CN208882924U - Hopper grasping mechanism - Google Patents

Abstract

The utility model discloses a kind of hopper grasping mechanism, for grabbing a hopper, including liftable handgrip platform and the handgrip being mounted on the handgrip platform.The handgrip is used to catch the frame of the hopper.Hopper grasping mechanism further includes positioning mechanism, the positioning mechanism includes multiple contraposition parts that the corner location of the handgrip platform is arranged in, the contraposition inclined-plane that each contraposition part includes the vertical stretch extended vertically downward and extends down and out from the bottom end of the vertical stretch, when the hopper grasping mechanism has grabbed the hopper, the vertical stretch of all contraposition parts all reclines with the frame outer surface of the hopper, and the contraposition inclined-plane is entirely located in the bottom part down of the hopper, it is described contraposition ramp formation to when the hopper grabbed with one below the second hopper when vertical direction has deviation, the frame upper limb sliding contact on the contraposition inclined-plane and second hopper.

Description

Hopper grasping mechanism

Technical field

The utility model relates to a kind of automated warehouse devices, especially design a kind of hopper gripper of automated warehouse device Structure.

Background technique

It needs largely to use shelf in existing logistic storage or warehouse.Existing shelf are much the mobile goods of included idler wheel Frame, in orbit, shelf are by driving device, conveying articles of running back and forth in orbit for moving goods rack setting.In order to improve effect Rate, usual shelf have multilayer, and every layer above will arrangement of goods.Since shelf are loaded with cargo, shelf need to expend in movement More electric energy, and for the sorting of some shelf, the movement such as get in stocks, unload goods, entire commodity shelf system is required to overall startup And movement, energy consumption is higher, and especially invalid power consumption is high, and utilization rate of electrical is low.Each moving goods rack often weighs Hundreds of kilograms, for moving goods rack in whole moving process, equal loss impinging one another is larger, has to track and braking system It has higher requirements.In existing shelf shuttling movement system, common shelf turn-around design designs for rail return, i.e. shelf Track has biggish turning radius, and shelf carry out steering circulation in the turning track.It switches tracks in design in current shelf, Have using traverse displacement unit, i.e., design cross moving track at track both ends, shelf shifting apparatus is equipped on cross moving track, shelf are logical Shifting apparatus is crossed to be transferred on another track.Since shelf for multilayered structure with very big weight by being transferred to After shifting apparatus, shifting apparatus needs biggish power draw.The structure to the load bearing stength of shifting apparatus, anti-fight intensity and Power has higher requirement.Such patent such as Chinese Patent Application No. is 201610955227.0, title are as follows: automatic intensive storehouse Library device, the patent document that publication date is on 2 8th, 2017, it discloses a kind of warehousing systems for putting shelf in orbit. Such shelf warehousing system is applicable in the case where being also possible that still for higher level in the case of stacks of cargo Gao Bugao, pushes away goods too Height, can be dangerous in motion process, and invalid to carry energy loss too big.

It is that multiple hoppers are directly stacked on one in the vertical direction there are also a kind of mode other than above-mentioned commodity shelf system It rises.In order to realize above and below hopper in the vertical direction to accurate position detecting mechanism just, can be used, but it is this Mode increases cost.

Utility model content

In view of this, using physical design set forth herein a kind of hopper grasping mechanism, realizes hopper and stacking When automatic alignment function.

A kind of hopper grasping mechanism provided by the present application, for grab a hopper, including liftable handgrip platform and The handgrip being mounted on the handgrip platform.The handgrip is used to catch the frame of the hopper.Hopper grasping mechanism further includes Positioning mechanism, the positioning mechanism include multiple contraposition parts that the corner location of the handgrip platform is arranged in, each contraposition part It is oblique including the vertical stretch extended vertically downward and the contraposition extended down and out from the bottom end of the vertical stretch Face, when the hopper grasping mechanism has grabbed the hopper, side of the vertical stretch of all contraposition parts all with the hopper Outer frame surface reclines, and the contraposition inclined-plane is entirely located in the bottom part down of the hopper, the contraposition ramp formation to When the hopper grabbed and the second hopper of a lower section are when vertical direction has deviation, the contraposition inclined-plane and described the The frame upper limb sliding contact of two hoppers.

In one embodiment, the vertical stretch of each contraposition part includes the first aligning plate and the second aligning plate, and described the One aligning plate and the second aligning plate are mutually perpendicular to, so that the cross section that the contraposition part is parallel to horizontal plane is L-shaped, described first The outer surface of aligning plate and the second aligning plate for two adjacent edge frames of the hopper being crawled that reclines, contraposition inclined-plane packet Include the first contraposition inclined-plane extended down and out from the bottom end of first aligning plate and from the bottom end of second aligning plate The the second contraposition inclined-plane extended down and out.

In one embodiment, the first contraposition inclined-plane of each contraposition part intersects with second contraposition inclined-plane；Wherein, For each contraposition part, the first aligning plate and the second aligning plate have the first intersecting lens, and first aligns inclined-plane and second pair Position inclined-plane has the second intersecting lens, and first intersecting lens and the second intersecting lens are located in the same vertical plane.

In one embodiment, the positioning mechanism includes contraposition part described in four, four angles setting of corresponding hopper.

In one embodiment, the positioning mechanism corresponds to each contraposition part setting one installation fixed with the handgrip platform Part, the contraposition part are installed using the installation part to the handgrip platform.

In one embodiment, slide track component, the damping force of the sliding rail are equipped between the installation part and the contraposition part It is designed to be greater than the component of second hopper in the vertical direction to the thrust for aligning inclined-plane application.

In one embodiment, the installation part extends vertically downward from the handgrip platform, and the slide track component includes solid The first sliding rail being scheduled on the installation part and the second sliding rail being fixed on the contraposition part, first sliding rail and second are slided Rail is slidably matched.

In one embodiment, the handgrip platform corresponds to each contraposition part equipped with a mounting hole, and the contraposition part is slidably Ground is mounted in the mounting hole.

In conclusion hopper grasping mechanism is equipped with positioning mechanism, positioning mechanism includes multiple contraposition parts, each contraposition part packet The contraposition inclined-plane for including the vertical stretch extended vertically downward and extending down and out from the bottom end of the vertical stretch. It is reclined using the frame outer surface of vertical stretch and hopper, the shaking in hopper moving process can be effectively reduced, provided pair Positive accuracy.Moreover, contraposition ramp formation at ought grab the hopper with one below the second hopper vertical When there is deviation in direction, align inclined-plane and second hopper frame upper limb sliding contact, with realization above suspect with it is following The automatic alignment suspected.It is not necessary that high-cost position detecting mechanism is arranged in Qu Xiang robot, effectively reduce cost.

Detailed description of the invention

Fig. 1 is that packaged type intensively deposits the stereoscopic schematic diagram for picking one embodiment of device.

Fig. 2 is that the packaged type of Fig. 1 intensively deposits the stereoscopic schematic diagram for picking the skid outer container of device.

Fig. 3 is that the packaged type of Fig. 1 is intensively deposited and picks the stereoscopic schematic diagram that device removes skid outer container.

Fig. 4 is that the packaged type of Fig. 3 intensively deposits the side schematic view for picking device.

Fig. 5 is a kind of rough schematic view of hopper arrangement.

Fig. 6 is the stereoscopic schematic diagram of hopper.

Fig. 7 is the stereoscopic schematic diagram of another angle of hopper.

Fig. 8 is the stereoscopic schematic diagram of one embodiment of outbound platform.

Fig. 9 is the partial schematic diagram of a track element of rail assembly.

Figure 10 is that the packaged type of Fig. 3 intensively deposits the stereoscopic schematic diagram for picking the Qu Xiang robot of device.

Figure 11 is the stereoscopic schematic diagram of the grasping mechanism of Figure 10.

Figure 12 is the stereoscopic schematic diagram of the contraposition part of the grasping mechanism of Figure 11.

Figure 13 is the sectional perspective schematic diagram of the contraposition part of the grasping mechanism of Figure 11.

Figure 14 is that the packaged type of Fig. 3 intensively deposits the stereoscopic schematic diagram for picking the Prospect of Robot Sorting System of device.

Figure 15 is that the Prospect of Robot Sorting System of Figure 14 removes the stereoscopic schematic diagram of fixing seat.

Figure 16 is the stereoscopic schematic diagram of the fixing seat of the Prospect of Robot Sorting System of Figure 14.

Specific embodiment

Before describing the embodiments in more detail, it should be understood that the utility model is not limited in the application hereafter or attached drawing Described in detailed construction or arrangement of elements.The embodiment that the utility model can be realized for other way.Moreover, it should manage Solution, the words and terms used herein are for illustrative purposes only, should not be interpreted in a limited way." packet used herein Include ", "comprising", the similar wording such as " having " means comprising items listed thereafter, its equivalent and other additional things.It is special It is not that when describing " a certain component ", it also may include more that the utility model, which does not limit the quantity of the element as one, It is a.

It is intensively deposited this application discloses a kind of packaged type and picks device, it includes: skid which, which intensively deposits and pick device, Outer container, several hoppers, outbound platform, rail assembly, Qu Xiang robot and Prospect of Robot Sorting System.There is a warehouse district in the skid outer container And define an outbound end.Several hoppers are located at the warehouse district, and each hopper is for accommodating commodity.Outbound platform is located at the sled Fill the outbound end of outer container.The rail assembly is mounted in the skid outer container and is located above the hopper.It is described to take punch-out equipment Device people is slidably mounted on the rail assembly and is located above the hopper, and the Qu Xiang robot is used for order quotient Hopper where product is carried to the outbound platform from the warehouse district.The Prospect of Robot Sorting System is located in the skid outer container and adjacent The nearly outbound platform setting, the Prospect of Robot Sorting System are used to sort the order quotient from the hopper being located on the outbound platform Product.The packaged type, which is intensively deposited, to be picked device and can be implemented as automatic retailing vehicle or exhibition vehicle etc., and skid outer container is used, big absolutely Majority element is all mounted in skid outer container, and the removable function of entire warehousing system may be implemented.

Above-mentioned packaged type is intensively deposited below in conjunction with attached drawing and picks the embodiments of device components and is introduced.

Fig. 1 is that packaged type intensively deposits the three-dimensional combination figure for picking one embodiment of device.Fig. 2 is that the packaged type of Fig. 1 is intensive Deposit the stereoscopic schematic diagram for picking the skid outer container of device.Fig. 3 is that the packaged type of Fig. 1 is intensively deposited and picked after device removes skid outer container Stereoscopic schematic diagram, it can be seen that packaged type, which is intensively deposited, picks device internal structure.Fig. 4 is the side schematic view of Fig. 3, can be seen Packaged type intensively deposits the substantially arrangement for picking device internal element out.

Fig. 1-4 is please referred to, it includes skid outer container 10 that packaged type, which is intensively deposited and picks device, and is contained in skid outer container 10 Several hoppers 12, outbound platform 14, rail assembly 16, Qu Xiang robot 18, Prospect of Robot Sorting System 20 etc..

In conjunction with Fig. 2, shown in skid outer container 10 designed using container-type, including roof 22, bottom wall 24 and two sidewalls 26.In the present embodiment, a warehouse district 28 is formed in skid outer container 10, rear and front end is open end, and wherein one end (rear end) is fixed Justice is storage end 30, and the other end (front end) is defined as outbound end 32.The in-stockroom operation of cargo is responsible at storage end 30, in the present embodiment The hopper equipped with cargo is specially added to warehouse district 28 from storage end 30, for example, the material of cargo will be equipped with when opening a position for the first time Case is carried to warehouse district 28, or when being located at the part hopper empty van of warehouse district 28, fills into from storage end 30 equipped with goods The hopper of object is to replace the empty van of warehouse district 28.The outbound of the responsible cargo at outbound end 32 operates, specifically, working as in the present embodiment After user orders the commodity (calling " order commodity " in the following text) of warehouse district 28, the hopper 12 equipped with order commodity is moved to outbound end 32, then the sort out order commodity from the hopper 12, are picked up for user.After the completion of picking operation, which is removed again It is back to warehouse district 28.

For convenience of observation 28 working condition of warehouse district, side window 34 can be opened up on side wall 26.May be used also on skid outer container 10 To install user interface, such as one display 36 of installation, display 36 are intensively deposited with the packaged type and pick ordering for device Single system communication connection to show that choosing interface for users directly buys goods to user, or shows that two dimensional code is swept for user It retouches and is bought goods on the terminal device of oneself.

In conjunction with Fig. 3, Fig. 4 and Fig. 5, several hoppers 12 form tiered warehouse facility, no setting is required goods in three-dimensional dense arrangement Frame, hopper 12 are directly stacked with, and further promote hopper density.Specifically, warehouse district 28 is in the horizontal plane with multiple The hopper position 40 (Fig. 5) defined with two-dimensional coordinate, and have multiple hoppers 12 in the vertical direction on each hopper position 40 It stacks.Therefore, each hopper can be identified according to three-dimensional coordinate (lateral coordinates, length direction coordinate, height coordinate).More Several hoppers 12 shown in specifically, are divided laterally into three column, are divided into four rows in the longitudinal direction, while in short transverse On have four layers, therefore can be according to the columns where hopper 12, line number and the number of plies are identified.

Fig. 6 and Fig. 7 is the perspective view of single hopper 12.Hopper 12 includes four side walls 42 and a bottom wall 44, side wall 42 One is surrounded for accommodating the accommodation space 46 of commodity with bottom wall 44, and 12 upper end of hopper forms the opening 48 of a face bottom wall 44. The bottom surface of bottom wall 44 forms a boss 50, and the shape of the boss 50 is consistent with the shape of opening 48, when the vertical side of multiple hoppers 12 To when stacking, the boss 50 of a upper hopper 12 is housed in the opening 48 for the next hopper 12 being located next to.Due to boss 50 Consistent with the shape of opening 48, therefore, once boss 50 is contained in opening 48, the hopper 12 of stacking in the horizontal plane would not It relatively moves, it is ensured that on vertical direction stackably in good order.Shown in hopper 12 be in rectangular shape, from upper past Under see, for tool there are four angle, opening 48 and boss 50 are all in rectangle.Shape shown in but it is to be understood that is a kind of citing, Other suitable shapes can also be used.

Wherein two opposite 42 tops of side wall of hopper 12 are respectively provided with a grasping holes 52, for the handgrip for grabbing robot 18 It grabs (such as below with reference to the description of figure).

Such as Fig. 3, Fig. 4 and Fig. 8, outbound platform 14 is arranged in the outbound end 32 of skid outer container 10, is placed on skid outer container 10 On bottom wall 24.Outbound platform 14, which is used to receive from warehouse district 28, carries the hopper 12 to come.Outbound platform 14 has a supporting surface 53, uses In the received hopper 12 of support.In order to receive multiple hoppers 12 simultaneously, outbound platform 14 is equipped with multiple warehouse compartments 54 out, each Warehouse compartment 54 occupies a part of bearing surface 53 out.In an illustrated embodiment, outbound platform 14 is equipped with 3 warehouse compartments 54 out.Each go out Warehouse compartment 54 corresponds to a column hopper 12.

Accurate position is arrived in order to which Shi Qu case robot 18 can accurately get hopper 12 or place hopper 12, out warehouse compartment 54 are equipped with hopper positioning mechanism.In an illustrated embodiment, hopper positioning mechanism includes located lateral piece 56 and longitudinal register Piece 58, located lateral piece 56 and longitudinal register piece 58 are extended vertically upwards from the supporting surface 53 of outbound platform 14, are respectively used in cross Position of the blank positioning box 12 on warehouse compartment 54 out is gone up to longitudinal.

The storage end 30 of skid outer container 10 is provided with storage platform 60, is put in storage the structure and function and 14 class of outbound platform of platform 60 Seemingly.In an illustrated embodiment, it is also provided with thereon there are three warehouse compartment is entered, three hoppers can be received simultaneously, each enter warehouse compartment and exist It is corresponding with a wherein column hopper 12 for warehouse district 28 on position.Structurally, storage platform 60 can be complete with outbound platform 14 Unanimously, it therefore repeats no more.When operation, need artificially or using other mechanisms by equipped with commodity hopper 12 be transported into On warehouse compartment, then by Qu Xiang robot 16 chest is transported to warehouse district 28.

Such as Fig. 3, Fig. 4 and Fig. 9, rail assembly 16 is mounted in the skid outer container 10 and is located at the material of the warehouse district 28 12 top of case.In an illustrated embodiment, rail assembly 16 includes corresponding 3 track elements 62 for being located at 3 column hopper, 12 top, A Ge Qu case robot 18 is slidably mounted on each track element.Therefore, in an illustrated embodiment, punch-out equipment device is taken There are three people 18 has altogether, the corresponding column hopper 12 of each Qu Xiang robot 18.

In the above-described embodiments, three column hoppers 12 are equipped with, three go out warehouse compartment 54, and three enter warehouse compartment, three track elements 62, Three Ge Qu case robots 18, and correspond to each other.In other embodiments, N column hopper 12, N number of warehouse compartment 54 out, N number of storage are equipped with Position, N number of track element 62, NGe Qu case robot 18, and correspond to each other, N is the integer more than or equal to 1.In other embodiments In, the columns of hopper 12, the number for going out warehouse compartment 54 enter the number of warehouse compartment, the number of track element 62, of Qu Xiang robot 18 Number can not also correspond to, and can select according to the actual situation.

As shown in figure 9, the schematic diagram of the part-structure for one of track element 62.Track element 62 is included in transverse direction Upper two guide rails 64 spaced apart, each guide rail 64 are equipped with guide-track groove 66, the guide rail of two guide rails 64 of same track element 62 Slot 66 is opposite, for cooperating with Qu Xiang robot 18.Each guide rail includes side wall 67 and from lower edge on side wall 67 towards another The top margin 68 and bottom edge 69 that guide rail 64 extends, wherein side wall 67, top margin 68 and bottom edge 69 collectively form a C-shaped cross-section.

Such as Fig. 3, Fig. 4 and Figure 10, Qu Xiang robot 18 includes walking mechanism 70 and is suspended in below the walking mechanism 70 And the grasping mechanism 72 that can be gone up and down relative to the walking mechanism 70.Walking mechanism 70 is slidably mounted on rail assembly 16 To move horizontally that grasping mechanism 72 is driven to move horizontally along rail assembly 16.70 two sides of walking mechanism are equipped with walking roller 74 With directive wheel 76, inside is equipped with the driving device that driving walking roller 74 rolls.Four walking rollers 74 set up separately in walking mechanism 70 two sides, there are two on each side.Wherein two walking rollers 74 walking of side is on the bottom edge of a wherein guide rail 64 for track element 62 On 69, two walking rollers 74 of the other side are walked on the bottom edge 69 of another guide rail 64 of track element 62.And two sides are led To the walking of wheel 76 on the side wall 67 of two guide rails.Walking roller 74 is driven by internal driving device, walking mechanism 70 is It can be moved in the longitudinal direction along guide rail.

Under the drive of the drive, move 4 walking rollers, 74 synchronization gain power in orbit, Qu Xiang robot 18 weight bearing is relatively uniform to be distributed to 4 walking rollers 74.Since walking roller 74 moves in orbit, it may occur however that idler wheel With the contact of guiding cheekn 67, for this purpose, directive wheel 76 can solve this problem, under the action of directive wheel 76, walking roller 74 At a distance from keeping stable with the side wall 67 of guide rail, and it can reduce and control the shake of vehicle body, increase the stationarity of vehicle body, keep away Exempt from hopper 12 and unfavorable shaking occurs below Qu Xiang robot 18.

Such as Figure 11, grasping mechanism 72 includes handgrip platform 78, handgrip 80 and positioning mechanism.

Elevating mechanism is equipped between handgrip platform 78 and walking mechanism 70, for going up and down handgrip platform 78.It is real shown in It applies in example, elevating mechanism includes lifting strip 82 and lifting driving device.The upper end of lifting strip 82 is connect with lifting driving device, The lower end of lifting strip 82 is fixed on handgrip platform 78.It is lifted upwards by lifting driving device or puts down lifting strip 82 downwards, The lifting of handgrip platform 78 may be implemented.In an illustrated embodiment, lifting driving device is arranged in walking mechanism 70, including Driving motor and the coiler connecting with driving motor, the upper end of lifting strip 82 is on coiler, and coiler is in driving electricity Movement is wound under the driving of machine, to realize the lifting of lifting strip 82 and put down movement.Lifting strip 82 can be flexible Steel bar or steel cable etc..

Handgrip 80 is arranged in 78 side of handgrip platform, to catch the side wall 42 of hopper 12.In an illustrated embodiment, it grabs Hand 80 is arranged two, is located at the opposite two sides of handgrip platform 78, is respectively used to catch two grasping holes 52 of hopper 12.It grabs Handgrip driving device is additionally provided on hand platform 78, for driving handgrip 80 between crawl position and releasing position around rotation axis 86 Rotation.Wherein, in crawl position, handgrip 80, which turns to, to be protruded into grasping holes 52, and in releasing position, handgrip 80, which is turned out, to be exited Grasping holes 52.Handgrip driving device may be embodied to any suitable form.In an illustrated embodiment, handgrip driving device includes A wherein connecting rod 85 for motor 84 and the link mechanism being driven by motor, link mechanism is connect with the upper end of handgrip 80.Work as electricity When 84 drive link mechanism kinematic of machine, connecting rod 85 drives handgrip to rotate between crawl position and releasing position around rotation axis 86.

With reference to Figure 12 and Figure 13, positioning mechanism includes several contraposition parts that 78 corner location of handgrip platform is arranged in 90.In an illustrated embodiment, the quantity for aligning part 90 is four, respectively corresponds four angles of hopper 12.Each contraposition part 90 Including the vertical stretch 92 extended vertically downward and pair extended down and out from the bottom end of the vertical stretch 92 Position inclined-plane 94.After grasping mechanism 72 catches hopper 12, it is all contraposition parts 90 vertical stretches 92 all with hopper 12 Wall outer surface reclines, and the length that extends downwardly of vertical stretch 90 is arranged to align inclined-plane 94 and is entirely located in the material being booked The bottom part down of case 12.During the hopper being booked 12 is stacked on lower section hopper 12, if the material being booked Case 12 and lower section hopper 12 do not have face, then the boss 50 for the hopper 12 being booked misplaces the opening 48 with lower section hopper 12, It cannot achieve normal stacking.At this point, the side wall upper limb sliding contact of contraposition inclined-plane 94 meeting and lower section hopper 12, thus in level The position of hopper 12 above is finely tuned on face, to make the hopper 12 being booked and lower section hopper 12 to just.The application uses Positioning mechanism is set on grasping mechanism 72 and realizes exactitude position on vertical direction, without be arranged in Qu Xiang robot 18 it is high at This position detecting mechanism, effectively reduces cost.

In an illustrated embodiment, the vertical stretch 92 of each contraposition part 90 includes the first aligning plate 92A and second pair Position plate 92B.First aligning plate 92A and the second aligning plate 92B are mutually perpendicular to, so that contraposition part 90 is parallel to the cross section of horizontal plane It is L-shaped.Outer surface of the first aligning plate 92A and the second aligning plate 92B for two adjacent walls of the hopper 12 being crawled that reclines, Form the outer surface of two adjacent walls at one of angle.Correspondingly, contraposition inclined-plane 94 includes from the bottom of the first aligning plate 92A Second for holding the extend down and out first contraposition inclined-plane 94A and extending down and out from the bottom end of the second aligning plate 92B Align inclined-plane 94B.

It is each contraposition part 90 first contraposition inclined-plane 94A with second contraposition inclined-plane 94B intersect or between there are lesser Gap (can be considered as intersection).For each contraposition part 90, the first aligning plate 92A and the second aligning plate 92B have the first phase Intersection 92C, the first contraposition inclined-plane 94A and the second contraposition inclined-plane 94B have the second intersecting lens 94C, the first intersecting lens 92C and the Two intersecting lens 94C are located in the same vertical plane.In this way, can be smooth using the first contraposition inclined-plane 94A and the second contraposition inclined-plane 94B Correct the relative position of two hoppers 12 up and down in ground.

Positioning mechanism corresponds to each contraposition part 90 setting one installation part 96 fixed with handgrip platform 78.Part 90 is aligned to utilize Installation part 96 is installed to handgrip platform 78.

When grasping mechanism 72 grabs a hopper and is moved to a certain hopper position, which may be positioned at another hopper On (i.e. hopper short transverse be located at first layer on), it is also possible to be directly placed on a platform or ground (that is, material Case is to be located at first layer in the height direction).If it is the latter, then locating piece 90 can first be contacted with platform or ground, be caused Locating piece 90 with platform or ground face contact in the case where, the hopper being crawled can not be with platform or ground face contact.If this When discharge handgrip 80 rashly, hopper 12 can fall on platform or ground and be possible to the commodity that can be damaged in hopper 12.Therefore, The application is equipped with slide track component between installation part 96 and contraposition part 90, so that locating piece 90 can be in platform or ground reaction force Under the action of and upward sliding, allow hopper 12 slowly land.As previously mentioned, the hopper being booked 12 is stacked on lower section hopper During 12, if the hopper 12 and lower section hopper 12 that are booked do not have a face, the contraposition inclined-plane 94 of locating piece 90 can be with The side wall upper limb sliding contact of lower section hopper 12, the side wall upper limb of lower section hopper 12 can apply one tiltedly to contraposition inclined-plane 94 at this time Upward thrust.The thrust pushes 90 upward sliding of locating piece in order to prevent, and the damping force of slide track component is designed to by the application The thrust component in the vertical direction that contraposition inclined-plane 94 is applied greater than the lower section hopper.

Such as Figure 13, locating piece 90 is eliminated in the attached drawing, to more clearly demonstrate installation part 96 and slide track component.Installation part 96 extend vertically downward from handgrip platform 78, and the slide track component includes fixed the first guide rail 98A and fixation on mountings The second guide rail 98B, the first guide rail 98A and the second guide rail 98B on contraposition part 90 is slidably matched.The embodiment shown in In, the first guide rail 98A includes two convex blocks, and each bumping surface forms guide groove to the surface of the second guide rail 98B, and the second guide rail 98B sliding is housed in the guide groove of two convex blocks.Moreover, the corresponding each contraposition part 90 of handgrip platform 78 is equipped with a mounting hole 99, Contraposition part 90 is slidably mounted in the mounting hole 99.In an illustrated embodiment, mounting hole 99 is L shape.

In conjunction with Figure 14-16, Prospect of Robot Sorting System 20 includes a Mobile base 100 and a manipulator 102.Mobile base 100 relative to Hopper 12 is moveable.Manipulator 102 is supported by Mobile base 100 can move with Mobile base 100.Manipulator 102 is used for will Order commodity in hopper, which sort, arrives an at least output port 104 (Fig. 1 and Fig. 3).After user orders a commodity, order quotient is housed The hopper 12 of product will be transported to the going out on warehouse compartment 54 of outbound platform 14 by Qu Xiang robot 18, and then manipulator 102 is from the hopper The order commodity are sorted in 12 to output port 104, for user's pickup.

As previously mentioned, outbound platform 14 has several warehouse compartments 54 out, each go out warehouse compartment 54 for receiving a hopper 12.Mobile base 100 are moveable along these orientations for going out warehouse compartment 54, therefore, if the hopper 12 where order commodity is apart from manipulator 102 remote positions, then Mobile base 100 can be slided towards the hopper 12, in the premise for not needing lengthening manipulator 102 Under, improve picking operation.

Prospect of Robot Sorting System 18 is located in skid outer container 10, and Mobile base 100 is movably supported in a fixing seat 106, Wherein fixing seat 106 is fixedly placed in the position of neighbouring outbound platform 14 in skid outer container 10.Fixing seat 106 is equipped with a supporting bable tops 108, one of them is equipped with guide rail for supporting bable tops 108 and Mobile base 100, and supporting bable tops 108 and Mobile base 100 is wherein another sets There is guide groove, guide rail is slidably received in the guide groove, realizes movement of the Mobile base 100 in fixing seat 106 with this.

In an illustrated embodiment, the both sides of the edge of the bottom surface of Mobile base 100 are respectively provided with an at least convex block 110, each convex Block 110 is equipped with a groove 112, and the groove 112 forms the guide groove.Such as Figure 15, the bottom surface of Mobile base 100 sets that there are four convex blocks 110, the groove 112 of two of them convex block 110 forms a guide groove, and the groove 112 of other two convex block 110 forms another and leads Slot.There are two guide rails for corresponding fixed installation on the supporting bable tops 108 of fixing seat 106.In four corner locations of supporting bable tops 108 A block 116 is further respectively had, the movement of Mobile base 100 is limited.

Supporting bable tops 106 are equipped with a rack gear 118, and rack gear 118 is parallel with the moving direction of Prospect of Robot Sorting System 20.Mobile base 100 are equipped with a motor 120, are fixedly installed gear 122 on the output shaft of motor 120, enable gear 122 with output shaft Rotation.Gear 122 is engaged with rack gear 118.When gear 122 is driven by motor 120 to be rotated, gear 122 can be along 118 row of rack gear It walks, to drive Mobile base 100 mobile.Certain scheme of the gear with rack gear is a kind of citing, is moved in other embodiments Dynamic seat 100 can use other suitable drive schemes.

In an illustrated embodiment, such as Fig. 1 and Fig. 3, the quantity of output port 104 is four, in other embodiments, shipment The quantity of mouth 104 can be other numbers, and the application is not limited thereof.

In addition, in an illustrated embodiment, Prospect of Robot Sorting System 18 is between outbound platform 14 and output port 104, and shipment Mouth 104 is located at except skid outer container 10.In other embodiments, output port 104 can also be located within skid outer container 10.

By the above-mentioned introduction to Prospect of Robot Sorting System 18, the application also discloses the commodity of such a automated storage and retrieval system Sort component comprising:

An at least hopper 12, the hopper 12 is for accommodating commodity；

An at least output port 104 (four output ports shown in for example), for receiving from an at least hopper 12 One commodity；

One Prospect of Robot Sorting System 18, the Prospect of Robot Sorting System 18 include:

One Mobile base 100, the Mobile base 100 are removable relative to the hopper 12；And

Manipulator 102, the manipulator 102 by the mobile seat supports with can be mobile with the Mobile base 100, it is described

Manipulator 102 is used to sort the order commodity in the hopper 12 to the output port 104.

The commodity of above-mentioned automated storage and retrieval system sort component and pick dress in addition to the packaged type shown in can be applied intensively to deposit It sets

In except, in other embodiments, can be applied in other automated storage and retrieval systems.

The commodity of above-mentioned automated storage and retrieval system sort component and pick dress in addition to the packaged type shown in can be applied intensively to deposit Except setting, in other embodiments, it can be applied in other automated storage and retrieval systems.

It intensively deposits in conclusion the utility model provides a kind of packaged type and picks device, which, which intensively deposits, picks Device includes: skid outer container, several hoppers, outbound platform, rail assembly, Qu Xiang robot and Prospect of Robot Sorting System.The skid outer container Inside there is a warehouse district and define an outbound end.Several hoppers are located at the warehouse district, and each hopper is for accommodating commodity.Out Library platform is located at the outbound end of the skid outer container.The rail assembly is mounted in the skid outer container and is located on the hopper Side.The Qu Xiang robot is slidably mounted on the rail assembly and is located above the hopper, described to take punch-out equipment device People is used to the hopper where order commodity being carried to the outbound platform from the warehouse district.The Prospect of Robot Sorting System is located at described In skid outer container and the neighbouring outbound platform is arranged, and the Prospect of Robot Sorting System is used to from the hopper being located on the outbound platform pick Select the order commodity.The packaged type, which is intensively deposited, to be picked device and can be implemented as automatic retailing vehicle or exhibition vehicle etc., is used Skid outer container, most elements are all mounted in skid outer container, and the removable function of entire warehousing system may be implemented.Except this Except, hopper grasping mechanism is equipped with positioning mechanism, and positioning mechanism includes multiple contraposition parts, and each contraposition part includes prolonging vertically downward The vertical stretch stretched and the contraposition inclined-plane extended down and out from the bottom end of the vertical stretch.Using extending vertically Portion and the frame outer surface of hopper recline, and the shaking in hopper moving process can be effectively reduced, provide to positive accuracy.And And contraposition ramp formation has deviation in vertical direction at the second hopper to the hopper that ought have been grabbed and a lower section When, align the frame upper limb sliding contact on inclined-plane and second hopper, with realize above suspect oneself suspected with following It moves to just, it is not necessary that high-cost position detecting mechanism is arranged in Qu Xiang robot, effectively reduces cost.Moreover, slidable The design of Prospect of Robot Sorting System can improve picking operation under the premise of not needing to lengthen manipulator.

Concepts described herein may be embodied to other forms without departing from its spirit and characteristics.It is disclosed The specific embodiments are to be considered as illustrative and not restrictive.Therefore, the scope of the utility model is by appended right It is required that instead of making decisions based on these previous descriptions.Within the literal meaning and equivalent scope of the claims any Change all should belong to these the scope of the claims.

Claims (8)

1. a kind of hopper grasping mechanism, for grabbing a hopper, including liftable handgrip platform and it is mounted on the handgrip Handgrip on platform, the handgrip are used to catch the frame of the hopper, which is characterized in that and it further include positioning mechanism, it is described right Position mechanism includes multiple contraposition parts that the corner location of the handgrip platform is arranged in, and each contraposition part includes extending vertically downward Vertical stretch and the contraposition inclined-plane that extends down and out from the bottom end of the vertical stretch, when the hopper grabs When mechanism has grabbed the hopper, the vertical stretch of all contraposition parts all reclines with the frame outer surface of the hopper, and institute The bottom part down that contraposition inclined-plane is entirely located in the hopper is stated, the contraposition ramp formation is at the hopper ought grab And the second hopper of a lower section, when vertical direction has deviation, the frame upper limb of the contraposition inclined-plane and second hopper is sliding Dynamic contact.

2. hopper grasping mechanism as described in claim 1, which is characterized in that the vertical stretch of each contraposition part includes first Aligning plate and the second aligning plate, first aligning plate and the second aligning plate are mutually perpendicular to, so that the contraposition part is parallel to water The cross section of plane is L-shaped, and first aligning plate and the second aligning plate are used to recline the two adjacent of the hopper being crawled The outer surface of frame, the contraposition inclined-plane include that first extended down and out from the bottom end of first aligning plate aligns tiltedly Face and the second contraposition inclined-plane extended down and out from the bottom end of second aligning plate.

3. hopper grasping mechanism as claimed in claim 2, which is characterized in that it is each contraposition part it is described first contraposition inclined-plane with Second contraposition inclined-plane intersection；Wherein, there is the first intersection for each contraposition part, the first aligning plate and the second aligning plate Line, the first contraposition inclined-plane and the second contraposition inclined-plane have the second intersecting lens, and first intersecting lens and the second intersecting lens are located at In same perpendicular.

4. hopper grasping mechanism as claimed in claim 2 or claim 3, which is characterized in that the positioning mechanism includes described in four Align part, four angles setting of corresponding hopper.

5. hopper grasping mechanism as described in claim 1, which is characterized in that the positioning mechanism corresponds to each contraposition part setting One installation part fixed with the handgrip platform, the contraposition part are installed using the installation part to the handgrip platform.

6. hopper grasping mechanism as claimed in claim 5, which is characterized in that be equipped between the installation part and the contraposition part Slide track component, the damping force of the sliding rail are designed to be greater than second hopper to the thrust of contraposition inclined-plane application vertical Component on direction.

7. hopper grasping mechanism as claimed in claim 6, which is characterized in that the installation part from the handgrip platform vertically to Lower extension, the slide track component include the first sliding rail being fixed on the installation part and be fixed on it is described contraposition part on second Sliding rail, first sliding rail and the second sliding rail are slidably matched.

8. hopper grasping mechanism as described in claim 1 or 6, which is characterized in that the handgrip platform corresponds to each contraposition part Equipped with a mounting hole, the contraposition part is slidably mounted in the mounting hole.