation wheels 51 is 3, 4, or more, that is, the tray grasping mechanism 100 includes more grasping assemblies 20, the rotation wheels 51 may still be located on the same plane.

Fig. 7 is a schematic structural diagram of the tray grasping mechanism 100 of the logistics terminal 200 according to the embodiment of the invention, wherein the number of the grasping assemblies 20 is 3.

For example, in the case of the pallet gripping mechanism 100 shown in fig. 7, when the number of the gripping assemblies 20 is 3, the axes of the rotating wheels 51 corresponding to the gripping assemblies 20 are parallel to each other, and the axes are located on the same plane, and the main timing belt 60 is simultaneously sleeved on the three rotating wheels 51.

It is to be noted that, in some embodiments, in order to increase the envelope angle of the middle rotary wheel 51 and the main timing belt 60, a follow-up pulley may be provided on a portion of the main timing belt 60 between the middle rotary wheel 51 and the left rotary wheel 51 as shown in fig. 7, or a follow-up pulley may be provided on a portion of the main timing belt 60 between the middle rotary wheel 51 and the right rotary wheel 51.

In the case of a larger number of the pulleys 51, the axes of the pulleys 51 are parallel to each other and are located in the same plane, and the envelope angles of the intermediate pulleys 51 and the main timing belt 60 can be increased in the same manner, which will not be described in detail herein.

Fig. 8 is a schematic structural diagram of another structure when the number of the gripping assemblies 20 in the tray gripping mechanism 100 of the logistics terminal 200 is 3 according to the embodiment of the invention.

In the case where the number of the rotators 51 is three and the axes of the rotators 51 are parallel to each other but not on the same plane, referring to fig. 8, the axis of each rotator 51 may be three side edges of a triangular prism.

At this time, the main timing belt 60 is simultaneously fitted over the three rotary wheels 51, and the cross section of the main timing belt 60 in the direction perpendicular to the axis has a shape similar to a triangle.

In the case where the number of the rotation wheels 51 is larger, for example, N, the axes of the rotation wheels 51 are parallel to each other, and the axis of the rotation shaft 211 may be N side edges of one N prism.

In the embodiment of the present invention, the outer teeth 511 are provided on the outer circumferential surface of the rotor 51 to increase the frictional force with the contact surface of the main timing belt 60.

And the inner side surface of the main timing belt 60 facing the rotary wheel 51 has inner teeth 512 engageable with the outer teeth 511, or the main timing belt 60 is a chain engageable with the rotary wheel 51. Like this engagement of the internal teeth 512 and the external teeth 511, there is no elastic slip or slip between the rotary wheel 51 and the main timing belt 60, so that the transmission ratio is accurate, the operation is reliable, and the efficiency is high.

For example, the rotary wheel 51 is a timing wheel, and the main timing belt 60 is a timing belt having internal teeth 512; alternatively, the rotary wheel 51 is a sprocket and the main timing belt 60 is a chain. It should be understood that, in the present invention, the main timing belt 60 only needs to generate friction with the rotating wheel 51 and drive the rotating wheel 51 to rotate, and the structure form thereof includes, but is not limited to, a belt, a chain, or other structures.

In the embodiment of the present invention, in order to ensure that the rotating wheels 51 rotate synchronously, the modules and the numbers of teeth of the rotating wheels 51 are equal.

It will be appreciated that the primary timing belt 60 is a somewhat flexible and resilient member, except for the follower tension pulley described above, in order to ensure that each timing belt is always in tension. Special tensioning devices may also be provided.

Fig. 9 is a schematic view of an installation structure of the primary timing belt 60 in the tray gripping mechanism 100 of the logistics terminal 200 according to an embodiment of the invention.

Referring to fig. 9, the primary timing belt 60 includes: the operation section 61, the operation section 61 is sleeved on each rotating wheel 51; and two connecting portions 62, the two connecting portions 62 are respectively connected to two ends of the running section 61, the two connecting portions 62 are connected to each other, and the relative position in the running direction R of the main timing belt 60 is adjustable.

In the above solution, the primary timing belt 60 connects two ends of the belt-shaped running section 61 through two connecting portions 62, and for example, ends of the two connecting portions 62 facing away from the running section 61 are fixed to each other in an overlapping manner. Because the relative position relation of two connecting portion 62 is adjustable, when main hold-in range 60 is too tight, can lengthen the distance of two connecting portion 62, when main hold-in range 60 is too loose, can shorten the distance of two connecting portion 62. The length of the primary timing belt 60 can thereby be adjusted to tension it.

As shown in fig. 9, in some embodiments, one of the two connecting portions 62 is provided with a mounting hole 621, the other one of the two connecting portions 62 is provided with an elongated adjusting hole 631 corresponding to the mounting hole 621, the two connecting portions 62 are connected by a fastener through the mounting hole 621 and the adjusting hole 631, and the extending direction of the adjusting hole 631 is parallel to the running direction R of the main timing belt 60.

For example, the ends of the two coupling parts 62 overlap each other, and the mounting hole 621 and the adjustment hole 631 correspond to each other, and a fastener passes through the mounting hole 621 and the adjustment hole 631 to fix the two coupling parts 62 to each other.

When the length of the main timing belt 60 needs to be adjusted, the fastener is removed, the two connecting portions 62 are moved in the direction away from or close to each other, and since the elongated hole extends in the extending direction of the main timing belt 60, the fastener can still pass through the mounting hole 621 and the adjusting hole 631 to fix the two connecting portions.

It is to be understood that the connecting portion 62 used as the tensioner may be provided on a vertically lower portion of the main timing belt 60. This allows a tightening member to be provided under the timing belt, which can be fixed to the carrier 10 and brought into contact with the end of the running section 62 near the top end surface of the main timing belt 60 to compensate for the sagging of the main timing belt 60 due to gravity.

For the fixing of the two connecting portions 62 and the end of the operation section 61, a fastener such as a bolt may be used for the fixing.

In addition, in order to further achieve good fixation of the operation section 61 and the connecting piece, a pressing block 633 may be further provided, the position of the pressing block 633 may correspond to the fastening position of the connecting portion 62 and the end portion of the operation section 61, the pressing block 633 is located on the side of the end portion of the operation section 61, which is away from the connecting portion 62, and a fastening piece 632 such as a bolt penetrates through the pressing block 633, the end of the operation section 61 and the connecting piece to clamp the end portion of the operation section 61 between the pressing block 633 and the connecting portion 62.

Furthermore, when the pressing block 633 is located inside the running section 61, the surface of the pressing block 633 facing the end of the running section 61 is also provided with external teeth matching the internal teeth of the end of the running section 61. When the primary timing belt 60 is operated, the connecting portion 62 and the end of the running segment 61 can be prevented from slipping.

In the embodiment of the present invention, as described above, the rotation of the rotating portion 21 is used to connect and disconnect the gripper assembly 20 and the tray 30, so the rotation angle of the rotating portion 21 corresponds to the arrangement of the engaging members 212 and the engaging portions 31.

In the embodiment of the present invention, as shown in fig. 4, if the extending direction of the linear claw of the engaging piece 212 is horizontal as the initial position M, and the rotating portion 21 rotates 90 ° around the axis O of the rotating shaft 211, for example, rotates 90 ° clockwise P, the extending direction of the linear claw becomes vertical, that is, the engaging position N, and the engaging piece 212 is firmly engaged with the groove wall of the slot 312; on the basis, when the rotating portion 21 is rotated by 90 ° or rotated by 90 ° again, the extending direction of the linear claw of the engaging piece 212 becomes horizontal again, and the grasping unit 20 can be withdrawn from the slot 312 and the hole 311.

As can be seen from the above example, the main timing belt 60 moves by a distance corresponding to the angle of rotation of the rotary unit 21 during each operation, that is, the moving distance of the timing belt is one quarter of the circumference of the outer circumferential surface of the rotary wheel 51 during each operation, to the main timing belt 60. The above-mentioned horizontal and vertical state transition of the engaging member 212 is just satisfied.

Referring to fig. 9, in order to stop the timing belt running rotation wheel 51 by one quarter of the circumference of the outer circumferential surface thereof, a position sensor 70 may be provided, the position sensor 70 may be provided at a position on the carriage 10 (not shown) corresponding to the connection portion 62, and a sensing metal 71 corresponding to the position sensor 70 may be provided on the connection portion 62.

For example, as shown in fig. 2, 5, and 9, the position sensor 70 may be provided on an end surface of the stand 10 near the tray 30, or a part of the detection member may be connected to the inside of the stand 10 via the first fixing bracket 72.

Referring to fig. 8, the position sensor 70 may have two, and the detection probes of the two sensors correspond to a start position and an end position of the main timing belt 60, respectively, wherein the start position and the end position of the main timing belt 60 correspond to an initial position M and an engagement position N at which the rotating portion 21 rotates, and the detection metal 71 is located in the mount 10 between the start position and the end position of the main timing belt 60.

As described above, at the initial position M where the rotating portion 21 rotates, the detecting metal 71 is located at the starting position corresponding to the initial position, the main timing belt 60 drives the rotation wheels 51 to rotate synchronously, and when the detecting metal 71 is located at the end position, the position sensor 70 corresponding to the end position sends out a position signal, at which time the rotation wheels 51 stop rotating, and the engaging piece 212 corresponding to the rotating portion 21 moves from the horizontal to the vertical.

When the detecting metal 71 is located at the starting position, the position sensor 70 corresponding to the starting position sends a position signal, and the rotating wheel 51 stops rotating, so that the engaging piece 212 corresponding to the rotating part 21 can be moved from the vertical position to the horizontal position.

In the embodiment of the present invention, referring to fig. 2, a proximity sensor 73 may be further disposed on an end surface of the support 10 close to the tray 30, for detecting a relative position between the tray 30 and the support 10. In other examples, to facilitate maintenance updates of the tray 30, the tray may include a body portion 313 and a mounting portion 314 that are detachable from each other. The engaging portion 31 and the like may be provided on the mounting portion 314.

Fig. 10 is an exploded view of the driving assembly 90 of the tray grabbing mechanism 100 of the logistics terminal 200 according to an embodiment of the invention.

With reference to figures 6 and 10 of the drawings,examples of the inventionThe timing assembly 50 further includes a driving assembly 90, wherein the driving assembly 90 is used for driving the main timing belt 60 to run or driving a rotating wheel 51 to drive the main timing belt 60 to run. The drive assembly 90 as a whole may also be located in the receiving cavity 11 of the support 10.

The drive assembly 90 includes a prime mover 91 fixed relative to the support 10, the prime mover 91 having an output shaft 92 that outputs power rotationally.

The motor 91 may be a self-limiting rotary magnet or an electric motor. It will be appreciated that since the rotational motion of the motor corresponds to a small displacement of the timing belt, a speed reducer may be connected to the motor, or the motor itself may be a motor with a speed reducer.

In the embodiment of the present invention, when the driving unit 90 directly drives the rotary wheel 51 to rotate, the output shaft of the motor 91 in the driving unit 90 may be directly connected to the axis of the rotary wheel 51, for example, the output shaft of the motor 91 is coaxially disposed with the rotary shaft 211 in the rotary portion 21, and the end of the rotary shaft 211 away from the engaging piece 212 and the output shaft of the motor 91 may be connected by a coupling or the like.

In this way, the rotation of the output shaft of the motor 91 can be transmitted to the rotary shaft 211 through the coupling, and the rotary wheel 51 and the output shaft of the motor 91 are interlocked. When one of the rotary wheels 51 rotates, the main timing belt 60 engaged therewith is driven to rotate synchronously, and the main timing belt 60 drives the other rotary wheels 51 to rotate synchronously.

When the driving assembly 90 drives the main timing belt 60 to operate, the transmission mechanism can convert the rotation of the output shaft of the prime mover 91 into the linear movement of the main timing belt 60 at a certain position.

Referring to fig. 10, the prime mover 91 is located in a region surrounded by the main timing belt 60. Note that the area surrounded by the primary timing belt 60 refers to an annular area surrounded by surfaces of the primary timing belt 60 facing each other.

This is because the main timing belt 60 is generally a structural member having a certain width, and when the main timing belt 60 is sleeved on the rotating wheel 51, the timing belt is formed into a ring shape, two planes parallel to each other are assumed and attached to the end surfaces of the timing belt, respectively, and then the area enclosed by the two planes and the inner side surface of the timing belt is the area enclosed by the main timing belt 60 defined in this application.

The motor 91 is located in the area surrounded by the main timing belt 60, and may include a case where the motor 91 is located inside the area in a strict sense, or a case where a partial structure of the motor 91 is exposed to the area. This makes use of the area inside the main timing belt 60 that is originally empty, as compared with the case where the motor 91 is directly coupled to the rotary shaft 211, and therefore the space occupied by the drive unit 90 can be further reduced.

In some embodiments, the axial direction of the output shaft of the prime mover 91 may be along the running direction of the main timing belt 60, so that the prime mover 91 is equivalent to being laid across the area surrounded by the main timing belt 60. Of course, the end of the prime mover 91 facing away from the output shaft is spaced from the rotary wheel 51, and the main timing belt 60, to avoid interference with the rotation of the rotary wheel 51.

As described above, the prime mover 91 is located in the receiving chamber 11 of the cradle 10, and in order to avoid interference of the prime mover 91 with the main timing belt 60, a side portion of the prime mover 91 close to the pallet 30 is located in the interval of the main timing belt 60, and thus the side portion can be directly fixed to the corresponding inner wall of the cradle 10.

Or the prime mover 91 is fixed to the mount 10 by a fixing member. For example, referring to fig. 10, the side portion of the second mount 912 is fixed to the corresponding inner wall of the mount 10, the first mount 911 is fixed to the second mount 912, the motor 91 and the speed reducer (not shown) are fixed to the first mount 911, and the output shaft passes through the first mount 911 and is exposed to the screw 92 described below. It will be appreciated that second attachment member 912 is laterally attached to support base 10 and may be considered a cantilevered member.

In this embodiment of the present invention, the driving assembly 90 further includes:

the screw 92 is positioned in the area surrounded by the main synchronous belt 60, the screw 92 is coaxially connected and linked with the output shaft of the prime mover 91, and the axis of the output shaft is parallel to the running direction of the main synchronous belt 60; and

and the nut 93 is screwed outside the screw 92, and the nut 93 is connected with the synchronous belt so that the nut 93 moves along the axial direction of the screw to drive the main synchronous belt 60 to run.

In the above scheme, the screw threads of the nut 93 of the screw 92 are engaged, so that the rotation of the output shaft of the prime mover 91 can be converted into the linear motion of the nut 93, and the nut 93 drives the main synchronous belt 60 to run.

The screw 92 is located in the region enclosed by the main timing belt 60, and the axis of the output shaft of the screw 92 is parallel to the running direction of the main timing belt 60, so that the whole screw 92 and the whole output shaft of the prime mover 91 can be located in the region enclosed by the timing belts, and the space occupied by the grabbing component 20 in the direction of the rotating shaft 211 is not occupied, and the space occupied by the driving component 90 can be further saved.

It should be noted that one end of the screw 92 is connected to the output shaft of the prime mover 91, and the other end thereof may be inserted into the downwardly extending extension 913 of the second fixing member 912 to rotatably support the screw 92, so as to enhance the supporting strength of the screw 92. For example, a through hole is formed in the extension structure 913, and the other end of the screw 92 is inserted through the through hole.

The connection of the nut 93 to the primary timing belt 60 may be achieved by a fastener, such as a bolt or the like. Further, a second external tooth 931 is provided at a position of the nut 93 near the inner surface of the main timing belt 60, and the second external tooth 931 is engaged with the internal tooth at a corresponding position on the inner side surface of the timing belt. So that the nut 93 can reliably drive the timing belt to run.

Further, the coupling position of the nut 93 and the main timing belt 60 may correspond to the coupling position of the coupling portion 62 and the end of the running section 61, so that the nut 93 may be coupled to the coupling portion 62, thereby achieving an effect of sandwiching the running end between the coupling portion 62 and the nut 93.

It should be noted that the screw 92 mentioned in the present application is a screw in a broad sense, and specifically refers to a structure having an external thread on at least a part of the outer surface of a rod-shaped rotator, for example, the screw 92 may be a lead screw or the like.

In the present embodiment, the gripper assembly 20 is oriented toward or away from the tray 30 by means of the retraction assembly 207.

Fig. 11 is a schematic view of a connection structure of the tray grabbing mechanism 100 and the telescopic assembly 207 in the logistics terminal 200 according to an embodiment of the present invention.

Referring to fig. 11, the telescopic assembly 207 includes a support plate 2071, and the support plate 2071 may be coupled to a lifting slider in the lifting assembly 205.

Two first synchronizing wheels 2072 are further disposed on the supporting plate 2071 through two extending arms 2078 at an interval, a first synchronizing belt 2073 is sleeved on the two first synchronizing wheels 2072, the axial directions of the two first synchronizing wheels 2072 are parallel and located in the same plane, and the running direction of the first synchronizing belt 2072 is along a direction K close to or far from the tray 30, for example, along a horizontal direction.

Further, a connecting block 2074 is further fixedly connected to an outer side surface of the first synchronous belt 2073, and the connecting block 2074 is further fixed to the support 10, so that the first synchronous belt 2073 can drive the connecting block 2074 and the support 10 to move towards or away from the tray 30.

On the supporting plate 2071, a driving motor 2077 is further provided, wherein one of the first synchronous wheels 2072 is driven to rotate by the driving motor 2077, and the first synchronous wheel 2072 can drive the first synchronous belt 2073 to run.

In the embodiment of the present invention, in order to support the tray grabbing mechanism 100, the telescopic assembly 207 further includes a sliding rail mechanism.

Referring to fig. 11, the slide rail mechanism includes at least one first slide rail 2075 and a first slider 2079 engaged with the first slide rail 2075.

At least one, for example, two first sliding rails 2075 parallel to each other are provided on the support plate 2071, and the extending direction of the first sliding rails 2075 is parallel to the extending direction of the first synchronous belts 2073, i.e., the direction K approaching or departing from the tray 30.

The first slider 2079 engaged with the first sliding rail 2075 can be connected to the support 10, so that when the first slider 2079 slides relative to the first sliding rail 2075, the support 10 is driven by the first slider 2079 to slide along the first sliding rail 2075, i.e. the support 10 moves along the direction K close to or away from the tray 30.

The telescopic process of the telescopic mechanism is as follows:

the driving motor 2077 drives the first synchronous wheel 2072 to rotate, drives the first synchronous belt 2073 to move, drives the support 10 to move in a direction approaching or separating from the tray 30 by the first synchronous belt 2073, and drives the first slider 2079 to relatively slide with respect to the first slide rail 2075, so that the grabbing assembly 20 fixed on the support 10 also moves in a direction K approaching or separating from the tray 30.

The operation of the tray gripping mechanism 100 according to the embodiment of the present invention will be described.

The grasping mechanism grasps the tray 30:

the telescopic assembly 207 drives the support 10 to move toward the tray 30 until the engaging members 212 of the two grabbing mechanisms are inserted into the corresponding engaging slots 312 of the engaging portions 31. The prime mover 91 drives the main timing belt 60 to rotate, the two rotating wheels 51 are driven by the main timing belt 60 to rotate synchronously by a preset angle, for example, 90 °, the two engaging members 212 rotate synchronously to an engaging position engaging with the engaging slot 312, the support 10 and the tray 30 are linked, and the telescopic assembly 207 drives the support 10 and the tray 30 to return to a home position or directly reach a designated target position.

The gripping mechanism releases the tray 30:

the telescopic assembly 207 drives the support 10 and the tray 30 to move toward the target position of the tray 30 until reaching the target storage area 2021 position of the tray 30. The prime mover 91 drives the main timing belt 60 to rotate in reverse, and the two rotating wheels 51 are driven by the main timing belt 60 to rotate in reverse by a preset angle, for example, 90 °, so that the two engaging members 212 rotate in reverse synchronously to an initial position M out of engagement with the engaging slot 312. The telescopic assembly 207 returns to the home position with the holder 10, and the tray 30 is placed in the target storage area 2021 of the tray 30.

In the logistics terminal 200 of the present invention, according to the first inventive concept, the timing assembly 50 is a belt driving assembly, and includes a rotating wheel 51 linked with each grabbing assembly 20, and a main timing belt 60 sleeved on each rotating wheel 51. In this way, the synchronizing assembly 50 for realizing the synchronous linkage of the grasping assemblies 20 is a mechanical transmission mechanism, and the stability and reliability of the synchronizing assembly are far higher than those of a synchronizer composed of a circuit board, an electronic element and the like.

And under the condition that the number of the grabbing components 20 is more, the synchronization of the grabbing components 20 can be realized only by driving one rotating wheel 51 or the main synchronous belt 60 to rotate, compared with the condition that a driving motor is required to be arranged for each grabbing component 20 in the prior art, the complexity of the system is greatly reduced, and the volume of the whole tray grabbing mechanism 100 is also reduced.

According to the second invention, the axes of the rotating shafts 211 are parallel to each other, so that the group timing belt is relatively stable when being sleeved on the rotating wheels 51, and is not easy to twist.

According to the third invention, the outer teeth 511 are provided on the outer peripheral surface of the rotor 51, the inner teeth 512 are provided in the main timing belt 60 corresponding to the rotor 51, or the chain is provided, and the engagement of the inner teeth 512 and the outer teeth 511 is used to perform the transmission process, so that the rotation of the engaging member 212 can be accurately controlled, and the connection relationship such as the engagement fitting, which requires accurate positioning, can be reliably realized even under the interference of external vibration and the like.

According to the fourth inventive concept, the module and the number of teeth of each rotation wheel 51 are equal. This facilitates miniaturization of the entire tray grasping mechanism 100 and replacement of parts in the subsequent maintenance process.

According to the fifth inventive concept, the timing assembly 50 further includes a driving assembly 90, and the driving assembly 90 is used for driving the main timing belt 60 to run or driving a rotating wheel 51 to drive the main timing belt 60 to run. By the arrangement, no matter the number of the grabbing components 20 is large or small, only one prime motor 91 is needed for driving, and the mechanism complexity is reduced.

According to the sixth inventive concept, the drive assembly 90 includes the prime mover 91 located in the area surrounded by the main timing belt 60. The space occupied by existing components within the mechanism can be fully utilized, thereby reducing the volume occupied by the drive assembly 90.

According to the seventh inventive concept, the driving assembly 90 further includes a screw 92 transmission mechanism as a transmission mechanism, which is different from the prior art in which the synchronous belt needs to be driven rotationally, and the driving of the main synchronous belt 60 is more reliable in this embodiment by using a linear driving manner.

According to the eighth inventive concept, the main timing belt 60 further includes two connection portions 62 with adjustable relative positions, and the connection portions 62 are arranged to be used as a tensioning mechanism of the main timing belt 60 and also as connection members connected to the driving assembly 90, so that the number of the connection members is reduced.

According to the ninth inventive concept, the mounting hole 621 is formed on one of the two connecting portions 62, and the elongated adjustment hole 631 is formed on the other connecting portion corresponding to the mounting hole 621, so that the ends of the two connecting portions 62 are overlapped, and the structure is simple and easy to implement.

According to the tenth inventive concept, the coupling and decoupling of the gripper assembly 20 and the tray 30 is achieved by the engagement and disengagement of the engagement piece 212 of the rotating portion 21 with and from the engagement portion 31 of the tray 30. The tray 30 is not easily slid in the process of grabbing and releasing the tray 30, thereby improving the reliability of the tray grabbing mechanism 100 in grabbing the tray 30.

The above-described respective units of the logistics terminal 200 are not limited to the composition and method according to the above-described embodiments, but the embodiments may be configured such that all or some of the embodiments are selectively combined with each other.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be considered as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "comprises" and "comprising," and any variations thereof, as used herein, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integral to one another; either directly or indirectly through intervening media, such as through internal communication or through an interaction between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. The utility model provides a commodity circulation terminal which characterized in that snatchs the mechanism including the tray, the tray snatchs the mechanism and includes:

a support which can move towards the direction close to or far away from the tray;

the grabbing components are arranged on one side of the support close to the tray and comprise rotating parts with connecting ends; and

a synchronization component, the synchronization component comprising:

the rotating wheels are correspondingly arranged on the rotating parts respectively; and

and the main synchronous belt is sleeved on each rotating wheel and drives each rotating wheel to synchronously rotate, so that the connecting end of each rotating part is driven by each rotating wheel to be synchronously connected with or separated from the tray.

2. The logistics terminal of claim 1,

the axes of the rotating wheels are parallel to each other.

3. The logistics terminal of claim 1,

the outer peripheral surface of the rotating wheel is provided with outer teeth,

the main hold-in range face the inboard surface of swiveling wheel have can with the internal tooth of external toothing, perhaps the main hold-in range be can with the chain of swiveling wheel meshing.

4. The logistics terminal of claim 3,

the module and the number of teeth of the rotating wheels are equal.

5. The logistics terminal of any one of claims 1 to 4, wherein the synchronization assembly further comprises a driving assembly, and the driving assembly is configured to drive the main timing belt to run or drive one of the rotating wheels to drive the main timing belt to run.

6. The logistics terminal of claim 5,

the drive assembly includes a prime mover fixed relative to the mount, the prime mover having an output shaft that rotationally outputs power, and the prime mover being located in an area enclosed by the main timing belt.

7. The logistics terminal of claim 6,

the drive assembly further includes:

the screw rod is positioned in an area surrounded by the main synchronous belt, the screw rod is coaxially connected and linked with an output shaft of the prime mover, and the axis of the output shaft is parallel to the running direction of the main synchronous belt; and

the nut is screwed outside the screw rod, and is connected with the main synchronous belt, so that the nut moves along the axial direction of the screw rod to drive the main synchronous belt to run.

8. Logistics terminal according to any one of claims 1 to 4,

the primary timing belt includes:

the operation section is sleeved on each rotating wheel; and

the two connecting parts are respectively connected to the two end parts of the running section, the end parts of the two connecting parts, which are far away from the running section, are mutually overlapped and fixed, and the relative position of the two connecting parts in the running direction of the main synchronous belt is adjustable.

9. The logistics terminal of claim 8,

one of the two connecting parts is provided with a mounting hole, the other one is provided with a long-strip-shaped adjusting hole corresponding to the mounting hole, the two connecting parts are connected by a fastener through the mounting hole and the adjusting hole, and the extending direction of the adjusting hole is parallel to the running direction of the main synchronous belt.

10. Logistics terminal according to any one of claims 1 to 4,

the rotating part includes:

a rotating shaft; and

a clamping piece fixed at one end of the rotating shaft close to the tray, wherein the clamping piece is a connecting end of the rotating part,

the tray is provided with a clamping part matched with the clamping piece, and the synchronous belt drives the rotating wheels to synchronously rotate so that the clamping piece of each rotating part is synchronously connected with or separated from the clamping part of the tray under the driving of each rotating wheel.

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