CN211282389U - Article transfer box, clamping mechanism and robot - Google Patents

Abstract

The embodiment of the disclosure relates to an article transfer box, a clamping mechanism and a robot. This article turnover case includes: the rectangular box body comprises side walls and a bottom plate, and an inner space is enclosed by the side walls and the bottom plate; a plurality of longitudinal partitions disposed in the internal space at intervals in a first direction parallel to a first side of the rectangular case; and a plurality of dentate transverse clapboards which are arranged in the internal space at intervals along a second direction parallel to the second side edge of the rectangular box body, and the plurality of longitudinal clapboards and the plurality of dentate transverse clapboards divide the internal space into a plurality of unit cells suitable for accommodating corresponding articles. The internal space of the rectangular box body is divided into a plurality of unit lattices suitable for containing corresponding articles by adopting the longitudinal partition plates and the transverse partition plates, so that the rectangular box body can adapt to articles with different sizes. In addition, as the transverse partition plates are toothed, the clamp can be inserted into the concave tooth parts in the corresponding unit cells when clamping the articles, so that the clamp can be effectively prevented from colliding with the box body when being clamped, and the articles can be successfully grabbed and placed.

Description

Article transfer box, clamping mechanism and robot

Technical Field

The embodiment of the disclosure relates to an article transfer box, a clamping mechanism and a robot.

Background

At present, paper money with different specifications in the financial industry at home and abroad takes a packaging bag, a woven bag or a box with a special customized size as a carrier in the processes of storage, transportation and the like. A carrier can not be compatible with various paper money specifications, and can not realize automatic carrying and sorting functions in the warehousing and transferring processes. The manual handling efficiency is low, and the labor intensity is large.

In addition, similar problems exist in the logistics industry and the packaging industry at present. Products with different specifications are often stored in a mixed manner during storage, and automatic picking can be realized only by manual treatment or configuration of a vision system during delivery and picking. However, manual handling is inefficient and labor intensive, while vision systems are relatively costly and system sorting is inefficient.

SUMMERY OF THE UTILITY MODEL

An object of the present disclosure is to provide an article transfer container, a clamping mechanism, and a robot to at least partially solve the above-mentioned problems in the prior art.

According to a first aspect of the present disclosure, there is provided an article transfer case including: the rectangular box body comprises side walls and a bottom plate, and an inner space is defined by the side walls and the bottom plate; the longitudinal partition plates are arranged in the inner space at intervals along a first direction parallel to a first side edge of the rectangular box body; and a plurality of dentate transverse clapboards which are arranged in the internal space at intervals along a second direction parallel to the second side edge of the rectangular box body, wherein the plurality of longitudinal clapboards and the plurality of dentate transverse clapboards divide the internal space into a plurality of unit cells suitable for accommodating corresponding articles.

In the embodiment according to the present disclosure, articles of different sizes, such as bundles of paper money, bundled products, paper boxes or cartons, etc., can be accommodated by dividing the inner space of the rectangular case into a plurality of unit cells adapted to accommodate the respective articles using the longitudinal and lateral partitions. In addition, as the transverse partition plates are toothed, the clamp can be inserted into the concave tooth parts in the corresponding unit grids when clamping the articles, so that the clamp can be effectively prevented from colliding with the box body when clamping the articles in the box, and the articles can be successfully grabbed and placed.

In one embodiment, the plurality of longitudinal partitions and/or the plurality of indented transverse partitions are fixedly or removably mounted in the rectangular box. By detachably mounting the longitudinal and/or transverse partitions in the rectangular box, the position or number of partitions can be adjusted according to the size of the stored articles and the storage requirements.

In one embodiment, an even number of teeth are provided on each of the plurality of indented transverse partitions. In such an embodiment, the staggered clamp can be used for grabbing and placing the article, so that the clamp can be used for smoothly clamping the article in both the forward direction and the reverse direction no matter how rows and columns of cells are used.

In one embodiment, a plurality of protrusions corresponding to the teeth on the adjacent toothed transverse partition are arranged on the inner side of the side wall at the second side of the rectangular box body. In such an embodiment, the plurality of raised portions can prevent articles from clinging to the side walls of the case and facilitate insertion of the clip into the recess between the raised portions, thereby ensuring successful grasping of the article.

In one embodiment, the rectangular box further comprises a support portion disposed along a top peripheral edge of the side wall and adapted to be carried by a jig. In such an embodiment, the case may be conveniently carried by the support.

In one embodiment, the rectangular box body is provided with one or more tags for identifying information of the article transfer box and/or information of articles stored in the article transfer box. In such embodiments, the tag can be used to accurately monitor the information about the article tote and the stored articles in real time.

According to a second aspect of the present disclosure, there is provided a clamping mechanism comprising: a tote clamping device comprising a pair of clamping bars adapted to clamp an article tote according to the first aspect of the disclosure; an article holding device adapted to hold an article; and a drive device coupled between the container gripper and the article gripper and adapted to drive the article gripper to move relative to the container gripper so that the article gripper can take out and put in the articles stored in the container. In such an embodiment, the clamping mechanism can not only carry the article turnover box, but also automatically catch and place the articles in the unit cells in the box, thereby conveniently realizing the automatic carrying and sorting of the articles.

In one embodiment, the article gripping device comprises a first gripping portion and a second gripping portion, each of the first gripping portion and the second gripping portion comprising a plurality of gripping fingers adapted to be inserted into recessed teeth in a respective cell, the gripping fingers on the first gripping portion being offset from the gripping fingers on the second gripping portion. In such an embodiment, when clamping the article, the clamping fingers of the first clamping part and the second clamping part can be inserted into the concave tooth parts in the corresponding unit cells, so that collision with the box body when clamping the article in the box can be effectively prevented, and successful grabbing and placing of the article can be ensured. In addition, the staggered clamping fingers can ensure that the article clamping device can smoothly clamp articles in both the forward direction and the reverse direction no matter how rows and columns of unit cell layouts are used.

In one embodiment, the article holding device includes a suction cup adapted to adsorb an article and a stopper for stopping the article adsorbed on the suction cup. In such an embodiment, the sucking disc can be adopted to conveniently suck and place the articles in the unit cells in the box body, and the limiting part can prevent the sucked articles from shaking.

In one embodiment, the article holding device is a pneumatic or electric holding device. In such embodiments, pneumatic or electric clamping devices can be used to conveniently and reliably clamp the articles.

In one embodiment, the pair of clamping bars are fixed or movable clamping bars. Under the condition that the clamping rods are movable, the length of each clamping rod can be flexibly adjusted according to the size of the article turnover box.

According to a third aspect of the present disclosure, there is provided a robot comprising: a terminal flange plate; and a clamping mechanism according to the second aspect of the present disclosure disposed on the end flange. In such embodiments, automated handling and sorting of articles can be conveniently achieved using robots.

In one embodiment, the container gripping means is eccentrically or centrally located with respect to the end flange.

The summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. The summary is not intended to identify key features or essential features of the disclosure, nor is it intended to limit the scope of the disclosure.

Drawings

The above and other objects, features and advantages of the embodiments of the present disclosure will become readily apparent from the following detailed description read in conjunction with the accompanying drawings. Several embodiments of the present disclosure are illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings and in which:

fig. 1 shows a top view of an article tote according to one embodiment of the present disclosure;

fig. 2 shows a side view of the article transfer container shown in fig. 1;

fig. 3 illustrates a front view of a clamping mechanism for handling article totes according to one embodiment of the present disclosure;

FIG. 4 shows a schematic view of the clamping mechanism of FIG. 3 clamping an article;

FIG. 5 shows a schematic structural view of an article holding device according to one embodiment of the present disclosure;

FIG. 6 shows a schematic structural view of an article holding device according to another embodiment of the present disclosure;

FIG. 7 shows a partial schematic view of a robot according to one embodiment of the present disclosure; and

fig. 8 shows a schematic structural view of a tote holding device according to one embodiment of the present disclosure.

Like or corresponding reference characters designate like or corresponding parts throughout the several views.

Detailed Description

Preferred embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

The term "include" and variations thereof as used herein is meant to be inclusive in an open-ended manner, i.e., "including but not limited to". Unless specifically stated otherwise, the term "or" means "and/or". The term "based on" means "based at least in part on". The terms "one example embodiment" and "one embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first," "second," and the like may refer to different or the same object.

As described above, in the financial industry, the logistics industry, the packaging industry, and the like, one carrier cannot be compatible with articles of different specifications, and further cannot realize the automatic carrying and sorting functions in the warehousing and transportation processes, and the manual carrying efficiency is low and the labor intensity is high. In the embodiment of this disclosure, the article turnover case can be compatible the article of different specifications to through fixture, can realize the automatic transport and the letter sorting function in storage and the transportation. The principles of the present disclosure will be described in detail below in connection with exemplary embodiments with reference to the drawings.

Fig. 1 shows a top view of an article tote according to one embodiment of the present disclosure, and fig. 2 shows a side view of the article tote shown in fig. 1. As shown in fig. 1 and 2, in general, the article transfer container 100 described herein comprises a rectangular container body 1, a plurality of longitudinal partitions 2 and a plurality of toothed transverse partitions 3.

The rectangular box 1 comprises side walls 11 and a bottom plate 12. The side walls 11 and the bottom plate 12 enclose an inner space. The top of the case 1 is opened to facilitate the introduction of the article 900 into the inner space or the removal of the article 900 from the inner space. The articles 900 described herein may be, for example, bundles of banknotes, bundled products, cartons or cartons, or the like, or other types of articles that require handling and sorting, although the scope of the present disclosure is not limited in this respect. Bundles of banknotes are shown in fig. 1 as an example of an article 900 to describe the principles of the present disclosure, such as a monad banknote, a quinary banknote, a twenty-dollar banknote, and a hundred-dollar banknote, among others.

The respective longitudinal partitions 2 are disposed in the internal space at intervals in a first direction Y parallel to the first side 13 of the rectangular casing 1. Each of the toothed transverse partitions 3 is disposed in the internal space at intervals along a second direction X parallel to the second side 14 of the rectangular box 1. Each longitudinal partition 2 and the indented transverse partition 3 divide the interior space into a plurality of cells 4 adapted to receive a respective article 900.

It should be understood that the "rectangular box" described herein means that the box 1 is generally substantially rectangular in general, and not rectangular in a strict geometric sense. For example, the corners of the side walls 11 of the cabinet 1 may have rounded transitions. Furthermore, the radial dimension of the tank 1 may be substantially uniform or gradually varied in the direction from the bottom plate 12 to the top of the tank.

By adopting the longitudinal partition plates 2 and the transverse partition plates 3 to divide the internal space of the rectangular box body 1 into a plurality of unit cells 4 suitable for accommodating corresponding articles, articles with different sizes can be accommodated. In addition, since the transverse partition 3 is toothed, the clamp can be inserted into the tooth part 31 recessed in the corresponding cell 4 when clamping the article 900, thereby effectively preventing the clamp from colliding with the box body 1 when clamping the article in the box, and ensuring successful grasping and placing of the article.

In some embodiments, each longitudinal partition 2 and/or indented transverse partition 3 may be fixedly mounted in the rectangular case 1 to provide a unit cell 4 of a predetermined size. In other embodiments, each longitudinal partition 2 and/or the toothed transverse partition 3 may be removably mounted in the rectangular case 1 to provide a unit cell 4 of adjustable size. By detachably mounting the longitudinal partitions 2 and/or the transverse partitions 3 in the rectangular case 1, the position or number of the partitions can be adjusted according to the size and storage requirements of the stored items 900.

In some embodiments, an even number of teeth 31 may be provided on each indented transverse partition 3 of the plurality of indented transverse partitions 3. In fig. 1 it is shown that each transverse partition 3 comprises 6 teeth 31. However, it should be understood that in other embodiments, more or fewer teeth 31 may be provided on each transverse partition 3. With an even number of teeth 31, the staggered clamp can be used in cooperation to grasp and place the article 900, thereby ensuring that the clamp can smoothly clamp the article 900 in both the forward and reverse directions regardless of the arrangement of rows and columns of cells. In other embodiments, each indented transverse partition 3 of the plurality of indented transverse partitions 3 may be provided with an odd number of teeth 31, for example five, seven or more. In each cell 4, the protruding teeth 31 are able to abut against the article 900, while the recessed teeth 31 are adapted for insertion of a clip.

In some embodiments, the inside of the side wall 11 at the second side 14 of the rectangular box 1 is provided with a plurality of protrusions 15 corresponding to the teeth 31 on the adjacent toothed transverse partition 3. The projections 15 prevent the article 900 from clinging to the side walls 11 of the case 1 and facilitate the insertion of a clip into the recess between the respective projections 15, thereby ensuring successful gripping of the article 900.

In some embodiments, the rectangular box 1 further comprises a support 16 disposed along the top periphery of the side walls 11 and adapted to be handled by a jig. With the support portion 16, the box 1 can be easily carried.

In some embodiments, the rectangular box 1 is provided with one or more tags 17 for identifying information of the article circulation box 100 and/or information of the articles 900 stored in the article circulation box 100. The tag 17 can accurately monitor the information related to the article circulation box 100 and the stored articles 900 in real time.

In some embodiments, the rectangular box 1 is further provided with a grip 18 to facilitate gripping by an operator.

Fig. 3 shows a front view of a gripping mechanism for handling article totes according to one embodiment of the present disclosure, and fig. 4 shows a schematic view of the gripping mechanism shown in fig. 3 gripping articles. As shown in fig. 3 and 4, the gripping mechanism 200 includes a container gripping device 5, an article gripping device 6, and a driving device 7.

The container gripper 5 comprises a pair of gripper bars 51. The pair of gripper bars 51 is adapted to grip the article circulation box 100. For example, the pair of clamp levers 51 may clamp the article transfer container 100 via the support portions 16 on the article transfer container 100, thereby conveying the article transfer container 100.

The article holding device 6 is adapted to hold an article 900. In one embodiment, as shown in fig. 4, the article holding device 6 comprises a first holding portion 61 and a second holding portion 62. Each of the first and second clamping portions 61, 62 comprises a plurality of clamping fingers 610 adapted to be inserted into the recessed teeth 31 in the respective cell 4. The clamping fingers 610 of the first clamping portion 61 are offset from the clamping fingers 610 of the second clamping portion 62. When the article 900 is gripped by such an article gripping device 6, the gripping fingers 610 of the first gripping part 61 and the second gripping part 62 can be inserted into the tooth parts 31 recessed in the respective cells 4, and thus collision with the case body 1 when gripping the article in the case can be effectively prevented, ensuring successful gripping of the article 900. Moreover, the staggered gripping fingers 610 ensure that the article gripping device 6 can smoothly grip the article 900 in both the forward and reverse directions regardless of the use of several rows and columns of cell layouts.

The article holding device 6 may be a pneumatic or an electric holding device. For example, as shown in fig. 4, the article holding device 6 may include an air cylinder 63 for controlling the opening or closing of the first and second holding portions 61 and 62. Through the control of the air cylinder 63, different strokes can be realized between the first clamping part 61 and the second clamping part 62 so as to be compatible with articles 900 with different specifications.

The drive means 7 are coupled between the container gripping means 5 and the article gripping means 6. The driving means 7, which may be an electric cylinder or another type, is adapted to drive the article holding means 6 to move relative to the container holding means 5, for example in a vertical direction in fig. 4, so that the article holding means 6 can take out the articles 900 stored in the article container 100 and put the articles 900 into the article container 100.

With the above arrangement, the clamping mechanism 200 can not only utilize the turnover box clamping device 5 to carry the article turnover box 100, but also utilize the article clamping device 6 to realize automatic grabbing and placing of the articles 900 in the cells 4 in the box body 1, thereby conveniently realizing automatic carrying and sorting of the articles 900.

Fig. 5 shows a schematic structural view of an article holding device according to one embodiment of the present disclosure. The article holding device 6 shown in fig. 5 has a similar structure to the article holding device 6 shown in fig. 4, except that the first and second grip parts 61 and 62 of the article holding device 6 shown in fig. 5 respectively include two grip fingers 610. With such an arrangement, stable and reliable grasping and placing of the article 900 can also be ensured.

Fig. 6 shows a schematic structural view of an article holding device according to another embodiment of the present disclosure. As shown in fig. 6, the article holding device 6 includes an air cylinder 63, a suction cup 64, and a stopper 65. The suction cup 64 is capable of sucking and discharging the article 900 under the control of the air cylinder 63. The stopper 65 can restrict the object 900 attached to the suction cup 64 to prevent the object 900 from shaking during the grasping process.

In some embodiments, the clamping bar 51 may be a stationary clamping bar. In other embodiments, the gripping shank 51 may be a movable gripping shank, for example, in a pinch or an expansion grip. When the clamp rods 51 are movable clamp rods, the length of the clamp rods 51 can be flexibly adjusted according to the size of the article transport container 1.

The gripper mechanism 200 described herein may be mounted on a robot. Fig. 7 shows a partial schematic view of a robot 300 according to one embodiment of the present disclosure. In fig. 7, the end flange 8 of the robot 300 is shown, which is used for mounting the gripper mechanism 200. The gripper 200 can be used to facilitate automated handling and sorting of articles, driven by an arm (not shown) of the robot 300.

In some embodiments, as shown in fig. 7, the magazine clamping device 5 may be arranged eccentrically with respect to the end flange 8. In other embodiments, the carton clamping means 5 may be in a central position with respect to the end flange 8. For example, the turnover clamping device 5 shown in fig. 8 includes a mounting plate 52. The paired holding rods 51 are provided on the mounting plate 52. The mounting plate 52 may be mounted directly in the centre of the end flange 8.

Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims (13)

1. An article transfer container (100), the article transfer container (100) comprising:

the box body (1) comprises side walls (11) and a bottom plate (12), and an internal space is enclosed by the side walls (11) and the bottom plate (12);

a plurality of longitudinal partitions (2) arranged in the interior space at intervals along a first direction (Y) parallel to a first side (13) of the rectangular box (1); and

a plurality of dentate transverse bulkheads (3) arranged at intervals in the interior space along a second direction (X) parallel to a second side (14) of the rectangular box (1), the plurality of longitudinal bulkheads (2) and the plurality of dentate transverse bulkheads (3) dividing the interior space into a plurality of cells (4) adapted to accommodate respective articles (900).

2. The article transfer box (100) according to claim 1, characterized in that said plurality of longitudinal partitions (2) and/or said plurality of toothed transverse partitions (3) are fixedly or removably mounted in said rectangular box (1).

3. The article transfer container (100) according to claim 1, wherein each toothed transverse partition (3) of the plurality of toothed transverse partitions (3) is provided with an even number of teeth (31).

4. The article transfer container (100) according to claim 1, wherein the inside of the side wall (11) at the second side (14) of the rectangular box (1) is provided with a plurality of projections (15) corresponding to the teeth (31) on the adjacent toothed transversal partitions (3).

5. The article transfer container (100) according to claim 1, wherein the rectangular box (1) further comprises a support (16) provided along a top periphery of the side wall (11) and adapted to be handled by a gripper.

6. The article tote (100) of claim 1, wherein the rectangular box (1) is provided with one or more labels (17) for identifying information of the article tote (100) and/or information of articles (900) stored in the article tote (100).

7. A fixture (200), wherein the fixture (200) comprises:

a container gripping device (5), the container gripping device (5) comprising a pair of gripping bars (51), the pair of gripping bars (51) being adapted to grip an article container (100) according to any one of claims 1 to 6;

an article holding device (6), said article holding device (6) being adapted to hold an article (900); and

-drive means (7) coupled between the container gripping means (5) and the article gripping means (6) and adapted to drive the article gripping means (6) in movement with respect to the container gripping means (5) so that the article gripping means (6) can take out articles (900) stored in the article container (100) and put articles (900) in the article container (100).

8. The clamping mechanism (200) according to claim 7, wherein the article clamping device (6) comprises a first clamping portion (61) and a second clamping portion (62), each of the first clamping portion (61) and the second clamping portion (62) comprising a plurality of clamping fingers (610) adapted to be inserted into recessed teeth (31) in a respective cell (4), the clamping fingers (610) on the first clamping portion (61) being arranged offset from the clamping fingers (610) on the second clamping portion (62).

9. The clamping mechanism (200) according to claim 7, wherein the article clamping device (6) comprises a suction cup (64) adapted to absorb the article (900) and a limiting member (65) for limiting the article (900) absorbed on the suction cup (64).

10. The clamping mechanism (200) according to claim 7, wherein the article clamping device (6) is a pneumatic or an electric clamping device.

11. The clamping mechanism (200) of claim 7, wherein the pair of clamping bars (51) are fixed or movable clamping bars.

12. A robot (300), characterized in that the robot (300) comprises:

a terminal flange (8); and

the clamping mechanism (200) according to any one of claims 7-11, being arranged on the end flange (8).

13. Robot (300) according to claim 12, characterized in that said turnover box gripping means (5) are arranged eccentrically or centrally with respect to said terminal flange (8).

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