CN210029189U

CN210029189U - Pickup device

Info

Publication number: CN210029189U
Application number: CN201920608802.9U
Authority: CN
Inventors: 冯宇; 吴明福
Original assignee: Beijing Jingdong Qianshi Technology Co Ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2019-04-29
Filing date: 2019-04-29
Publication date: 2020-02-07
Anticipated expiration: 2029-04-29

Abstract

The utility model discloses a pickup device belongs to storage logistics technical field. The picking device comprises a rack and a clamping piece, wherein the rack is in a cross-shaped structure, the rack comprises cross beams which respectively extend outwards from the center of the rack in four directions, and two adjacent cross beams are vertical to each other; each crossbeam all is connected with the holder, every the holder can be followed respective corresponding the extending direction of crossbeam removes to be close to and keep away from the center of frame. The utility model adopts the frame with the cross-shaped structure beam, and the beam is connected with the clamping piece, so that the box-packed articles or the frame-shaped articles can be picked up in four directions, and the picking-up is more stable; and the clamping piece does reciprocating linear motion along the cross beam so as to adjust the clamping range of the clamping piece, so that box-packed articles or frame-shaped articles with different sizes and models can be clamped, and the practicability is high.

Description

Pickup device

Technical Field

The utility model relates to a storage logistics technical field especially relates to a pickup apparatus.

Background

The pick-up device (gripper) is a tool fixture for transferring objects among production lines in industrial production, can realize pick-up and release actions of object transfer, generally needs to be matched with the gripper meeting specific requirements in combination with physical properties such as shape, weight, material and the like of the object in practical application, and does not have a good gripper which can be matched with the gripper at present for picking up objects such as boxes and frames.

Therefore, it is desirable to provide a pickup device and a pickup apparatus to solve the above problems.

SUMMERY OF THE UTILITY MODEL

An object of the embodiment of the utility model is to provide a pickup apparatus and pick up equipment can carry out good picking up to the article of vanning class and frame dress class.

To achieve the purpose, the utility model adopts the following technical proposal:

a pickup device, comprising:

the rack is of a cross-shaped structure and comprises cross beams which respectively extend outwards from the center in four directions, wherein two adjacent cross beams are vertical to each other;

the clamping pieces are connected to the cross beams and can move along the extension directions of the corresponding cross beams respectively so as to be close to and far away from the center of the rack.

As an alternative of the above pickup device, the pickup device further includes a connecting member, one end of the connecting member is slidably connected to the cross member, and the other end of the connecting member is fixedly connected to the clamping member.

As an alternative to the above-mentioned pick-up device, each of the cross beams is provided with a linear drive, the drive end of which is connected with the connecting piece.

As an alternative of the above pickup device, the pickup device further includes a guide seat, and the driving end of the linear driving device is connected to the connecting piece through the guide seat;

the crossbeam is provided with a sliding channel, and the guide seat reciprocates in the sliding channel.

As an alternative of the above pickup device, at least a partial region of the sliding channel is provided with a long hole, and the connecting piece reciprocates in the long hole; tracks are arranged on two sides of the long hole, rollers are arranged on two sides of the guide seat, and the rollers walk on the tracks.

As an alternative to the above pickup device, the free end of the beam is provided with a first stopper plate configured to prevent the shoe from coming off the beam.

As an alternative of the above pickup device, side guards are provided on both sides of the cross beam, and the guide base is located between the side guards.

As an alternative of the above pickup apparatus, a second limiting plate is disposed in the sliding channel, and the second limiting plate is located above the roller.

As an alternative of the above pickup apparatus, the second limiting plate includes a mounting side plate and a limiting baffle plate perpendicular to each other, the mounting side plate is connected to the side baffle plate, and the limiting baffle plate is located above the roller and limits the roller to move upward.

As an alternative to the above-mentioned pickup device, the clamping member is a clamping plate having a long bar structure, and a longitudinal direction of the clamping plate is perpendicular to a longitudinal direction of the beam corresponding thereto.

As an alternative to the above-described pickup device, a rubber pad is provided on a side of the grip plate for gripping the object.

As an alternative to the above-mentioned pickup device, the side of the holding plate for holding the object is provided with a plurality of projections at intervals.

As an alternative to the above-described pick-up device, the center of the frame is provided with a robot mounting plate.

The utility model discloses beneficial effect of embodiment:

the frame with the cross-shaped structure beams is adopted, and the beams are connected with the clamping pieces, so that the boxed or frame-shaped objects can be picked up in four directions, and the picking is more stable; and the clamping piece does reciprocating linear motion along the cross beam, so that the clamping range of the clamping piece can be adjusted, box-packed articles or frame-shaped articles of different sizes and models can be clamped, and the practicability is high.

Drawings

Fig. 1 is a schematic structural diagram of a pickup device in an embodiment of the present invention;

fig. 2 is a schematic structural view of a pickup device according to an embodiment of the present invention, in which two clamping members are at a maximum distance in a length direction;

fig. 3 is a schematic structural view of a pickup device according to an embodiment of the present invention, in which two holding members are located at a minimum distance in a length direction;

fig. 4 is a schematic structural view of a pickup device according to an embodiment of the present invention, in which two holding members are at a maximum distance in a width direction;

fig. 5 is a schematic structural view of a pickup device according to an embodiment of the present invention, in which two holding members are located at a minimum distance in a width direction;

fig. 6 is a partially exploded view of a pick-up device in an embodiment of the invention;

FIG. 7 is an enlarged schematic view at F of FIG. 6;

fig. 8 is a partially exploded view of a guide housing in an embodiment of the invention;

fig. 9 is an enlarged schematic view at E in fig. 3.

Fig. 10 is a schematic structural diagram of a second limiting plate according to an embodiment of the present invention;

FIG. 11 is an enlarged schematic view at G of FIG. 6;

in the figure:

1. a cross beam; 11. a first limit plate; 12. a strip hole; 13. a trajectory; 14. a side dam; 15. a second limiting plate; 151. installing a side plate; 152. a limit baffle;

2. a clamping member; 21. a first clamping member; 22. a second clamping member; 23. a third clamping member; 24. a fourth clamping member;

3. a connecting member; 4. a linear cylinder;

5. a guide seat; 51. a guide base plate; 511. connecting holes; 52. a drive mounting base; 53. a roller; 54. a rotating shaft;

6. a rubber pad; 7. a bump; 8. and (5) mounting the robot.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, and are only for convenience of description of the present invention and simplification of description, but do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; either mechanically or electrically. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.

The embodiment discloses a pickup device which mainly picks up objects such as boxes and frames. The picking device can be connected with the mechanical arm and is driven to move freely through the mechanical arm, so that objects at different positions can be picked.

Fig. 1 is a schematic structural diagram of a pickup apparatus provided in this embodiment. The picking device comprises a rack, at least two cross beams 1 extend outwards from the center of the rack, each cross beam 1 is connected with a clamping piece 2 in a sliding mode through a connecting piece 3, namely one end of each connecting piece 3 is fixed with the clamping piece 2, and the other end of each connecting piece is connected with the cross beam 1 in a sliding mode, so that the clamping pieces 2 can move to be close to and far away from the center along the extending direction of the cross beams 1. When the number of the cross beams 1 is two, the two cross beams 1 are on the same straight line, the two clamping pieces 2 are oppositely arranged, the object is picked up by approaching each other, and the object is released by separating from each other; when crossbeam 1 quantity is three, the preferred 120 degrees of contained angle between two adjacent crossbeams 1, three holder 2 are triangular distribution, through being close to each other to the center and realize picking up the article, through keeping away from the center each other and realize the input to the article. Referring to fig. 1, in this embodiment, when the number of the beams 1 is four, the rack is in a cross-shaped structure, and includes beams 1 extending from the center thereof to four directions outside respectively, wherein two adjacent beams 1 are perpendicular to each other, each beam 1 is connected with a clamping member 2, that is, four clamping members 2 can be distributed on four sides of the boxed object, and the clamping members 2 can move along the extending direction of the corresponding beam 1 to be close to or away from the center of the rack, so as to pick up or put in the boxed object.

Fig. 2 is a schematic structural diagram of the pickup device provided by the embodiment, in which the distance between the two clamping members 2 in the length direction is the largest; fig. 3 is a schematic structural view of the pickup device provided by the embodiment, in which the distance between the two clamping members 2 in the length direction is the smallest; fig. 4 is a schematic structural view of the picking device provided by the embodiment, in which the distance between the two clamping members 2 in the width direction is the largest; fig. 5 is a schematic structural view of the pickup device provided in this embodiment, in which the distance between the two clamping members 2 in the width direction is the largest. Specifically, referring to fig. 1 to 5, the four grippers 2 include first and

second grippers

21 and 22, and third and

fourth grippers

23 and 24, which are disposed opposite to each other in pairs. The first clamping piece 21 and the second clamping piece 22 can be positioned in the length direction of the object, the maximum distance between the first clamping piece 21 and the second clamping piece 22 is A, and the minimum distance between the first clamping piece 21 and the second clamping piece 22 is B, so that the length range L of the object which can be clamped by the first clamping piece 21 and the second clamping piece 22 can be positioned between A and B; the third clamping member 23 and the fourth clamping member 24 can be located in the width direction of the object, the maximum distance between the third clamping member 23 and the fourth clamping member 24 is C, and the minimum distance between the third clamping member 23 and the fourth clamping member 24 is D, so that the width range W of the object which can be clamped by the third clamping member 23 and the fourth clamping member 24 can be located between C and D. The box-packed articles or frame-shaped articles with cuboid structures are picked up by approaching the centers from each other, and the articles are released by leaving the centers from each other. The frame with the cross-shaped structure beams 1 is adopted, and the beams 1 are connected with the clamping pieces 2, so that box-packed objects or frame-shaped objects can be picked up in four directions, and the picking-up is more stable; and the clamping piece 2 does reciprocating linear motion along the cross beam 1, so that the clamping range of the clamping piece 2 can be adjusted, box-packed articles or frame-shaped articles with different sizes and models can be clamped, and the practicability is high.

Fig. 6 is a partially exploded view of a pickup device provided in the present embodiment; fig. 7 is an enlarged schematic view at F in fig. 6. In particular, with reference to fig. 6 and 7, each cross beam 1 is provided with a linear drive, the drive end of which is connected to the connecting piece 3. Alternatively, the linear drive means is a linear cylinder 4. The cross beam 1 is provided with a sliding channel, the driving end of the linear driving device can be connected with the connecting piece 3 through the guide seat 5, and the guide seat 5 reciprocates in the sliding channel to further drive the clamping piece 2 connected with the connecting piece 3 to reciprocate. Further optionally, at least a partial region of the sliding channel is provided with a long hole 12, and the connecting piece 3 reciprocates in the long hole 12; the elongated hole 12 is provided at both sides with a track 13.

Fig. 8 is a partially exploded view of a guide holder 5 provided in the present embodiment. Referring to fig. 8, rollers 53 are provided on both sides of the guide base 5, and the rollers 53 run on the track 13, wherein the track 13 may be similar to a sliding chute to reciprocate the guide base 5 along a predetermined trajectory. Specifically, the roller 53 may be connected to the guide housing 5 through a rotation shaft 54. Optionally, the guide base 5 includes a guide base plate 51 and a driving mounting base 52 disposed above the guide base plate 51, the guide base plate 51 is rectangular, and rollers 53 are disposed at four corners of the guide base plate 51, so that the guide base 5 can stably run on the trajectory 13; the telescopic end of the linear cylinder 4 is connected with the driving mounting seat 52; and the guide base plate 51 is provided with a coupling hole 511 for mounting the coupling member 3. In this embodiment, besides the rollers 53 disposed at the four corners of the guide base plate 51, the rollers 53 are disposed between two rollers 53 in the moving direction, so as to provide a certain supporting force for the guide base plate 51, and prevent the guide base plate 51 from deforming due to the overweight of the object to be picked up below the guide base plate 51.

Further, referring again to fig. 6, the free end of the crossbeam 1 is provided with a first limit plate 11, the first limit plate 11 being configured to prevent the guide shoe 5 from moving out of the sliding channel. Wherein fig. 9 is an enlarged schematic view at E in fig. 3. Alternatively, referring to fig. 9, both sides of the beam 1 are provided with side guards 14, and the guide housing 5 is located between the side guards 14. Further optionally, a second limit plate 15 is arranged in the sliding channel, and the second limit plate 15 is located above the roller 53 to limit the upward movement of the guide base 5 away from the beam 1. Fig. 10 is a schematic structural diagram of a second limiting plate 15 provided in this embodiment. Referring to fig. 10, the second limit plate 15 may include a mounting side plate 151 and a limit stop 152 perpendicular to each other, the mounting side plate 151 being connected to the side stop 14, the limit stop 152 being positioned above the roller 53 and limiting the upward movement of the roller 53. In particular, referring to fig. 9 again, the mounting side plate 151 may be positioned above the limit stop 152 to facilitate mounting of the second limit plate 15. The sliding channel formed by the beam 1, the side baffles 14 on two sides of the beam 1 and the second limit plate 15 enables the rollers 53 of the guide seat 5 to accurately run along the track 13 in the sliding channel without deviating from the track 13.

Optionally, the connecting member 3 is a linear connecting rod, the connecting rod is perpendicular to the cross beam 1, one end of the connecting rod is slidably connected to the cross beam 1, and the other end of the connecting rod extends downwards to be fixedly connected with the clamping member 2, so that the picking device can grab the middle part of the object in the height direction when picking up the object, and stable grabbing of the picking device on the object is facilitated. Further alternatively, the connecting member 3 may be an adjustable link, so that the picking apparatus can adjust the length of the downward extension of the adjustable link according to the objects with different heights to be adjusted to a middle position close to the height direction of the objects, and then the cross beam 1 is made to approach to the middle part of the objects to achieve stable picking of the objects.

In particular, with reference to fig. 6, the gripper 2 achieves the picking of the object mainly by virtue of the friction generated when it comes into contact with the object. In order to increase the friction between the clamping member 2 and the object, the clamping member 2 is a clamping plate with a long strip structure, and the length direction of the clamping plate is perpendicular to the length direction of the corresponding beam 1. Further optionally, one side of the clamping plate, which is used for clamping the object, is provided with a rubber pad 6, so that the friction force between the clamping piece 2 and the object is further increased to realize stable picking of the object by the picking device, and meanwhile, the rubber pad 6 can also play a role in buffering and protecting the picked object.

In addition, fig. 11 is an enlarged schematic view at G in fig. 6. Referring to fig. 11, a plurality of projections 7 are arranged at intervals on one side of the clamping plate for clamping the object, and the projections 7 are used for clamping an invagination area or an opening additionally arranged on the boxed or framed object so as to be beneficial to picking up the object.

In addition, referring to fig. 1 again, the picking device is provided with the robot mounting plate 8 in the center of the frame, and the robot mounting plate 8 is connected with the mechanical arm, so that the picking device can pick box-packed articles and frame-packed articles of different sizes, and the practicability is high.

It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A pickup apparatus, comprising:

the rack is of a cross-shaped structure and comprises cross beams (1) extending outwards from the center of the rack in four directions, wherein two adjacent cross beams (1) are vertical to each other;

the clamping piece (2) is connected to each cross beam (1), each clamping piece (2) can move along the extending direction of the corresponding cross beam (1) so as to be close to and far away from the center of the rack.

2. A pick-up device according to claim 1, characterised in that it further comprises a connecting piece (3), one end of the connecting piece (3) being slidingly connected to the cross beam (1) and the other end being fixedly connected to the gripping member (2).

3. A pick-up device according to claim 2, characterised in that each cross beam (1) is provided with a linear drive, the drive end of which is connected with the connecting piece (3).

4. A pick-up device according to claim 3, characterized in that it further comprises a guide seat (5), the drive end of the linear drive being connected to the connecting piece (3) through the guide seat (5);

the beam (1) is provided with a sliding channel, and the guide seat (5) reciprocates in the sliding channel.

5. The pickup device as set forth in claim 4, wherein the slide passage is formed at least in a partial region with an elongated hole (12), and the link member (3) reciprocates in the elongated hole (12); and tracks (13) are arranged on two sides of the long hole (12), rollers (53) are arranged on two sides of the guide seat (5), and the rollers (53) walk on the tracks (13).

6. Pickup unit according to claim 4, wherein the free end of the crossbar (1) is provided with a first limit plate (11), the first limit plate (11) being configured to prevent the guide shoe (5) from disengaging from the crossbar.

7. A pick-up device according to claim 5, characterised in that the cross beam (1) is provided with side guards (14) on both sides, the guide shoe (5) being located between the side guards (14).

8. Pickup unit according to claim 7, wherein a second limit plate (15) is provided inside the sliding channel, said second limit plate (15) being located above the roller (53).

9. The pickup device according to claim 8, wherein the second limit plate (15) comprises a mounting side plate (151) and a limit stop (152) perpendicular to each other, the mounting side plate (151) is connected with the side stop (14), and the limit stop (152) is located above the roller (53) and limits upward movement of the roller (53).

10. A pick-up device according to claim 1, characterised in that the clamping member (2) is a clamping plate of elongate configuration, the length direction of which is perpendicular to the length direction of the cross member (1) to which it corresponds.

11. A pick-up device according to claim 10, characterised in that the side of the gripping plate for gripping an object is provided with a rubber pad (6).

12. A pick-up device according to claim 10, characterised in that the side of the clamping plate for clamping the object is provided at intervals with a plurality of projections (7).

13. A pick-up device according to claim 1, characterised in that the centre of the frame is provided with a robot mounting plate (8).