CN114803260A - Goods taking and placing device and transfer robot - Google Patents

Goods taking and placing device and transfer robot Download PDF

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Publication number
CN114803260A
CN114803260A CN202210617489.1A CN202210617489A CN114803260A CN 114803260 A CN114803260 A CN 114803260A CN 202210617489 A CN202210617489 A CN 202210617489A CN 114803260 A CN114803260 A CN 114803260A
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China
Prior art keywords
transmission
driving
telescopic
piece
assembly
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CN202210617489.1A
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Chinese (zh)
Inventor
詹庆鑫
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Hai Robotics Co Ltd
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Hai Robotics Co Ltd
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Application filed by Hai Robotics Co Ltd filed Critical Hai Robotics Co Ltd
Priority to CN202210617489.1A priority Critical patent/CN114803260A/en
Publication of CN114803260A publication Critical patent/CN114803260A/en
Priority to PCT/CN2023/096916 priority patent/WO2023231984A1/en
Pending legal-status Critical Current

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

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

The application provides a get and put goods device and transfer robot. The application provides a get and put goods device is used for getting and put the material case, should get and put goods device includes flexible subassembly and push-and-pull subassembly, flexible subassembly includes the mounting and can be for the flexible extensible member of mounting along the first direction, push-and-pull subassembly sets up on the extensible member, push-and-pull subassembly includes the base, pulling piece and first actuating mechanism, the base is connected with the extensible member, first actuating mechanism sets up on the base, pulling piece is connected with first actuating mechanism, the outer wall of material case has the slot, first actuating mechanism is used for driving pulling piece to remove along the second direction, so that pulling piece pegs graft with the slot or breaks away from, thereby inside push-and-pull subassembly and extensible member need not get into the position of stock bin of deposit material case, can realize that the booth apart from or have the interval to deposit when depositing the material case at the position of goods shelves, and then improved the space utilization of storage.

Description

Goods taking and placing device and transfer robot
Technical Field
The application relates to the technical field of storage logistics, in particular to a goods taking and placing device and a carrying robot.
Background
With the development of artificial intelligence and automation technology, transfer robots are widely used in the field of warehouse logistics for transporting goods. In a logistics system, goods are generally stored on shelves, and a transfer robot is docked with the shelves, a conveyor line, or the like to pick up and place the goods and complete a goods transfer task.
Among the correlation technique, be provided with the fork of getting and put goods on the transfer robot usually, the fork is including carrying out the flexible arm of multistage, be provided with the goods mechanism of getting that holds up or centre gripping thing workbin on flexible arm, when the fork gets on the goods shelves and put goods, the flexible arm of multistage needs stretch out and draw back and get inside the position of goods shelves, and the end of flexible arm or the goods mechanism of getting of side need set up portable or flexible end joint, be used for with the inboard terminal surface butt of material case, perhaps hold the lateral wall of material case, thereby drag out or press from both sides the material case from the position of storehouse.
However, the telescopic arm and the goods taking mechanism of the transfer robot enter the storage space of the goods shelf to take and place goods, and space in the storage space is occupied, so that enough box intervals or layer heights need to be reserved when the material boxes are stored, and the storage space utilization rate is reduced.
Disclosure of Invention
The application provides a get and put goods device and transfer robot to the inner space who occupies goods shelves storehouse position when solving transfer robot and getting and put goods leads to the problem that storage space utilization is low.
First aspect, this application provides a get and put goods device for get and put the material case, should get and put goods device and include flexible subassembly and push-and-pull subassembly, flexible subassembly includes the mounting and can be for the flexible extension piece of mounting edge first direction, and the push-and-pull subassembly sets up on the extension piece, thereby the extension piece can drive the push-and-pull subassembly and remove, and the push-and-pull subassembly then can drive the material case and remove, in order to realize getting and put the goods operation.
The push-pull assembly comprises a base, a pulling piece and a first driving mechanism, the base is connected with the telescopic piece, the first driving mechanism is arranged on the base, the pulling piece is connected with the first driving mechanism, the outer wall of the material box is provided with a slot, and the first driving mechanism is used for driving the pulling piece to move along a second direction so that the pulling piece is connected with or separated from the slot in an inserting mode.
The application provides get and put goods device and get when putting on goods shelves material case, the push-and-pull subassembly can be through the lateral wall of pulling piece and material case grafting cooperation, thereby when the push-and-pull subassembly drives the material case and removes, push-and-pull subassembly and extensible member all need not get into the storehouse position inside of depositing the material case, therefore, get and put the goods device and can not occupy the inner space of storehouse position when getting and put the material case, can realize that the booth interval or no interval deposit when depositing the material case at the storehouse position of goods shelves, and then the space utilization of storage has been improved.
As an alternative embodiment, the first direction is in a horizontal direction and the second direction is in a vertical direction.
As an alternative embodiment, the pulling member protrudes from the top of the base.
As an optional embodiment, the push-pull assembly further comprises a push plate, the push plate is connected to the base, and the push plate faces the material box to push the material box to move.
As an alternative embodiment, the first driving mechanism may include a first driving unit, a first transmission member, a second transmission member and a connecting member, the first driving unit is disposed on the base, the first transmission member is connected to an output end of the first driving unit, the first transmission member may rotate under the driving of the first driving unit, the second transmission member is engaged with the first transmission member, the second transmission member may move along the second direction under the driving of the first transmission member, a first end of the connecting member is connected to the first transmission member, and a second end of the connecting member is connected to the pulling member, so that the pulling member moves along with the second transmission member. With the arrangement, the rotary motion output by the first driving unit can be effectively converted into the movement of the pulling piece.
As an optional implementation manner, the first driving mechanism may further include a guide member, the guide member may be disposed on the base, the guide member is provided with a guide hole, the guide hole extends along the second direction, the connecting member penetrates through the guide hole, and the connecting member may be driven by the second driving member to move along the guide hole. So set up, can guarantee smooth and easy nature and stability when the piece is removed along the second direction to the drawing.
As an alternative embodiment, the first transmission member may be a lead screw, the second transmission member may be a lead screw nut, the first driving unit may be a motor, the lead screw may extend along the second direction, a first end of the lead screw is connected to an output shaft of the motor, a second end of the lead screw is rotatably connected to the guide member, the lead screw nut is sleeved on the lead screw, and when the lead screw rotates, the lead screw nut moves along the extending direction of the lead screw, and the connecting member is connected to the lead screw nut. By the arrangement, the moving stroke and the position of the pulling piece can be controlled through the rotation of the screw rod.
As an alternative embodiment, there may be two connecting pieces, and there may also be two guide holes, and the two connecting pieces respectively pass through the two guide holes; the two connecting pieces are arranged in parallel and symmetrically distributed on two sides of the first transmission piece. So set up, the equilibrium of atress nature when can realizing that the second driving medium drives and draws the piece to remove to guarantee the steady of removal process.
As an alternative embodiment, the push-pull assembly may further include a first detection unit and a sensing element, the first detection unit is disposed on the base, the sensing element is connected to the second transmission element, and the first detection unit is configured to detect the sensing element so as to detect a relative position of the second transmission element when the second transmission element moves along the second direction. By the arrangement, the accuracy of the plugging action of the pulling piece and the slot can be ensured.
As an alternative embodiment, the number of the first detecting units may be two, and the two first detecting units are respectively located at two ends of the moving stroke of the second transmission member along the second direction. So set up, can detect pulling the piece for the grafting and the breaking away from of slot, the stroke of accurate control pulling the piece.
As an alternative embodiment, the push-pull assembly may further include an adjustment plate connected to the base, and the first driving mechanism is connected to the adjustment plate; the base can be provided with a plurality of adjusting holes, the second direction can be arranged along the adjusting holes, and the adjusting plate can be matched with different adjusting holes to adjust the relative position of the adjusting plate and the base along the second direction. So set up, can adapt to the material case of different specifications and size get the demand of putting.
As an optional implementation manner, the telescopic assembly may further include a second driving mechanism, the second driving mechanism may include a second driving unit, a flexible transmission member, and a transmission wheel set, the transmission wheel set includes a plurality of transmission wheels arranged in parallel, the plurality of transmission wheels are respectively located on the fixing member and the telescopic member, and the flexible transmission member is wound around the plurality of transmission wheels.
The push-pull assembly is movably connected with the telescopic piece, the base is connected with the flexible transmission piece and moves along with the flexible transmission piece, and the second driving unit is connected with the driving wheel and used for driving the driving wheel to rotate, so that the flexible transmission piece is driven by the driving wheel to drive around the plurality of driving wheels, and at least one of the telescopic piece and the push-pull assembly is driven to move along the first direction.
As an optional implementation manner, the goods taking and placing device may further include a locking linkage assembly, the locking linkage assembly is disposed on the telescopic assembly, and at least a part of the locking linkage assembly is movable along with the telescopic member and is clamped or separated with the fixing member, so as to lock or unlock the telescopic member and the fixing member.
Wherein, when the flexible transmission member is driven by the flexible transmission member, the transmission wheel set can drive the flexible member to stretch along the first direction; when the telescopic piece and the fixing piece are locked, the relative positions of the driving wheels in the driving wheel set are not changed, and the driving of the flexible driving piece can drive the push-pull assembly to move relative to the telescopic piece.
As an optional implementation manner, a first limit portion and a second limit portion are respectively arranged at two ends of the telescopic piece, and when the telescopic piece is unlocked from the fixing piece, the push-pull assembly abuts against the first limit portion or the second limit portion, so that the telescopic piece extends out or retracts back along the first direction.
As an alternative embodiment, the plurality of transmission wheels may include a plurality of inner transmission wheels and at least one outer transmission wheel, the flexible transmission member is wound around the outer sides of the plurality of inner transmission wheels, and the outer transmission wheel abuts against the outer circumferential surface of the flexible transmission member, so as to maintain the tension state of the flexible transmission member; the outer driving wheel and part of the inner driving wheel are connected to the telescopic piece, and when the telescopic piece and the fixing piece are unlocked and the flexible driving piece is used for driving, the driving wheel connected to the telescopic piece moves along a first direction relative to the driving wheel connected to the fixing piece so as to drive the telescopic piece to stretch.
As an optional implementation manner, the plurality of inner transmission wheels may include a first transmission wheel, a second transmission wheel and a fourth transmission wheel which are sequentially arranged in the transmission direction of the flexible transmission member, the outer transmission wheel may include a third transmission wheel, the third transmission wheel may be disposed between the second transmission wheel and the fourth transmission wheel, the first transmission wheel and the first driving unit are both disposed at the first end of the fixing member, the first driving unit may drive the first transmission wheel to rotate, the second transmission wheel is disposed at the second end of the fixing member, the third transmission wheel is disposed at the first end of the telescopic member, and the fourth transmission wheel is disposed at the second end of the telescopic member; the base is connected with the flexible transmission part between the first transmission wheel and the fourth transmission wheel. So set up, can guarantee that push-and-pull subassembly and telescopic arm all can have sufficient travel.
As an alternative embodiment, the telescopic member may be provided with a first guide rail extending in a first direction, and the base may be provided with a slider on a side facing the telescopic member, the first guide rail cooperating with the slider and supporting the base. So set up, both can form the support to the push-and-pull subassembly, can guarantee the smooth and easy nature that the push-and-pull subassembly removed again.
As an optional implementation, the locking linkage assembly may include a link mechanism and a joint member, the link mechanism includes a fixed rod and a plurality of movable rods, the fixed rod is sequentially connected with the plurality of movable rods, and the fixed rod is fixedly connected with the extensible member, and the movable rods may swing relative to the extensible member.
Wherein, the first end of joint spare can rotate with the dead lever and be connected, and the second end of joint spare then can rotate with arbitrary one in a plurality of movable rods and be connected, and the joint spare rotates under the drive of movable rod to make joint spare can with mounting joint or separation, and then can realize locking or unblock between extensible member and the mounting.
As an alternative embodiment, at least one of the plurality of movable rods may be provided with a trigger, and the slider may be provided with a thrust member, and the thrust member may abut against or be separated from the trigger when the slider moves to a different position in the extending direction of the first guide rail. So set up, when can realizing push-and-pull subassembly through the trigger piece and remove to specific position, the locking or the unblock of extensible member and fixed part.
As an optional implementation manner, when the thrust piece abuts against the trigger piece, the thrust piece drives the movable rod to swing so as to separate the clamping piece from the fixed piece; the locking linkage assembly further comprises an elastic piece, the first end of the elastic piece is connected with the fixed rod, the second end of the elastic piece is connected with the clamping piece, and when the thrust piece is separated from the trigger piece, the elastic piece pulls the clamping piece to rotate so that the clamping piece is clamped with the fixing piece.
As an alternative embodiment, the fixing rod may extend in a first direction, the length of the fixing rod matching the length of the first guide rail; a plurality of movable rods can include first movable rod, second movable rod and third movable rod, and first movable rod and second movable rod rotate with the both ends of dead lever respectively to be connected, and the both ends of third movable rod rotate with first movable rod and second movable rod respectively to be connected, thereby form four-bar linkage structure, guarantee connecting rod wobbling stability.
Wherein, the second end of joint spare can rotate with the third movable rod and be connected, is provided with first trigger piece on the first movable rod, is provided with the second on the second movable rod and triggers the piece to when the slider removes the stroke both ends to first guide rail, trigger first trigger piece and second respectively and trigger the piece, thereby realize the unblock of joint spare and mounting.
As an alternative embodiment, the first trigger is located between the fixed rod and the third movable rod, and the second trigger is located on the side of the fixed rod away from the third movable rod.
As an optional implementation manner, the first end of the clamping piece is provided with a clamping portion and a tension portion, the fixing piece is provided with clamping grooves distributed along the first direction, and when the clamping piece is clamped with the fixing piece, the clamping portion is clamped into the clamping grooves, so that the clamping reliability and the structural strength are ensured; pulling force portion is connected with the elastic component, and pulling force portion and joint portion are located the relative both sides of joint spare and mounting hookup location respectively, so set up, trigger piece and elastic component rotate opposite direction to the drive of joint spare to realize the function of locking and unblock.
As an optional embodiment, two transmission wheel sets and two flexible transmission pieces are provided, and the transmission wheel sets and the flexible transmission pieces are arranged on two sides of the telescopic assembly in pairs; the first driving wheels of the two driving wheel sets are connected through a driving shaft, and the output end of the first driving unit is connected with the driving shaft. So set up, can guarantee the balance and the stability of the whole extending structure operation of flexible subassembly.
As an optional implementation mode, the telescopic piece can comprise a tray and side plates arranged on two sides of the tray respectively, at least one supporting piece is arranged on each side plate, the tray is connected with the supporting piece and used for bearing the material box, the locking linkage assembly is located on one side, deviating from the bearing material box, of the tray, second guide rails are arranged on two sides of the fixing piece respectively, and the side plates are connected with the second guide rails in a sliding mode respectively. So set up, both can provide installation space for second actuating mechanism through setting up curb plate and tray, can have reliable effectual bearing with guaranteeing the thing workbin.
As an optional implementation manner, the locking linkage assembly may further include a third trigger, the third trigger is rotatably connected to the fixed rod, the tray is provided with an opening, and at least a portion of the third trigger extends out of the opening and extends to one side of the telescopic member, where the telescopic member bears the material tank; the third triggers the piece and joints the piece butt, and when material case triggered the piece butt with the third, the third triggered the piece and drives joint piece rotation to make extensible member and mounting separation. By the arrangement, when the tray bears the material box, the relative slidable state of the telescopic piece and the fixing piece can be kept.
As an optional implementation manner, the goods taking and placing device may further include a second detection unit, the second detection unit is connected with the fixing member, and the second detection unit is configured to detect at least one of a posture of the material tank and an electronic identifier of the material tank. According to the arrangement, the initial position of the goods taking and placing device when the goods box is taken and placed can be accurately judged, and the information of the goods box can be identified, so that the corresponding goods taking, placing and transporting task can be accurately executed.
As an alternative embodiment, the goods taking and placing device may further include a rotating assembly, the rotating assembly may include a fixed bracket, a third driving unit and a rotating platform, the third driving unit is used for driving the rotating platform to rotate relative to the fixed bracket, and the telescopic assembly is disposed on the rotating platform. So set up, when being applied to transfer robot, can realize getting to put goods operation at transfer robot's different sides.
In a second aspect, the application provides a transfer robot, including the robot main body, the lifting device and the goods taking and placing device in the above technical scheme, the lifting device is arranged on the robot main body and can move along the height direction of the robot main body, and the goods taking and placing device is arranged on the lifting device, so that the goods taking and placing operation of different height storage positions on the goods shelf is realized.
As an alternative embodiment, the robot main body may include a base and a storage rack, the storage rack is mounted on the base, the lifting device is disposed on the storage rack and is movable in a height direction of the storage rack, and a plurality of storage slots may be disposed on the storage rack and spaced apart in the height direction of the storage rack to ensure the conveying efficiency of the transfer robot.
In addition to the technical problems solved by the embodiments of the present application, the technical features constituting the technical solutions, and the advantages brought by the technical features of the technical solutions, other technical problems solved by the pick-and-place device and the transfer robot provided by the present application, other technical features included in the technical solutions, and advantages brought by the technical features will be further described in detail in the detailed description.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is a schematic view illustrating a pick-and-place device applied to a transfer robot according to an embodiment of the present disclosure;
fig. 2 is a schematic structural view of a cargo pick-and-place device according to an embodiment of the present disclosure;
fig. 3 is a schematic view illustrating a clamping assembly and a material box of the goods taking and placing device according to the embodiment of the present disclosure;
fig. 4 is a schematic structural view of a first viewing angle of a gripping assembly in the pick-and-place device according to the embodiment of the present disclosure;
fig. 5 is a schematic structural view of a second viewing angle of a gripping assembly in the pick-and-place device according to the embodiment of the present disclosure;
fig. 6 is a schematic structural view of a material box matched with a clamping assembly in the goods taking and placing device according to the embodiment of the present application;
fig. 7 is a schematic view illustrating a connection between a base and a telescopic assembly in the cargo pick-and-place device according to the embodiment of the present disclosure;
fig. 8 is a schematic view illustrating a driving structure of a telescopic assembly in the cargo pick-and-place device according to the embodiment of the present disclosure;
fig. 9 is a schematic layout view of a transmission wheel set in the pick-and-place device according to the embodiment of the present disclosure;
fig. 10 is a front view of an arrangement of a transmission wheel set in the pick-and-place device provided by the embodiment of the present application;
fig. 11 is a schematic structural view of a locking linkage assembly in the pick-and-place device according to the embodiment of the present disclosure;
FIG. 12 is a partial schematic view of a latch linkage assembly of the pick and place device according to the exemplary embodiment of the present disclosure;
FIG. 13 is a partial schematic view of another perspective of a locking linkage assembly of the pick and place device according to the present disclosure;
fig. 14 is another structural schematic view of a cargo pick-and-place device according to an embodiment of the present disclosure;
fig. 15 is a schematic structural view illustrating a rotating assembly of the cargo pick-and-place apparatus according to the embodiment of the present disclosure;
fig. 16 is a schematic view illustrating a first state of a picking process of the pick-and-place device according to the embodiment of the present disclosure;
fig. 17 is a schematic view illustrating a second state of the picking process of the picking device according to the embodiment of the present disclosure;
fig. 18 is a schematic view illustrating a third state of the picking process of the pick-and-place device according to the embodiment of the present disclosure;
fig. 19 is a schematic view illustrating a fourth state of the picking process of the picking device according to the embodiment of the present disclosure;
fig. 20 is a schematic view illustrating a fifth state of a picking process of the pick-and-place device according to the embodiment of the present disclosure;
fig. 21 is a schematic view illustrating a sixth state of a pickup process of the pickup device according to the embodiment of the present disclosure;
fig. 22 is a schematic view illustrating a seventh state of the picking process of the picking device according to the embodiment of the present disclosure;
fig. 23 is a schematic view illustrating an eighth state of the picking process of the picking device according to the embodiment of the present disclosure;
fig. 24 is a schematic view illustrating a ninth status of the picking process of the pick-and-place device according to the embodiment of the present disclosure;
fig. 25 is another structural schematic view of the cargo handling device according to the embodiment of the present disclosure;
fig. 26 is a schematic structural view illustrating a push-pull assembly in the pick-and-place device according to the embodiment of the present disclosure;
fig. 27 is a schematic view illustrating a push-pull assembly and a material box of the goods taking and placing device according to the embodiment of the present disclosure;
fig. 28 is a cross-sectional view of the push-pull assembly engaged with the material box in the pick-and-place device according to the embodiment of the present disclosure;
FIG. 29 is a partial view of a push-pull assembly in the pick-and-place device according to an embodiment of the present disclosure;
fig. 30 is a schematic structural view of another perspective view of a push-pull assembly in the pick-and-place device according to the present disclosure;
fig. 31 is a schematic structural view of a material box matched with a push-pull assembly in the goods taking and placing device according to the embodiment of the present application.
Description of reference numerals:
100-a goods taking and placing device; 110-a telescoping assembly; 111-a fixture; 1111-a third guide rail; 1112-a snap groove; 112-a telescoping member; 1121-tray; 1122-side panel; 1123-opening; 1124-a second guide rail; 1125-a support; 1126-a first stop; 1127-a second limiting part;
120-a grasping assembly; 121-a base; 1211-avoidance groove; 1212-a first guide rail; 1213-second slider; 1214-a thrust member; 122 — a first drive mechanism; 1221-a first drive unit; 1222-a first transmission piece; 1223-a second transmission; 1224-a first pulley; 1225-a second pulley; 1226-drive belt; 123-a clamp; 1231-a first slider; 124-a mounting seat; 125-a connector;
130-a second drive mechanism; 131-a second drive unit; 132-a flexible drive; 133-a transmission wheel set; 1331-a first drive wheel; 1332-a second drive wheel; 1333-a third drive wheel; 1334-a fourth drive wheel; 134-a drive shaft;
140-a locking linkage assembly; 141-a linkage mechanism; 1411-a first movable bar; 1412-a second movable bar; 1413-a third movable bar; 1414-a fixing bar; 1414 a-avoidance port; 142-a clip; 1421-a snap-fit portion; 1422-tension section; 1423 — second abutment; 143-a first trigger; 144-a second trigger; 145-an elastic member; 146-a third trigger; 1461 — a first abutment;
150-a second detection unit;
160-a rotating assembly; 161-a fixed support; 162-a rotating platform; 163-a fourth drive unit; 164-a chain;
170-a push-pull assembly; 171-a substrate; 1711-a conditioning well; 172-a pulling member; 173-a third drive mechanism; 1731-a third drive unit; 1732-a third transmission member; 1733-a fourth transmission member; 1734-a connecting rod; 1735-a guide; 174-a third detection unit; 175-a sensing member; 176-an adjusting plate; 177-push plate;
200-a robot body; 210-a base; 220-a storage rack; 221-a storage tank; 300-a lifting device;
400-material box; 410-horizontal slot; 420-vertical slots;
500-shelf.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. 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 application.
First, it should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present application, and are not intended to limit the scope of the present application. And can be adjusted as needed by those skilled in the art to suit particular applications.
Next, it should be noted that in the description of the present application, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "front", "rear", "inner", "outer", etc. are based on the direction or positional relationship shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the device or member must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present application.
In the description herein, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Various robots are widely used in various fields such as industry and life, and a transfer robot plays an important role in industries such as transportation and logistics, and in a logistics system, goods are generally stored on a rack, and the transfer robot picks and places the goods by being aligned with the rack or a conveyor line and transfers the goods. Be provided with the fork of getting and put the goods on the transfer robot usually, the fork is usually including the flexible arm that can carry out the multistage, be provided with the goods mechanism of getting that holds up or centre gripping thing workbin on the flexible arm, when the fork gets on goods shelves and puts the goods, the flexible arm of multistage needs stretch out and draw back and get inside the position of goods shelves, and the end of flexible arm or the goods mechanism of getting of side need set up portable or flexible end joint, an inboard terminal surface butt for with the material case, perhaps hold the lateral wall of holding the material case, thereby drag out or press from both sides out the material case from the position of goods.
However, the telescopic arm holds or clamps the material box from the side of the material box, an operation space needs to be reserved on the side of the storage position of the material box, so that the box space is increased during storage, and if the telescopic arm is pushed and pulled from the inner side of the material box, the telescopic arm occupies the space on the side of the material box and also occupies the space on the inner side of the storage position of the material box, so that the depth of the storage position is increased, in addition, if the telescopic arm is extended from the upper part of the material box to take and place the material box, the interlayer space of the storage position of the goods shelf is increased, so that the space in the storage position is occupied by the above modes, enough box space needs to be reserved, the depth or the layer height of the storage position when the material box is stored, and the space utilization rate of storage is reduced.
In view of the above problems, the embodiment of the application provides a get and put goods device and transfer robot, through carrying out optimal design to its mode of getting and putting goods, has improved and has got the structure of putting the goods, gets and puts the goods in-process, gets inside each part of putting goods device all need not get into the position in storage of goods shelves to can reduce or eliminate the case interval and the clearance of all directions when the material case deposits, space utilization when improving the storage.
For ease of understanding, an application scenario of the embodiment of the present application is first described.
The goods taking and placing device provided by the embodiment of the application is mainly used for taking and placing the material boxes on the goods shelf, namely the material boxes are placed in the storage positions of the goods shelf to be stored, or the material boxes in the storage positions of the goods shelf are taken out, and the goods taking and placing device can be installed and applied to equipment including but not limited to a carrying robot, a logistics conveying line and the like which can be in butt joint with the goods shelf, and the carrying robot is taken as an example for explanation.
As shown in fig. 1, when the goods taking and placing device 100 provided in this embodiment of the present invention is applied to a handling robot, the handling robot may take off a material box 400 from a shelf 500 and perform a conveying task on the material box 400, or transfer the material box 400 of another logistics process to the shelf 500 and store the material box, wherein the handling robot may be applied to logistics distribution of an industrial production line, warehousing and ex-warehousing of manufacturing inventory products, warehousing and ex-warehousing of retail products, and also may be applied to different fields such as fast warehousing and ex-warehousing of e-commerce logistics, and products or goods related to transportation may be industrial parts, electronic accessories or products, medicines, clothing ornaments, foods, books, etc., this is not particularly limited in this embodiment of the present invention, and the above-mentioned goods may be placed in the material box 400 for transferring or storing, and the following will all use the material box 400 to carry a carrying object of the robot, and are not specifically exemplified.
Referring to fig. 2 and fig. 1, the goods taking and placing device 100 provided in this embodiment includes a telescopic assembly 110 and a clamping assembly 120, the telescopic assembly 110 includes a fixing member 111 and a telescopic member 112 capable of extending and retracting along a first direction relative to the fixing member 111, the clamping assembly 120 is disposed on the telescopic member 112, so that the telescopic member 112 can drive the clamping assembly 120 to move, and the clamping assembly 120 can drive the material box 400 to move, so as to achieve the goods taking and placing operation.
The clamping assembly 120 comprises a base 121, a first driving mechanism 122 and two clamping pieces 123, the base 121 is connected with the telescopic piece 112, the two clamping pieces 123 are arranged on the base 121 in a sliding mode, a horizontal slot 410 is formed in the outer wall of the material box 400, the first driving mechanism 122 is arranged on the base 121, and the first driving mechanism 122 is used for driving the two clamping pieces 123 to open and close along the width direction of the telescopic assembly 110 so that the two clamping pieces 123 are connected with or separated from the horizontal slot 410 in an inserting mode.
For convenience of description, referring to the fixing member 111, the length direction of the fixing member 111 is defined as an X direction, that is, the first direction is an X direction, the telescopic member 112 can be extended and retracted along the X direction, the width direction of the fixing member 111 is defined as a Y direction, that is, the width direction of the telescopic assembly 110 is a Y direction, the base 121 extends along the width direction of the telescopic assembly 110, and the two clamping members 123 can move towards each other or depart from each other along the Y direction. Since both the telescopic member 112 and the clamping member 123 can reciprocate, the movement in the X direction includes the longitudinal forward and backward movement of the fixing member 111, and the movement in the Y direction includes the lateral leftward and rightward movement of the telescopic assembly 110.
Referring to fig. 3, when the clamping assembly 120 moves to a position close to or abutting against the material tank 400, the clamping members 123 and the material tank 400 can be matched by the opposite movement of the two clamping members 123, wherein the outer wall of the material tank 400 can be provided with horizontal slots 410, one horizontal slot 410 can be provided, that is, the two clamping members 123 are respectively inserted into two opposite sides of the horizontal slot 410, and the number of the horizontal slots 410 can also be two, that is, the two clamping members 123 respectively and the two horizontal slots 410 are in one-to-one correspondence to complete the butt joint.
Taking two horizontal slots 410 as an example, the end section size of the clamping member 123 may be equal to or smaller than the slot size of the horizontal slot 410, when the two clamping members 123 are close to each other, the two clamping members 123 may be inserted into the horizontal slots 410 respectively, when the clamping members 123 are far away from each other, the two clamping members 123 may be separated from the horizontal slots 410 respectively, and when the clamping members 123 enter the horizontal slots 410, along with the overall movement of the clamping assembly 120, the clamping members 123 may drive the material tank 400 to move, thereby realizing the taking and placing operation of the material tank 400. In addition, the clamping member 123 may be bent with respect to the base 121, and the end of the clamping member 123 may be disposed parallel to the length direction of the base 121.
It should be noted that, as the object to be picked and placed, the outer wall of the material box 400 provided with the horizontal slot 410 may face the entrance and exit of the storage space of the shelf 500, when the picking and placing device 100 provided in the embodiment of the present application picks and places the material box 400 on the shelf 500, the clamping component 120 may be inserted and matched with the horizontal slot 410 protruding from the outer side wall of the material box 400 through the clamping component 123, so that when the clamping component 120 drives the material box 400 to move, the clamping component 120 and the telescopic component 112 do not need to enter the interior of the storage space of the storage box 400, therefore, the picking and placing device 100 may not occupy the interior space of the storage space when picking and placing the material box 400, when the storage space of the shelf 500 stores the material box 400, the small-pitch or non-pitch storage may be achieved, and further, the space utilization rate of the warehouse is improved.
The first driving mechanism 122 will be described in detail below with respect to the driving manner of the two grippers 123.
As shown in fig. 4 and 5, in one possible implementation, the first driving mechanism 122 may include a first driving unit 1221, a first transmission member 1222, and two second transmission members 1223, the first driving unit 1221 is disposed on the base 121, the first transmission member 1222 may extend along the length direction of the base 121, the two second transmission members 1223 are both engaged with the first transmission member 1222, the two second transmission members 1223 are driven by the first transmission member 1222 to approach or move away from each other along the length direction of the base 121, and the two clamping members 123 are respectively connected with the two second transmission members 1223, so that the clamping and the separation of the clamping assembly 120 and the material tank 400 may be controlled by controlling the distance between the two clamping members 123.
It will be appreciated that the two second transmission members 1223 are closer to each other corresponding to the two gripping members 123 being closer to each other, and the two transmission members are further from each other corresponding to the two gripping members 123 being further from each other. The first driving unit 1221 may be a motor, the rotation of the output shaft of the motor may be transmitted to the first transmission member 1222, so as to drive the first transmission member 1222 to rotate, and the cooperation between the first transmission member 1222 and the second transmission member 1223 may convert the rotation motion output by the first driving unit 1221 into the movement of the clamping member 123 along the Y direction. It will be understood by those skilled in the art that the first transmission member 1222 and the second transmission member 1223 can be engaged by a screw transmission, a rack-and-pinion transmission, a link transmission, etc., and the screw transmission is taken as an example and described in detail below.
Referring to fig. 4 and fig. 5, in some embodiments, the first transmission member 1222 may be a screw rod, the two second transmission members 1223 may be screw nuts, the screw rod may include two coaxially connected threaded sections, the thread directions of the two threaded sections are opposite, and the two screw nuts are respectively sleeved on the two threaded sections, so that the two second transmission members 1223 have opposite moving directions through rotation of the screw rod.
For example, two thread sections of the screw rod may have equal length and equal thread pitch, and the two thread sections may be integrally formed, or may be connected by welding or a coupling, which is not specifically limited in this embodiment of the present application.
In addition, the first driving mechanism 122 may further include a first pulley 1224, a second pulley 1225 and a transmission belt 1226, the first pulley 1224 is connected to the output end of the first driving unit 1221, the second pulley 1225 is coaxially connected to the end of the screw rod, the transmission belt 1226 is wound around the first pulley 1224 and the second pulley 1225, when the output end of the first driving unit 1221 rotates, the first pulley 1224 is a driving pulley, the first pulley 1224 drives the transmission belt 1226 to rotate, so as to drive the second pulley 1225 to rotate, the second pulley 1225 is a driven pulley, and the second pulley 1225 is coaxially connected to the first transmission member 1222 to rotate, so as to drive the first transmission member 1222 to rotate.
It can be understood that the first driving unit 1221 and the first transmission member 1222 may be disposed in a vertically staggered manner along the height direction of the base 121, so as to fully utilize the space above and below the base 121, and avoid the first driving unit 1221 and the first transmission member 1222 from being disposed coaxially to occupy the space in the length direction of the base 121, so that the size in the length direction of the base 121 may be matched with the moving stroke of the clamping member 123 as much as possible, and the space layout is more reasonable.
In order to provide reliable support for the screw rod and ensure the stability of the moving process of the clamping member 123, the two ends of the base 121 along the length direction thereof may be respectively provided with a mounting seat 124, and the two ends of the screw rod are respectively rotatably connected with the mounting seats 124. For example, two ends of the screw rod may be respectively engaged with the mounting seat 124 through a bearing, that is, an outer ring of the bearing is fixedly engaged with the mounting seat 124, and an inner ring of the bearing is sleeved on an end of the screw rod.
Since all the clamping members 123 and the first driving mechanism 122 need to be integrally installed on the base 121, in order to ensure that the overall size of the base 121 is reasonable, the clamping members 123 and the first driving mechanism 122 may be disposed on different sides of the base 121, wherein the clamping members 123 may be located on one side of the base 121 facing the goods taking direction, and the first driving mechanism 122 may be installed on one side of the base 121 facing away from the goods taking direction.
With reference to fig. 4 and fig. 5, in a possible implementation manner, the first driving mechanism 122 and the two clamping members 123 may be respectively located at two opposite sides of the base 121, the base 121 is provided with an avoiding groove 1211, the avoiding groove 1211 extends along the length direction of the base 121, the clamping assembly 120 may further include two connecting members 125, and the two connecting members 125 respectively pass through the avoiding groove 1211 to connect the two clamping members 123 with the two second transmission members 1223, so that the layout space at two sides of the base 121 may be fully utilized, the occupied space of the first driving mechanism 122 is reduced, and the overall size of the clamping assembly 120 is reduced.
It is understood that the avoidance groove 1211 can have an elongated shape, and the length of the avoidance groove 1211 can match the length of the first transmission member 1222, i.e., the length of the avoidance groove 1211 can be approximately equal to the stroke of the two clamping members moving toward each other. The first transmission member 1222 is disposed opposite to the avoidance groove 1211, and the two mounting seats 124 may be disposed at both ends of the avoidance groove 1211, respectively. For example, the base 121 may be a sheet metal member, the avoidance groove 1211 may be formed by integral molding or machining, and the first driving unit 1221, the mounting seat 124 and the base may be assembled by fastening, snapping, or welding, which is not limited in this embodiment of the present invention.
In some embodiments, the base 121 may be provided with a first guide rail 1212, the first guide rail 1212 may extend along a length direction of the base 121, the two clamping members 123 are respectively connected with a first sliding block 1231, and both the first sliding blocks 1231 are slidably connected with the first guide rail 1212, so that the first guide rail 1212 may provide a guiding function for the movement of the two clamping members 123.
For example, the first guide rail 1212 may be mounted on the base 121 by means of a fastener, and the first guide rail 1212 may be disposed along a longitudinal edge of the avoidance groove 1211, and the cooperation between the first guide rail 1212 and the first slider 1231 may further provide a supporting function for the clamping member 123, so as to prevent the first transmission member 1222 from receiving a pressure or a radial shear force, and ensure the smoothness of the moving clamping process.
It should be noted that, since the movement of the clamping member 123 in the X direction can be performed by the first driving unit 1221 as a power source, and the first transmission member 1222 and the second transmission member 1223 as a force and motion transmission unit, the moving speed and the stroke of the clamping member 123 depend on the output rotation speed and the number of rotation cycles of the first driving unit 1221, on the one hand, and on the other hand, the parameters of the first transmission member 1222 and the second transmission member 1223, for example, the diameter and the pitch of the screw when the screw and the screw nut are matched. For the first and second transmission members 1222 and 1223 of selected type and parameters, the travel and speed of the gripping member 123 may be adjusted by controlling the output of the first driving unit 1221, and the control of the first driving unit 1221 may be referred to by external signals, as will be described below.
In a possible implementation manner, the clamping assembly 120 may further include a first detection unit (not shown), the first detection unit may be installed on the base 121, and the first detection unit may be disposed corresponding to any one of the two clamping members 123 to detect a clamping state of the clamping member 123, so that a clamping state of the clamping assembly 120 relative to the material tank 400 may be accurately determined, accuracy of the clamping operation is ensured, and operation efficiency is improved.
It can be understood that, when the clamping member 123 needs to be inserted into the horizontal slot 410 or separated from the horizontal slot, the first detecting unit can determine the stroke position of the clamping member 123, so as to ensure the accuracy of the insertion of the clamping member 123 into the horizontal slot 410, and since the moving process of the two clamping members 123 is symmetrical with respect to the base 121, one of the two clamping members 123 can be detected, i.e. the clamping state of the two clamping members 123 can be determined.
For example, the first detection unit may be of a type including, but not limited to, a photosensor, a contact switch, and the like, and this is not particularly limited in this embodiment of the present application.
It should be noted that, when the clamping members 123 are engaged with the material tank 400, the two clamping members 123 move left and right in opposite directions for insertion engagement, and the notch of the horizontal slot 410 on the material tank 400 needs to face the clamping members 123. As shown in fig. 6, the horizontal slots 410 may be formed at both sides of the outer wall of the end of the material tank 400, and the two horizontal slots 410 may be formed by two handles.
The movement of the gripping assembly 120 in the X direction is realized by the telescopic assembly 110, and the telescopic assembly 110 is telescopic and the cooperation with the gripping assembly 120 is described in detail below.
With reference to fig. 2, in a possible implementation manner, the telescopic assembly 110 may include a fixed member 111, a telescopic member 112, and a second driving mechanism 130, the second driving mechanism 130 may be disposed between the fixed member 111 and the telescopic member 112, and the second driving mechanism 130 may drive the telescopic member 112 to move telescopically relative to the fixed member 111 along the X direction, and may also drive the gripping assembly 120 to move relative to the telescopic member 112.
The second driving mechanism 130 includes a second driving unit 131, a flexible transmission member 132 and a transmission wheel set 133, the transmission wheel set 133 may include a plurality of transmission wheels arranged in parallel, the plurality of transmission wheels are respectively located on the fixing member 111 and the telescopic member 112, the flexible transmission member 132 is wound on the plurality of transmission wheels, and the second driving unit 131 is connected to at least one of the transmission wheels and is configured to drive the transmission wheels to rotate, so that the flexible transmission member 132 is driven by the transmission wheels to transmit around the plurality of transmission wheels.
It can be understood that the clamping assembly 120 is movably connected to the telescopic member 112, the clamping assembly 120 is disposed on the flexible transmission member 132, and the base 121 is fixedly connected to the flexible transmission member 132, that is, the base 121 can move along with the flexible transmission member 132 when the flexible transmission member 132 is transmitting, in the process, the clamping assembly 120 moves relative to the telescopic member 112, that is, the clamping assembly 120 moves along the first direction, in this state, the relative positions of the respective transmission wheels of the transmission wheel set 133 can be kept unchanged, and when the telescopic member 112 and the fixed member 111 move relatively, the relative positions of the transmission wheels disposed on the telescopic member 112 and the fixed member 111 can be changed.
The goods taking and placing device 100 provided by the embodiment of the application can realize the movement of the telescopic part 112 relative to the fixing part 111 and the movement of the clamping component 120 relative to the telescopic arm through the matching of the plurality of driving wheels, simplifies the multi-stage driving structure of the goods taking device when the goods taking device clamps the material box 400, reduces the space occupation of the side of the telescopic component 110, and makes the whole structure more compact.
It should be noted that the length of the telescopic member 112 along the X direction can be approximately regarded as the moving stroke of the gripping assembly 120, that is, the gripping assembly 120 can move between two ends of the telescopic member 112, and the movement of the telescopic member 112 relative to the fixed member 111 can be regarded as the change of the overlapping state between the telescopic member 112 and the moving member along the vertical direction, wherein when the telescopic member 112 and the fixed member 111 are in the overlapping state along the vertical direction, it can be regarded as the contracting state of the telescopic member 112, and when the telescopic member 112 extends from one end of the telescopic member 112 relative to the fixed member 111, that is, when the telescopic member is partially overlapped, it can be regarded as the extending state of the telescopic member 112, and when the second driving unit 131 drives the driving transmission wheel to rotate, at least one of the telescopic member 112 and the gripping assembly 120 can be driven to move along the first direction, for example, during a partial stroke of taking and putting goods, only the gripping assembly 120 can be driven to move, or, during a partial stroke, bringing the telescoping member 112 and the grasping assembly 120 into motion.
The application provides a get put goods device 100 when getting put goods operation, it can dock with the target of getting put goods at first, take the goods process with the position in storehouse of goods shelves 500 as an example, press from both sides the subassembly 120 and remove the front end to extensible member 112 earlier, the flexible removal of rethread extensible member 112, can be with the tip of extensible member 112 and the storehouse mouth of position along the butt joint down, thereby get and establish a passageway that supplies material case 400 to remove between getting put goods device 100 and the position in storehouse, thereafter through pressing from both sides the removal of subassembly 120 for extensible member 112, utilize to press from both sides subassembly 120 and deviate from material case 400 from the position in storehouse to extensible member 112, retract extensible member 112 again, accomplish and get goods.
It can be seen that, in the step of picking or placing the goods in the pick and place device 100, the movement of the telescopic member 112 relative to the fixed member 111 and the movement of the gripping assembly 120 relative to the telescopic member 112 need to be controlled, that is, the second driving unit 131 needs to keep the telescopic member 112 and the fixed member 111 stationary in some cases, and the gripping assembly 120 moves relative to the telescopic member 112, and keep the gripping assembly 120 and the telescopic member 112 stationary in other cases, and the telescopic member 112 moves relative to the fixed member 111, when the driving wheel set 133 is driven to rotate and the flexible transmission member 132 is driven.
As shown in fig. 7 and 8, in order to meet the moving requirement of each joint component in the goods picking and placing process, the goods picking device in the embodiment of the present application may further include a locking linkage assembly 140, the locking linkage assembly 140 may be disposed on the telescopic assembly 110, at least a portion of the locking linkage assembly 140 may be movable relative to the telescopic member 112, and different moving positions may enable at least a portion of the locking linkage assembly 140 to be engaged with or disengaged from the fixing member 111, so as to lock or unlock the telescopic member 112 and the fixing member 111.
It will be appreciated that when the flexible transmission member 112 and the fixed member 111 are unlocked, the transmission wheel set 133 can drive the flexible transmission member 112 to extend and retract along the first direction when the flexible transmission member 132 transmits, and a part of the transmission wheels of the transmission wheel set 133 has a variable relative position in the first direction, i.e. the relative positions of the transmission on the fixed member 111 and the transmission wheel on the flexible transmission member 112 can be changed, and the length of the flexible transmission member 132 between the corresponding part of the transmission wheels can also be changed.
When the telescopic member 112 and the fixed member 111 are locked, the relative positions of the transmission wheels in the transmission wheel set 133 are not changed, and the second driving unit 131 drives the transmission wheels to rotate, so that the flexible transmission member 132 forms a closed loop with a relatively fixed shape, and the flexible transmission member 132 transmits, so that the clamping assembly 120 can move relative to the telescopic member 112.
In some embodiments, the two ends of the telescopic member 112 are respectively provided with a first position-limiting portion 1126 and a second position-limiting portion 1127, when the locking linkage assembly 140 unlocks the telescopic member 112 from the fixing member 111, the clamping assembly 120 abuts against the first position-limiting portion 1126 or the second position-limiting portion 1127, so that the telescopic member 112 extends or retracts along the first direction, and at this time, the relative position of each driving wheel of the driving wheel set 133 is changed relatively as in the foregoing solution; when the locking linkage assembly 140 locks the telescopic member 112 with the fixing member 111, the clamping assembly 120 moves between the first position-limiting portion 1126 and the second position-limiting portion 1127, and the relative positions of the driving wheels of the driving wheel set 133 are also kept unchanged.
The specific structure and arrangement of the transmission wheel set 133 and the specific principle of the second driving mechanism 130 for driving will be described in detail below.
As shown in fig. 9 and 10 in combination with fig. 2 and 8, in a possible implementation, the plurality of transmission wheels may include a plurality of inner transmission wheels and at least one outer transmission wheel, the flexible transmission member 132 is wound around the outer sides of the plurality of inner transmission wheels, and the outer transmission wheel abuts against the outer peripheral surface of the flexible transmission member 132.
The outer driving wheel and a part of the inner driving wheels are connected to the telescopic member 112, and the rest of the inner driving wheels are disposed on the fixed member 111, and when the flexible driving member 132 is driven, the clamping assembly 120 is driven to move, the clamping assembly 120 triggers the locking linkage assembly 140 to unlock, and then the telescopic member 112 is driven to move, so that the driving wheels connected to the telescopic member 112 are driven to move in a first direction relative to the driving wheels connected to the fixed member 111.
For example, the flexible transmission member 132 may be a timing belt, the inner transmission wheel may be a timing wheel, and the timing wheel is engaged with the inner side of the timing belt through a timing tooth, and the outer transmission wheel may be a flat pulley, which is abutted against the outer side of the timing belt, thereby functioning as a guide wheel for guiding the timing belt to turn.
In some embodiments, the plurality of inner driving wheels may include a first driving wheel 1331, a second driving wheel 1332 and a fourth driving wheel 1334 which are sequentially arranged from the driving direction of the flexible driving member 132, the outer driving wheel may include a third driving wheel 1333, and the third driving wheel 1333 is disposed between the second driving wheel 1332 and the fourth driving wheel 1334, that is, the flexible driving member 132 sequentially passes around the first driving wheel 1331, the second driving wheel 1332, the third driving wheel 1333 and the fourth driving wheel 1334, and forms a closed driving cycle.
In order to fully utilize the lengths of the fixed member 111 and the telescopic member 112 and ensure that the gripping assembly 120 has a sufficient pick-and-place stroke, the first driving wheel 1331 and the second driving unit 131 may be disposed at the first end of the fixed member 111, the second driving wheel 1332 may be disposed at the second end of the fixed member 111, the third driving wheel 1333 may be disposed at the first end of the telescopic member 112, and the fourth driving wheel 1334 may be disposed at the second end of the telescopic member 112, so as to form a closed loop driving structure, in which the flexible driving member 132 extends from the first end of the fixed member 111 to the second end of the fixed member 111, then from the second end of the fixed member 111 to the first end of the telescopic member 112, then from the first end of the telescopic member 112 to the second end of the telescopic member 112, and then from the second end of the telescopic member 112 back to the first end of the fixed member 111, so that the movement of the gripping assembly 120 can be realized through the driving of the flexible driving member 132, movement of telescoping member 112 may also be accomplished.
It is understood that, in order to ensure the rational space layout, the second driving unit 131 may be disposed on the fixing member 111 and used for driving the first driving wheel 1331 to rotate, i.e. the first driving wheel 1331 may be a driving wheel, the second driving wheel 1332 and the fourth driving wheel 1334 are driven wheels, and the third driving wheel 1333 is a guiding wheel. In order to ensure the reasonableness of the spatial layout in the vertical direction, the diameter of the first driving wheel 1331 may be larger than the diameters of the other driving wheels, and the specific size values of all the driving wheels are not limited in the embodiment of the present application.
In some embodiments, the base 121 can be fixedly coupled to the flexible transmission 132 between the first and fourth transmission wheels 1331 and 1334, and the gripping assembly 120 can move between the first and fourth transmission wheels 1331 and 1334 when the flexible transmission 132 is driven while the telescopic member 112 and the fixed member 111 remain relatively stationary. At this time, if the grasping assembly 120 abuts on the first end of the telescopic member 112 or the second end of the telescopic member 112, the grasping assembly 120 can push the telescopic member 112 to move relative to the fixed member 111 under the driving action of the flexible driving member 132.
When the telescopic member 112 is extended relative to the fixing member 111, the distance between the first driving wheel 1331 and the fourth driving wheel 1334 is increased, and the distance between the second driving wheel 1332 and the third driving wheel 1333 is decreased, so that the second driving wheel 1332 and the third driving wheel are close to each other, and the first driving wheel 1331 and the fourth driving wheel 1334 are far away from each other, the length of the flexible transmission member 132 between the second driving wheel 1332 and the third driving wheel 1333 can compensate the length of the flexible transmission member 132 between the first driving wheel 1331 and the fourth driving wheel 1334.
When the telescopic member 112 is retracted relative to the fixed member 111, the spacing between the first drive wheel 1331 and the fourth drive wheel 1334 decreases and the spacing between the second drive wheel 1332 and the third drive wheel 1333 increases, it being understood that the second drive wheel 1332 and the third drive wheel are spaced apart from each other and the first drive wheel 1331 and the fourth drive wheel 1334 are spaced closer to each other, the length of the flexible drive member 132 between the first drive wheel 1331 and the fourth drive wheel 1334 being such as to compensate for the length of the flexible drive member 132 between the second drive wheel 1332 and the third drive wheel 1333.
It should be noted that the sum of the distance between the first driving wheel 1331 and the fourth driving wheel 1334 and the distance between the second driving wheel 1332 and the third driving wheel 1333 remains unchanged, so as to ensure the moving precision of the telescopic member 112 and the clamping assembly 120, and avoid the phenomena of jamming caused by too large tension or loosening caused by insufficient tension in the flexible transmission.
In addition, in order to maintain the tension state of the flexible transmission member 132, a tension mechanism (not shown) may be disposed on one of the plurality of transmission wheels, and the tension mechanism may adjust the position of the transmission wheel at the corresponding position thereof, so as to maintain the flexible transmission member 132 in a proper tension state, and avoid transmission difficulty caused by over-tightening or transmission failure caused by over-loosening.
It will be understood by those skilled in the art that a second guide rail 1124 may be provided on the telescopic member 112, the second guide rail 1124 extends along a first direction, a second slider 1213 is provided on a side of the base 121 facing the telescopic member 112, and the second guide rail 1124 cooperates with the second slider 1213 and supports the base 121, so as to support the clamping assembly 120 and ensure the smoothness of the movement of the clamping assembly 120.
The movement of the base 121 and the second slider 1213 along the second guide rail 1124 can be achieved by the transmission of the flexible transmission member 132, when the base 121 is connected to the flexible transmission member 132, two cover plates (not shown) can be disposed under the base 121 and cover each other and respectively located at two sides of the flexible transmission member 132, and the two cover plates jointly clamp the flexible transmission member 132, so as to ensure that the flexible transmission member 132 between the clamping assembly 120 and the first transmission wheel 1331 and the fourth transmission wheel 1334 maintains a fixed relative position when the flexible transmission member 132 is transmitted. In addition, the two cover plates may be connected by a threaded fastener or a snap, which is not specifically limited in the embodiment of the present application.
In some embodiments, two driving wheel sets 133 and two flexible driving members 132 may be provided, and the two driving wheel sets 133 and the two flexible driving members 132 may be respectively provided at two sides of the telescopic assembly 110, that is, mirror-symmetrical driving structures are formed at two sides of the telescopic member 112 and the fixing member 111, so as to improve the stability of the driving mechanism.
It can be understood that the first driving wheels 1331 of the two driving wheel sets 133 are connected through the driving shaft 134, and the output end of the second driving unit 131 is connected with the driving shaft 134, so as to realize the synchronous transmission of the two driving wheel sets 133 and ensure the stability of the moving process of the telescopic member 112 and the gripping assembly 120.
For example, both ends of the driving shaft 134 may be supported and mounted on the first end of the fixing member 111 through a bearing seat and a bearing, the second driving unit 131 may be a motor, and an output shaft of the motor may be engaged with the driving shaft 134 through a gear engagement, or a speed reducer may be disposed between the output shaft of the motor and the driving shaft 134, and the embodiment of the present invention is not particularly limited to the specific engagement manner of the second driving unit 131 and the driving shaft 134.
It should be noted that, the flexible transmission member 132 in the driving assembly may adopt a synchronous belt, and may also adopt other structural types including, but not limited to, a chain 164, and the like, and the corresponding transmission wheel may be a structure matched with a sprocket, and the like.
Since the second driving mechanism 130 is required to lock the telescopic member 112 and the fixed member 111 at a specific position by means of the locking linkage assembly 140 in the picking and placing step of driving the telescopic member 112 and the gripping assembly 120 to move, the specific structure and principle of the locking linkage assembly 140 will be described in detail below.
As shown in fig. 11 to 13, with reference to fig. 8, in one possible implementation manner, the locking linkage assembly 140 may include a link mechanism 141 and a clip 142, the link mechanism 141 includes a fixed bar 1414 and a plurality of movable bars, the fixed bar 1414 is connected with the plurality of movable bars in sequence, the fixed bar 1414 is connected with the telescopic member 112, the movable bar is swingable relative to the telescopic member 112, the clip 142 may be connected between the fixed bar 1414 and the movable bar, and when the movable bar swings, the clip 142 may be clipped and separated from the fixed member 111.
Wherein, the first end of joint piece 142 can rotate with dead lever 1414 and be connected, the second end of joint piece 142 then can rotate with any one in a plurality of movable rods and be connected, and joint piece 142 can rotate under the drive of movable rod, when joint piece 142 and mounting 111 joint, joint piece 142 and mounting 111 joint to extensible member 112 and mounting 111 are in the locking state, and when joint piece 142 and dead lever 1414 separated, the unblock between extensible member 112 and the mounting 111.
It can be understood that, according to the picking and placing process steps of the picking and placing device 100, when the gripping assembly 120 moves to different positions in the X direction, the locking state and the unlocking state between the telescopic member 112 and the fixed member 111 need to be switched.
In some embodiments, a trigger may be disposed on at least one of the plurality of movable rods, a thrust member 1214 may be disposed on the second slider 1213, and when the second slider 1213 moves to a different position in the extending direction of the second guide rail 1124, the thrust member 1214 may abut against or separate from the trigger, that is, when the gripping assembly 120 moves to a different position in the X direction, a change in the state of engagement between the thrust member 1214 and the trigger may be triggered, so as to lock or unlock the telescopic member 112 and the fixed member 111.
When the pushing element 1214 abuts against the trigger, the pushing element 1214 drives the movable rod to swing, so that the clamping element 142 is disengaged from the fixed element 111, and at this time, the telescopic element 112 can move relative to the fixed element 111 under pushing, and the position of the whole clamping assembly 120 relative to the telescopic element 112 is unchanged.
In addition, the locking linkage assembly 140 may further include an elastic member 145, the elastic member 145 may provide a reset function for the clamping of the clamping member 142 and the fixing member 111, wherein a first end of the elastic member 145 may be connected to the fixing rod 1414, a second end of the elastic member 145 may be connected to the clamping member 142, when the pushing member 1214 is separated from the trigger, the elastic member 145 pulls the clamping member 142 to rotate, so that the clamping member 142 is clamped to the fixing member 111, at this time, the telescopic member 112 and the fixing member 111 remain relatively stationary, and under the transmission of the flexible transmission member 132, the clamping assembly 120 moves relative to the telescopic member 112.
For example, the elastic member 145 may be a tension spring, or may be another member capable of providing tension, such as a bungee cord, an elastic rubber, and the like, and the type, and the elastic damping coefficient of the elastic member 145 may be designed according to the installation space and the size requirement of the engaging force between the expansion member 112 and the fixing member 111, which is not particularly limited in this embodiment of the application.
It will be understood by those skilled in the art that the link mechanism 141 may be a four-bar link structure in order to ensure the stability of the swing of the link mechanism 141, which will be exemplified below.
With continued reference to fig. 8, 11, 12, and 13, the fixed bar 1414 may extend in a first direction, the length of the fixed bar 1414 matches the length of the second guide rail 1124, the plurality of movable bars may include a first movable bar 1411, a second movable bar 1412, and a third movable bar 1413, the first movable bar 1411 and the second movable bar 1412 are respectively rotatably connected with two ends of the fixed bar 1414, and two ends of the third movable bar 1413 are respectively rotatably connected with the first movable bar 1411 and the second movable bar 1412, thereby forming a four-bar linkage structure.
The fixed rod 1414 and the third movable rod 1413 may have longer lengths, and the first movable rod 1411 and the second movable rod 1412 may have shorter lengths, so as to reduce the range of motion of the linkage 141 during swinging and avoid interference. The second end of the clamping member 142 may be rotatably connected to the third movable rod 1413, the first movable rod 1411 may be provided with a first trigger 143, the second movable rod 1412 may be provided with a second trigger 144, and when the second slider 1213 moves to the two ends of the stroke of the second guide rail 1124, the thrust member 1214 may respectively trigger the first trigger 143 and the second trigger 144, that is, the first movable rod 1411 or the second movable rod 1412 may be driven to swing by abutting against the first trigger 143 or the second trigger 144, so as to realize the movement of the link mechanism 141, thereby unlocking the clamping member 142 and the fixing member 111.
It should be noted that, the reciprocating movement of the gripping assembly 120 relative to the two ends of the telescopic member 112 corresponds to the reciprocating movement of the pushing member 1214 between the first triggering member 143 and the second triggering member 144, and the direction of the abutting force of the pushing member 1214 against the first triggering member 143 and the second triggering member 144 is opposite, so that, in order to ensure that when the pushing member 1214 abuts against the first triggering member 143 and the second triggering member 144, the third movable rod 1413 can swing in the same direction to separate and unlock the snap-in member 142 from the fixed member 111, the arrangement positions of the first triggering member 143 and the second triggering member 144 can be designed differently, wherein, on the side of the first movable rod 1411, the first triggering member 143 can be located between the two rotating shafts of the first movable rod 1411, and on the side of the second movable rod 1412, the second triggering member 144 can be located at the two outer ends of the second movable rod 1412, so that the direction of the abutting force received by the first triggering member 143 and the second triggering member 144 is opposite, but the link mechanisms 141 may be made to have the same swing state.
In some embodiments, a first end of the clamping member 142 may be provided with a clamping portion 1421 and a pulling portion 1422, the fixing member 111 is provided with clamping grooves 1112 arranged along a first direction, when the clamping member 142 is clamped with the fixing member 111, the clamping portion 1421 is clamped into the clamping grooves 1112, so as to ensure the clamping reliability and structural strength, the pulling portion 1422 may be connected with the elastic member 145, and the pulling portion 1422 and the clamping portion 1421 are respectively located on two opposite sides of a connection position of the clamping member 142 and the fixing member 111, so that the driving rotation directions of the clamping member 142 by the trigger member and the elastic member 145 are opposite, thereby achieving the locking and unlocking functions.
Referring to fig. 12, the locking groove 1112 may be formed by a toothed plate installed on the fixing element 111, the locking grooves 1112 may be sequentially and continuously arranged along the X direction, when the second trigger element 144 is impacted and abutted, the second movable rod 1412 swings clockwise and drives the third movable rod 1413 to move leftward, at this time, since the position of the fixed rod 1414 is not changed, the position of the connection point between the locking element 142 and the fixed rod 1414 is also not changed, and the third movable rod 1413 may drive the other end of the locking element 142 to move leftward, so that the connecting element 125 rotates counterclockwise, and the locking portion 1421 may be disengaged from the locking groove 1112; after the second trigger 144 gets rid of the abutment, under the action of the pulling force of the elastic member 145, the elastic member 145 pulls the pulling portion 1422, so that the engaging member 142 can rotate clockwise, and then the engaging portion 1421 can engage with the engaging groove 1112, and meanwhile, the third movable bar 1413 can also swing right to the original state.
With reference to fig. 2 and fig. 9, in a possible implementation manner, the telescopic member 112 may include a tray 1121 and side plates 1122 respectively disposed on two sides of the tray 1121, at least one supporting member 1125 is disposed on the side plates 1122, the tray 1121 is connected to the supporting members 1125, the tray 1121 is used for carrying the material box 400, the locking linkage assembly 140 is located on a side of the tray 1121 away from the material box 400, third guide rails 1111 are respectively disposed on two sides of the fixing member 111, and the side plates 1122 are respectively connected to the third guide rails 1111 in a sliding manner, so as to provide an installation space for the second driving mechanism 130, and ensure that the material box 400 can have reliable and effective bearing.
It should be noted that, when the tray 1121 does not carry the material tank 400, the telescopic member 112 and the fixing member 111 are unlocked by triggering the first triggering member 143 or the second triggering member 144 by the clamping assembly 120, the telescopic member 112 is directly pushed by the clamping assembly 120 to move, and when the material tank 400 is carried on the tray 1121, the clamping assembly 120 may apply a pushing force or a pulling force to the material tank 400, and then the friction force between the material tank 400 and the tray 1121 drives the telescopic member 112 to move relative to the fixing member 111.
With continued reference to fig. 1, 2, 8, and 13, in a possible implementation manner, the locking linkage assembly 140 may further include a third triggering member 146, the third triggering member 146 is rotatably connected to the fixing rod 1414, an opening 1123 is disposed on the tray 1121, at least a portion of the third triggering member 146 extends out of the opening 1123 and extends to a side of the telescopic member 112 carrying the material tank 400, the third triggering member 146 is configured to cooperate with the material tank 400, and when the material tank 400 is carried on the tray 1121, the material tank 400 may press the third triggering member 146 downward to trigger the unlocking of the telescopic member 112 and the fixing member 111.
It can be understood that, the third triggering member 146 may abut against the clamping member 142, and when the material tank 400 abuts against the third triggering member 146, the third triggering member 146 drives the clamping member 142 to rotate, so that the telescopic member 112 is separated from the fixing member 111, and thus, when the material tank 400 is loaded on the tray 1121, the relative slidable state between the telescopic member 112 and the fixing member 111 is maintained. In addition, in order to ensure that the material tank 400 has a sufficient contact area with the tray 1121 to prevent the material tank 400 from falling, the third triggering member 146 may be located at a side close to the second movable rod 1412.
Exemplarily, an avoiding opening 1414a may be disposed on the fixing rod 1414, the third trigger 146 is rotatably connected to a sidewall of the avoiding opening 1414a, a first abutting portion 1461 is disposed on the third trigger 146, a second abutting portion 1423 is disposed on one side of the clamping member 142 facing the fixing rod 1414, the second abutting portion 1423 extends to a bottom side of the fixing rod 1414, and the first abutting portion 1461 passes through the avoiding opening 1414a to abut against the second abutting portion 1423, so that the clamping member 142 can be driven to rotate when the third trigger 146 rotates.
It should be noted that the locking linkage assemblies 140 may be one, two or more, and may be arranged at different positions on the telescopic member 112 along the width direction of the telescopic member 112 to ensure the reliability of locking, and different locking linkage assemblies 140 may move or swing synchronously.
With reference to fig. 2 and fig. 7, the goods taking and placing device 100 according to the embodiment of the present disclosure may further include a second detecting unit 150, the second detecting unit 150 is connected to the fixing member 111, and the second detecting unit 150 is configured to detect at least one of a posture of the material box 400 and an electronic identifier of the material box 400, so as to accurately determine an initial position of the goods taking and placing device 100 when the material box 400 is taken and placed, identify information of the material box 400, and accurately perform a corresponding task of taking, placing and transporting goods.
It is understood that there may be a plurality of second sensing units 150, and different second sensing units 150 may sense information of different material tanks 400. For example, the plurality of second detecting units 150 may include a 3D camera for detecting the size and the posture of the material box 400, so that the pick-and-place device 100 may be aligned with the material box 400 during operation, and the plurality of second detecting units 150 may further include a scanner or a 2D camera for detecting a recognizable identifier, such as a two-dimensional code, a barcode, a numeric symbol, etc., on the material box 400 to determine whether the identity of the material box 400 is a correct execution object of the current task.
Referring to fig. 14 and 15, the pick-and-place apparatus 100 provided in the embodiment of the present disclosure may further include a rotation assembly 160, where the rotation assembly 160 may include a fixed bracket 161, a fourth driving unit 163, and a rotation platform 162, where the fourth driving unit 163 is configured to drive the rotation platform 162 to rotate relative to the fixed bracket 161, and the telescopic assembly 110 is disposed on the rotation platform 162, and when the apparatus is applied to a transfer robot, the pick-and-place operation may be performed on different sides of the transfer robot.
Illustratively, the fourth driving unit 163 may be a motor, and the motor may be mounted on the rotating platform 162, between the fourth driving unit 163 and the fixed bracket 161, a chain 164 and two chain wheels (not shown) may be engaged, one of the chain wheels may be relatively fixed with the fixed bracket 161, and the rotating platform 162 may be rotatably connected with the chain wheel, the other chain wheel may be rotatably disposed at the bottom of the rotating platform 162, the chain 164 may be wound around the two chain wheels, and the fourth driving unit 163 may drive the chain wheel on the rotating platform 162 to rotate, so that the rotating platform 162 relatively rotates with respect to the fixed bracket 161, and thus the rotation of the telescopic assembly 110 with respect to the fixed bracket 161 is achieved.
In addition, referring to fig. 1 and fig. 2, the front end of the tray 1121 may be provided with a buffer member, and when the telescopic member 112 extends relative to the fixing member 111, the buffer member may abut against the edge of the shelf 500, so as to play a role of buffering, and reduce or eliminate noise. A micro switch may be further disposed at the front end of the tray 1121, and when the telescopic member 112 abuts against the edge of the shelf 500, the micro switch may be triggered, so that it may be determined that the telescopic member 112 and the shelf 500 are successfully abutted, and the clamping assembly 120 may be inserted into and engaged with the material tank 400. Of course, a corresponding switch unit (not shown) may be provided at the rear end of the tray 1121 to detect whether the telescopic member 112 is completely retracted.
Referring to fig. 16 to 24, taking the application to a transfer robot as an example, the following describes an exemplary procedure of picking up goods from the rack 500 of the pick-and-place device 100 according to the embodiment of the present application.
The method comprises the following steps: as shown in fig. 16, the telescopic member 112 is in a contracted state relative to the fixed member 111, and the gripping assembly 120 moves from the first end of the telescopic member 112 to the second end of the telescopic member 112, so as to trigger the unlocking of the telescopic member 112 and the fixed member 111.
Step two: as shown in fig. 17, the gripping assembly 120 drives the telescopic member 112 to extend relative to the fixing member 111, and the end of the telescopic member 112 abuts against the edge of the shelf 500, so that the two gripping members 123 of the gripping assembly 120 approach each other and can be inserted into the horizontal slot 410 of the material tank 400 to grip the material tank 400.
Step three: as shown in fig. 18, the gripping assembly 120 moves back relative to the telescopic member 112, so that the gripping assembly 120 pulls the material tank 400 partially onto the tray 1121 of the telescopic member 112, and at this time, the telescopic member 112 and the fixing member 111 are locked, and the relative positions of the two are kept fixed, so as to prevent the material tank 400 from falling.
Step four: as shown in fig. 19, the gripping assembly 120 pulls the entire material tank 400 to the tray 1121, and at this time, the pressure of the material tank 400 triggers the unlocking of the telescopic member 112 and the fixing member 111, so that when the gripping assembly 120 drags the material tank 400 to move, the telescopic member 112 can retract relative to the fixing member 111 under the friction force of the material tank 400.
Step five: as shown in fig. 20, the telescopic member 112 is fully retracted, the telescopic member 112 is separated from the edge of the shelf 500, the material tank 400 is pulled above the fixing member 111 by the gripping member 120, and the telescopic member 110 is integrally returned to the original position before the pick-up.
Step six: as shown in fig. 21, the rotating assembly 160 drives the telescoping assembly 110 to rotate 90 ° together with the material tank 400, such that the material tank 400 faces the storage groove 221 of the transfer robot.
Step seven: as shown in fig. 22, the gripping assembly 120 pushes the material box 400 to move, and the telescopic member 112 extends to abut against the edge of the storage slot 221 under the friction force of the material box 400.
Step eight: as shown in fig. 23, the gripping assembly 120 continues to push the material box 400 to move, the material box 400 moves from the tray 1121 into the storage slot 221, and thereafter the two gripping members 123 of the gripping assembly 120 can move away from each other to be pulled out from the material box 400.
Step nine: as shown in fig. 24, the gripping assembly 120 retracts relative to the telescopic member 112, and brings the telescopic member 112 to retract relative to the fixed member 111, so as to return to the initial state.
It should be noted that the operation of taking and placing the material tank 400 on the transfer robot into the storage position of the shelf 500 may be similar to the above operation steps, and will not be described herein again.
Different from the manner of taking and placing the material tank 400 by the clamping assembly 120 in the above technical solution, the material tank 400 can be taken and placed in another manner in the embodiment of the present application.
Referring to fig. 25 to fig. 31, in another implementation manner, the goods taking and placing device 100 may include a telescopic assembly 110 and a push-pull assembly 170, the telescopic assembly 110 includes a fixing member 111 and a telescopic member 112, the telescopic member 112 is disposed on the fixing member 111 and can be telescopic in a first direction relative to the fixing member 111, the push-pull assembly 170 is disposed on the telescopic member 112, the push-pull assembly 170 is configured to drive the material box 400 to move, that is, to take and place the material box 400, and the telescopic member 112 may bear the material box 400.
It is understood that the push-pull assembly 170 may include a base plate 171, a pulling member 172 and a third driving mechanism 173, the base plate 171 is connected to the telescopic member 112, the third driving mechanism 173 is disposed on the base plate 171, the pulling member 172 is connected to the third driving mechanism 173, and the third driving mechanism 173 may drive the pulling member 172 to move along a third direction.
For convenience of description, referring to the fixing member 111, the longitudinal direction of the fixing member 111 is defined as an X direction, that is, the first direction is an X direction, the extensible member 112 is extensible and contractible along the X direction, the height direction of the base plate 171 is defined as a Z direction, that is, the third direction is a Z direction, and the pull member 172 is movable along the Z direction. Since both the telescopic member 112 and the pulling member 172 can perform reciprocating movement, the movement in the first direction includes back and forth movement in the X direction, and the movement in the third direction includes up and down movement in the Z direction.
Referring to fig. 25, 26, 27, 28, 29 and 30, when the push-pull assembly 170 moves to a position close to or abutting against the material tank 400, the pull member 172 can be engaged with the material tank 400 by the telescopic movement of the pull member 172, wherein the outer wall of the material tank 400 may be provided with a vertical slot 420, and the pull member 172 may be inserted into or disengaged from the vertical slot 420 by moving under the driving of the third driving mechanism 173.
It can be understood that the cross-sectional dimension of the pulling member 172 may be equal to or smaller than the slot dimension of the vertical slot 420, so that the pulling member 172 may enter the vertical slot 420, when the pulling member 172 moves upward, the pulling member 172 may be inserted into the vertical slot 420, when the pulling member 172 moves downward, the pulling member 172 may be disengaged from the vertical slot 420, and when the pulling member 172 enters the vertical slot 420, along with the overall movement of the push-pull assembly 170, the pulling member 172 may drive the material tank 400 to move, thereby achieving the picking and placing operation of the material tank 400.
It should be noted that, as the object to be picked and placed, the outer wall of the material box 400 provided with the vertical slot 420 may face the entrance and exit of the storage space of the shelf 500, when the picking and placing device 100 provided in the embodiment of the present application picks and places the material box 400 on the shelf 500, the push-pull assembly 170 may be inserted and matched with the outer side wall of the material box 400 through the pulling member 172, so that when the push-pull assembly 170 drives the material box 400 to move, the push-pull assembly 170 and the telescopic member 112 do not need to enter the interior of the storage space of the storage box 400, therefore, the picking and placing device 100 may not occupy the interior space of the storage space when picking and placing the material box 400, when the storage space of the shelf 500 stores the material box 400, the small-pitch or non-pitch storage may be achieved, and further, the space utilization rate of the storage is improved.
In addition, the push-pull assembly 170 may further include a push plate 177, the push plate 177 is connected to the base plate 171, and the push plate 177 faces the material tank 400 to push the material tank 400 to move, that is, the push plate 177 is located on the same side of the third driving mechanism 173 and the pull member 172 relative to the base plate 171. Illustratively, the push plate 177 can be coupled to the base 171 by fasteners.
The manner in which the third drive mechanism 173 drives the slider 172 will be described in detail below.
In a possible implementation manner, the third driving mechanism 173 may include a third driving unit 1731, a third transmission member 1732, a fourth transmission member 1733 and a connecting rod 1734, the third driving unit 1731 is disposed on the base plate 171, the third transmission member 1732 is connected to an output end of the third driving unit 1731, the third transmission member 1732 may be driven by the third driving unit 1731 to rotate, the fourth transmission member 1733 is engaged with the third transmission member 1732, and the fourth transmission member 1733 may be driven by the third transmission member 1732 to move in a third direction, i.e., to move up and down in the Z direction.
It can be understood that the third driving unit 1731 can output a rotational motion and drive the third driving member 1732 to rotate, and the fourth driving member 1733 and the third driving member 1732 can convert the rotational motion into a linear motion, the first end of the connecting rod 1734 can be connected to the third driving member 1732, and the second end of the connecting rod 1734 is connected to the pulling member 172, so that when the fourth driving member 1733 moves, the pulling member 172 can be driven to move synchronously, thereby realizing the insertion or separation of the pulling member 172 and the vertical slot 420.
It should be noted that, because the pulling member 172 needs to perform reciprocating movement in conjunction with the vertical slot 420, the up-and-down movement of the pulling member 172 along the Z direction can be respectively opposite to the forward rotation and the reverse rotation of the third transmission member 1732, for example, when the third transmission member 1732 rotates forward, the corresponding pulling member 172 moves upward along the Z direction, and when the third transmission member 1732 rotates reversely, the corresponding pulling member 172 moves downward along the Z direction.
In addition, in order to ensure the smoothness and stability of the pulling member 172 moving along the third direction, the third driving mechanism 173 may further include a guiding member 1735, the guiding member 1735 may be disposed on the substrate 171, a guiding hole is disposed on the guiding member 1735, the guiding hole extends along the third direction, the connecting rod 1734 penetrates through the guiding hole, and the connecting rod 1734 may move along the guiding hole under the driving of the fourth driving member 1733, that is, the guiding member 1735 may play a role in limiting and guiding the movement of the fourth driving member 1733.
In the embodiment of the present application, the third driving mechanism 173 drives the pulling member 172 to convert the rotational motion into the linear motion, so that different engagement manners of the third transmission member 1732 and the fourth transmission member 1733 may be adopted, including but not limited to a screw transmission manner, a rack-and-pinion manner, a pulley and a belt manner, and the embodiment of the present application is not limited thereto. Of course, a linear motor or an air cylinder may be used to directly drive the pulling member 172. One of the driving methods will be described below as an example.
In some embodiments, the third transmission member 1732 may be a screw rod, the fourth transmission member 1733 may be a screw nut, the third driving unit 1731 may be a motor, the screw rod may extend along a third direction, that is, the screw rod extends along the Z direction, a first end of the screw rod is connected to an output shaft of the motor, a second end of the screw rod is rotatably connected to the guide 1735, the screw nut is sleeved on the screw rod, and when the screw rod rotates, the screw nut moves along the extending direction of the screw rod, and the connecting rod 1734 is connected to the screw nut, so that the moving stroke and position of the pulling member 172 may be controlled by the rotation of the screw rod.
It can be understood that the lead screw can be arranged between the motor and the guide 1735, so as to support the lead screw, the lead screw can be directly connected with an output shaft of the motor, and can also be indirectly connected with a component through a coupler, and when the lead screw is connected with the guide 1735, because the lead screw rotates but the guide 1735 is relatively immobile, the lead screw can be matched with the guide 1735 through a bearing, so that the smoothness of the rotation of the lead screw is ensured.
In order to ensure the stability of the moving process of the pulling member 172, the two connecting rods 1734 may be provided, and the two guiding holes may also be provided, the two connecting rods 1734 may respectively pass through the two guiding holes, the two connecting rods 1734 may be rod-shaped, and the two connecting rods 1734 may be arranged in parallel, in addition, the two connecting rods 1734 may be symmetrically distributed on two sides of the third driving member 1732, so that the balance of the stress when the fourth driving member 1733 drives the pulling member 172 to move may be realized.
It will be understood by those skilled in the art that three or more connecting bars 1734 may be used to cooperate with the guiding members 1735 to further improve the supporting strength, where the layout space allows, and the embodiment of the present invention is not limited in this respect.
It should be noted that, since the movement of the pulling member 172 along the Z direction can be performed by the third driving unit 1731 as a power source, and the third transmission member 1732 and the fourth transmission member 1733 as a force and motion transmission unit, the moving speed and the stroke of the pulling member 172 depend on the output rotation speed and the number of rotation cycles of the third driving unit 1731, on the one hand, and the parameters of the third transmission member 1732 and the fourth transmission member 1733, for example, the diameter and the pitch of the screw when the screw and the screw nut are matched. For the third transmission member 1732 and the fourth transmission member 1733 of selected types and parameters, the moving stroke and speed of the pulling member 172 can be adjusted by controlling the output of the third driving unit 1731, and the control of the third driving unit 1731 can be referred to by using an external signal, which will be described below.
In a possible implementation manner, the push-pull assembly 170 may further include a third detecting unit 174 and a sensing member 175, the third detecting unit 174 is disposed on the base plate 171, the sensing member 175 is connected to the fourth transmission member 1733, that is, when the pulling member 172 moves along the Z direction, the sensing member 175 also moves synchronously, and the third detecting unit 174 is configured to detect the sensing member 175 to detect a relative position of the fourth transmission member 1733 when moving along the third direction.
It can be understood that, when the pulling member 172 needs to be inserted into the vertical slot 420 or needs to be separated from the vertical slot 420, the third detecting unit 174 can determine the stroke position of the pulling member 172, so as to ensure the accuracy of the insertion of the pulling member 172 into the vertical slot 420. The type of the third detection unit 174 may be employed includes, but is not limited to, a photosensor, a contact switch, and the like.
In some embodiments, the number of the third detecting units 174 may be two, and the two third detecting units 174 are respectively located at two ends of the moving stroke of the fourth transmission member 1733 along the third direction, so that the two third detecting units 174 can respectively detect the insertion and separation states of the pulling member 172 with respect to the vertical slot 420, and accurately control the stroke of the pulling member 172.
For example, when a photoelectric sensor is used, two third detection units 174 may be arranged at two ends of the moving stroke of the sensing member 175 along the Z direction, when the third detection unit 174 at the upper side along the Z direction is blocked by the sensing member 175, it may be determined that the pulling member 172 and the vertical slot 420 have been inserted, at this time, the push-pull assembly 170 may drive the material tank 400 to move, when the third detection unit 174 at the lower side along the Z direction is blocked by the sensing member 175, it may be determined that the pulling member 172 is separated from the insertion slot, and at this time, the push-pull assembly 170 may be separated from the material tank 400.
Since the types and the dimensions of the material tank 400 may be different in different application scenarios, in order to improve the applicability of the material taking and placing device 100 and reduce the control difficulty, the relative positions of the third driving mechanism 173 and the base plate 171 may be set to be adjustable when the two are assembled, so that when the position of the vertical slot 420 of the material tank 400 is changed relative to the push-pull assembly 170, the material tank 400 may still be taken and placed.
In one possible implementation, the push-pull assembly 170 may further include an adjustment plate 176, the adjustment plate 176 is connected to the base plate 171, and the third driving mechanism 173 is connected to the adjustment plate 176, that is, the third driving mechanism 173 may be indirectly connected to the base plate 171 through the adjustment plate 176, and the position of the adjustment plate 176 is adjustable relative to the base plate 171, so as to achieve the position adjustment of the third driving mechanism 173 relative to the base plate 171.
It can be understood that a plurality of adjusting holes 1711 can be arranged on the base plate 171, the plurality of adjusting holes 1711 can be arranged along the third direction, and the adjusting plate 176 can be matched with different adjusting holes 1711 to adjust the relative position of the adjusting plate 176 and the base plate 171 along the third direction, so that the taking and placing requirements of the material boxes 400 with different specifications and sizes can be met.
Illustratively, the adjustment holes 1711 can be sequentially communicated along the arrangement direction to form an adjustment groove, that is, a plurality of adjustment holes 1711 are in one group, and a plurality of groups of adjustment holes 1711 can be disposed on the substrate 171 to form a plurality of connection positions, each group of adjustment holes 1711 has one adjustment hole 1711 connected to the adjustment plate 176, for example, there can be four groups of adjustment holes 1711, and two rows of adjustment holes 1711 are formed, and each row is two groups of adjustment holes 1711 along the Z direction. In addition, the adjusting plate 176 can be connected to the base plate 171 through a connecting rod 1734 by a threaded fastener, for example, a bolt is sequentially inserted through the connecting plate and the adjusting hole 1711 to press the connecting rod 1734 against the base plate 171, thereby ensuring the reliability of the installation.
In order to reduce the overall weight of the pick-and-place device 100 and ensure the structural strength, the substrate 171 may be a sheet metal, such as a bent plate with an L-shaped cross section, and one, two or more reinforcing ribs may be disposed on the substrate 171 to improve the structural strength.
It should be noted that, when the pulling member 172 is engaged with the material tank 400, the pulling member 172 moves up and down for insertion engagement, and the notch of the vertical slot 420 on the material tank 400 needs to face the pulling member 172. Referring to fig. 31, the vertical slot 420 may be located at an upper edge of the material tank 400, and a notch of the vertical slot 420 faces downward, and meanwhile, the material tank 400 may be moved for an edge operation task in other logistics processes, and a wave-shaped groove may be formed at an edge of the slot 420 to correspond to a finger of a person, so as to improve the comfort of carrying the material tank 400.
The embodiment of the present application further provides a transfer robot, please refer to fig. 1 again, the transfer robot includes a robot main body 200, a lifting device 300 and the goods taking and placing device 100 in the above technical solution, the lifting device 300 is disposed on the robot main body 200 and can move along the height direction of the robot main body 200, the goods taking and placing device 100 is disposed on the lifting device 300, so that the lifting device 300 can drive the goods taking and placing device 100 to move, thereby realizing the goods taking and placing operations at different heights.
The robot main body 200 may include a base 210 and a storage rack 220, the storage rack 220 is mounted on the base 210, the lifting device 300 is disposed on the storage rack 220 and can move along a height direction of the storage rack 220, a plurality of storage slots 221 may be disposed on a side of the storage rack 220 departing from the pick-and-place device 100, and the storage slots 221 are spaced apart from each other along the height direction of the storage rack 220.
For example, the lifting device 300 may be driven by a motor and drives the goods taking and placing device 100 to move up and down along the height direction of the robot body 200 by means of a synchronous belt or a chain drive.
It can be understood by those skilled in the art that when the storage slot 221 is disposed at the rear side of the transfer robot, the goods taking and placing device can be disposed at the front side of the robot main body 200, and according to the structure of the goods taking and placing device 100, it can be implemented that goods taking and placing operations are completed by docking with other devices at the front side, the left side, and the right side of the robot main body 200, and meanwhile, goods taking and placing operations can be completed in the storage slot 221 at the rear side of the robot main body 200 by only rotating 90 ° or 180 ° accordingly.
The embodiment of the application still provides a logistics system, including goods shelves and transfer robot among the aforementioned technical scheme, be provided with getting among the aforementioned technical scheme and put the goods device on the transfer robot, transfer robot and get all technological effects that similar and had aforementioned technical scheme in putting the goods device's structure and the aforementioned scheme, here is no longer repeated, and the goods shelves can realize that the booth apart from or do not have the interval (case interval, interlamellar spacing etc.) of material case and deposit, improve space utilization.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill 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; such modifications or substitutions do not depart from the spirit and scope of the present disclosure.

Claims (30)

1. The goods taking and placing device is used for taking and placing a material box, and comprises a telescopic assembly and a push-pull assembly, wherein the telescopic assembly comprises a fixed part and a telescopic part which can be telescopic along a first direction relative to the fixed part, and the push-pull assembly is arranged on the telescopic part;
the push-pull assembly comprises a base, a pulling piece and a first driving mechanism, the base is slidably arranged on the telescopic piece, the first driving mechanism is arranged on the base, the pulling piece is connected to the first driving mechanism, the first driving mechanism is used for driving the pulling piece to move along a second direction, so that the pulling piece is inserted into a slot in the outer side wall of the material box or separated from the slot, and an included angle is formed between the second direction and the first direction.
2. The pick and place device of claim 1, wherein the first direction is in a horizontal direction and the second direction is in a vertical direction.
3. The pick and place device of claim 2, wherein the pull member protrudes from a top of the base.
4. The pick and place device of any one of claims 1-3, wherein the push-pull assembly further comprises a push plate, the push plate is connected to the base and faces the material box to push the material box to move.
5. The pick-and-place device as claimed in any one of claims 1 to 3, wherein the first driving mechanism comprises a first driving unit, a first transmission member, a second transmission member and a connecting member, the first driving unit is disposed on the base, and an output end of the first driving unit is connected with the first transmission member to drive the first transmission member to rotate;
the second transmission piece is matched with the first transmission piece, and the second transmission piece and the pulling piece are relatively fixed and can move along the second direction under the driving of the first transmission piece.
6. The pick and place device of claim 5, wherein the first driving mechanism further comprises a guide member, the connecting member being connected between the second transmission member and the pulling member; the guide piece sets up on the base, be equipped with on the guide piece and follow the guiding hole that the second direction extends, the connecting piece is worn to establish the guiding hole, just the connecting piece is in follow under the drive of second driving medium the guiding hole removes.
7. The device according to claim 6, wherein the first transmission member is a lead screw, the second transmission member is a lead screw nut, the lead screw extends along the second direction, a first end of the lead screw is connected with the output shaft of the first driving unit, and a second end of the lead screw is rotatably connected with the guide member; the screw rod nut is sleeved on the screw rod, and when the screw rod rotates, the screw rod nut moves along the extending direction of the screw rod.
8. The pick-and-place device as claimed in claim 7, wherein there are two connecting members, there are two guiding holes, and two connecting members respectively pass through the two guiding holes; the two connecting pieces are arranged in parallel and symmetrically distributed on two sides of the first transmission piece.
9. The device according to claim 5, wherein the push-pull assembly further comprises a first detecting unit and a sensing member, the first detecting unit is disposed on the base, the sensing member is connected to the second transmission member, and the first detecting unit is configured to detect the sensing member so as to detect a relative position of the second transmission member when the second transmission member moves in the second direction.
10. The device according to claim 9, wherein the number of the first detecting units is two, and the two first detecting units are respectively located at two ends of the moving stroke of the second transmission member along the second direction.
11. The pick and place device of claim 5, wherein the push-pull assembly further comprises an adjustment plate coupled to the base, the first drive mechanism coupled to the adjustment plate; be equipped with a plurality of regulation holes on the base, it is a plurality of the regulation hole is followed the second direction is arranged, the regulating plate can with different the regulation hole cooperation is in order to adjust the regulating plate with the base is followed the relative position of second direction.
12. The device according to any one of claims 1 to 3, wherein the retractable assembly further comprises a second driving mechanism, the second driving mechanism comprises a second driving unit, a flexible transmission member and a transmission wheel set, the transmission wheel set comprises a plurality of transmission wheels arranged in parallel, the plurality of transmission wheels are respectively arranged on the fixed member and the retractable member, and the flexible transmission member is wound on the plurality of transmission wheels;
the second driving unit is connected to the driving wheels and is used for driving the driving wheels to rotate, so that the flexible driving parts are driven by the driving wheels to drive around the driving wheels and drive at least one of the telescopic parts and the push-pull assembly to move along the first direction.
13. The device for picking and placing the goods according to claim 12, further comprising a locking linkage assembly, wherein the locking linkage assembly is arranged on the telescopic assembly, and at least part of the locking linkage assembly can move along with the telescopic piece and is clamped with or separated from the fixed piece so as to lock or unlock the telescopic piece and the fixed piece;
when the telescopic piece and the fixed piece are unlocked, the transmission wheel set is configured to drive the telescopic piece to be telescopic along the first direction when the flexible transmission piece is transmitted;
when the telescopic piece and the fixing piece are locked, the relative position of each driving wheel in the driving wheel set is not changed.
14. The device for picking and placing goods according to claim 13, wherein a first limit portion and a second limit portion are respectively disposed at two ends of the telescopic member, and when the telescopic member is unlocked from the fixing member, the push-pull assembly abuts against the first limit portion or the second limit portion, so that the telescopic member extends or retracts in the first direction.
15. The apparatus according to claim 13, wherein the plurality of driving wheels comprises a plurality of inner driving wheels and at least one outer driving wheel, the flexible driving member is wound around the plurality of inner driving wheels, and the outer driving wheel abuts against an outer peripheral surface of the flexible driving member;
the outer driving wheel and part of the inner driving wheel are connected to the telescopic piece, the telescopic piece and the fixing piece are unlocked, and the flexible driving piece moves in the first direction relative to the driving wheel connected to the fixing piece when the flexible driving piece is driven to rotate, so that the telescopic piece is driven to stretch.
16. The device according to claim 15, wherein the plurality of inner transmission wheels comprises a first transmission wheel, a second transmission wheel and a fourth transmission wheel which are sequentially arranged along the transmission direction of the flexible transmission member, the outer transmission wheel comprises a third transmission wheel, the third transmission wheel is arranged between the second transmission wheel and the fourth transmission wheel, the first transmission wheel and the first driving unit are both arranged at the first end of the fixing member, the first driving unit drives the first transmission wheel to rotate, the second transmission wheel is arranged at the second end of the fixing member, the third transmission wheel is arranged at the first end of the telescopic member, and the fourth transmission wheel is arranged at the second end of the telescopic member;
the base is connected with the flexible transmission part between the first transmission wheel and the fourth transmission wheel.
17. The pick and place device as claimed in claim 16, wherein the extendable member has a first rail extending in the first direction, and the base has a slider on a side thereof facing the extendable member, the first rail engaging the slider and supporting the base.
18. The device as claimed in claim 17, wherein the locking linkage assembly comprises a linkage mechanism and a clamping member, the linkage mechanism comprises a fixed bar and a plurality of movable bars, the fixed bar is connected with the plurality of movable bars in sequence, the fixed bar is fixedly connected with the extensible member, and the movable bar can swing relative to the extensible member;
the first end of joint spare with the dead lever rotates to be connected, the second end of joint spare is with a plurality of arbitrary one in the movable rod rotates to be connected, just the joint spare is in rotate under the drive of movable rod, so that the joint spare with mounting joint or separation.
19. The device according to claim 18, wherein at least one of the movable rods is provided with a trigger, the slider is provided with a pushing member, the pushing member can be abutted against or separated from the trigger when the slider moves to a different position in the extending direction of the first guide rail, and the pushing member drives the movable rod to swing to separate the engaging member from the fixed member when the pushing member is abutted against the trigger.
20. The device of claim 19, wherein the locking linkage assembly further comprises an elastic member, a first end of the elastic member is connected to the fixing rod, a second end of the elastic member is connected to the clamping member, and when the pushing member is separated from the trigger member, the elastic member pulls the clamping member to rotate, so that the clamping member is clamped to the fixing member.
21. The pick and place device of claim 20, wherein the retaining bar extends in the first direction, the retaining bar having a length matching a length of the first rail; the plurality of movable rods comprise a first movable rod, a second movable rod and a third movable rod, the first movable rod and the second movable rod are respectively and rotatably connected with two ends of the fixed rod, and two ends of the third movable rod are respectively and rotatably connected with the first movable rod and the second movable rod;
the second end of joint spare with the third movable rod rotates to be connected, trigger including setting up first trigger on the first movable rod and setting up and be in second trigger on the second movable rod, in order the slider removes to when the stroke both ends of first guide rail, trigger respectively first trigger with the second triggers.
22. The pick and place device of claim 21, wherein the first trigger is located between a stationary bar and the third movable bar, and the second trigger is located on a side of the stationary bar facing away from the third movable bar.
23. The device for picking and placing goods according to claim 20, wherein a first end of the clamping member is provided with a clamping portion, the fixing member is provided with a plurality of clamping grooves arranged along the first direction, and when the clamping member abuts against the fixing member, the clamping portion is clamped into the clamping grooves.
24. The pick-and-place device as claimed in any one of claims 19 to 23, wherein there are two driving wheels and two flexible transmission members, and the driving wheels and the flexible transmission members are arranged in pairs on both sides of the telescopic assembly; the first driving wheels of the two driving wheel sets are connected through a driving shaft, and the output end of the first driving unit is connected with the driving shaft.
25. The device for picking and placing goods according to claim 24, wherein the locking linkage assembly further comprises a third trigger member, the third trigger member is rotatably connected with the fixed rod and extends to one side of the telescopic member for bearing the material box; the third triggers the piece with joint spare butt, and the material case with when the third triggers the piece butt, the third triggers the piece and drives joint spare rotates to make extensible member and mounting separation.
26. The device for picking and placing goods as claimed in claim 25, wherein the fixing rod is provided with an evasion opening, the third trigger is rotatably connected to a side wall of the evasion opening, the third trigger is provided with a first abutting portion, one side of the clamping member facing the fixing rod is provided with a second abutting portion, the second abutting portion extends to the bottom side of the fixing rod, and the first abutting portion passes through the evasion opening and abuts against the second abutting portion so as to drive the clamping member to rotate when the third trigger rotates.
27. The pick-and-place device according to any one of claims 1 to 3, further comprising a second detection unit, wherein the second detection unit is connected with the fixing member, and the second detection unit is used for detecting at least one of the posture of the material tank and the electronic identifier of the material tank.
28. The device according to any one of claims 1 to 3, further comprising a rotation assembly, wherein the rotation assembly comprises a fixed bracket, a third driving unit and a rotation platform, the third driving unit is used for driving the rotation platform to rotate relative to the fixed bracket, and the telescopic assembly is arranged on the rotation platform.
29. A transfer robot comprising a robot main body, a lifting device provided to the robot main body and movable in a height direction of the robot main body, and a pick-and-place device according to any one of claims 1 to 28 provided to the lifting device.
30. The transfer robot of claim 29, wherein the robot main body comprises a base and a storage rack mounted on the base, and wherein the lifting device is provided on the storage rack and is movable in a height direction of the storage rack;
the storage rack is provided with a plurality of storage grooves which are distributed at intervals along the height direction of the storage rack.
CN202210617489.1A 2022-06-01 2022-06-01 Goods taking and placing device and transfer robot Pending CN114803260A (en)

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CN202210617489.1A CN114803260A (en) 2022-06-01 2022-06-01 Goods taking and placing device and transfer robot
PCT/CN2023/096916 WO2023231984A1 (en) 2022-06-01 2023-05-29 Goods storage and retrieval apparatus and transport robot

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WO2023231984A1 (en) * 2022-06-01 2023-12-07 深圳市海柔创新科技有限公司 Goods storage and retrieval apparatus and transport robot
CN115057147A (en) * 2022-08-08 2022-09-16 湖南工商大学 Commodity circulation transportation is with anticollision type express delivery storage device and get and put device
CN115057147B (en) * 2022-08-08 2022-11-01 湖南工商大学 Commodity circulation transportation is with anticollision type express delivery storage device and get and put device
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