CN215556278U

CN215556278U - Finger structure, transfer device, and transfer robot

Info

Publication number: CN215556278U
Application number: CN202122093375.5U
Authority: CN
Inventors: 詹庆鑫
Original assignee: Hai Robotics Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2021-08-31
Filing date: 2021-08-31
Publication date: 2022-01-18
Anticipated expiration: 2031-08-31
Also published as: WO2023029643A1; TWM635282U

Abstract

The application provides a finger structure, handling device and transfer robot, and the finger structure includes supporting seat, finger subassembly and spacing subassembly, and the finger subassembly is connected with the supporting seat, and the finger subassembly is relative rotatory with the supporting seat. The limiting assembly comprises a first stop part and two second stop parts, the first stop part is arranged on one of the finger assembly and the supporting seat, the second stop part is arranged on the other of the finger assembly and the supporting seat, when the finger assembly rotates, the first stop part positioned on the finger assembly is respectively abutted against the different second stop parts, or the second stop part positioned on the supporting seat is respectively abutted against the first stop part, so that the rotating angle of the finger assembly is limited. The finger structure rotating angle is easy to control and not easy to exceed the travel range.

Description

Finger structure, transfer device, and transfer robot

Technical Field

The application relates to the field of warehouse logistics, in particular to a finger structure, a carrying device and a carrying robot.

Background

Warehousing is an important link in the logistics process. The transfer robot can replace manual goods transfer and plays an important role in intelligent warehouse logistics.

The transfer robot may include a robot body and a transfer device connected to the robot body and ascending or descending with respect to the robot body. The tray sets up flexible subassembly and the finger structure of being connected with flexible subassembly on the handling device, and flexible subassembly drives the position that the finger structure removed to the goods, and the relative flexible subassembly of finger structure is rotatory to make flexible subassembly and finger structure pull the packing box to the handling device jointly on.

However, the rotation angle of the finger structure relative to the rotation of the telescopic assembly is not easy to control, and the rotation angle of the finger structure is easy to exceed the stroke range.

SUMMERY OF THE UTILITY MODEL

The application provides a finger structure, handling device and transfer robot, the rotation angle of finger structure is easily controlled, be difficult for surpassing the stroke scope.

In a first aspect, the application provides a finger structure, which comprises a supporting seat, a finger component and a limiting component, wherein the finger component is connected with the supporting seat and rotates relative to the supporting seat;

the limiting assembly comprises a first stop part and two second stop parts, the first stop part is arranged on one of the finger assembly and the supporting seat, the second stop part is arranged on the other of the finger assembly and the supporting seat, when the finger assembly rotates, the first stop part positioned on the finger assembly is respectively abutted against the different second stop parts, or the second stop part positioned on the supporting seat is respectively abutted against the first stop part, so that the rotating angle of the finger assembly is limited.

In an implementation, the finger structure provided by the application, the finger assembly comprises a finger and a finger shaft, the finger comprises a finger body and an installation part connected with the finger body, the installation part is sleeved on the finger shaft, the finger shaft is inserted on the supporting seat, and at least part of the finger body is positioned on the side of the supporting seat.

In an implementation manner, in the finger structure provided by the application, the first stop part is located between the two second stop parts, when one second stop part abuts against the first stop part, the extending direction of the finger body is consistent with the horizontal direction, and when the other second stop part abuts against the first stop part, the extending direction of the finger body is consistent with the vertical direction.

In one implementation, the finger structure provided by the present application, one of the first stopper and the second stopper is located on the mounting portion, and the other is located on the supporting seat.

In one implementation manner, in the finger structure provided by the application, the first stop piece is located on the end face of the supporting seat, and the second stop piece is located on the side face of the mounting portion;

or the second stop parts are positioned on the end surface of the supporting seat, the two second stop parts are positioned in the same vertical plane or the same horizontal plane, and the first stop part is positioned on the side surface of the mounting part.

In an implementation, the application provides a finger structure, the terminal surface of installation department is towards the terminal surface of supporting seat, and the side of installation department is the arc.

In one implementation manner, in the finger structure provided by the application, the support seat comprises a support seat body, a first support arm and a second support arm, the first support arm and the second support arm are connected with the support seat body, the first support arm and the second support arm are located on the same side of the support seat body, and gaps are formed among the first support arm, the second support arm and the support seat body;

the first supporting arm is provided with a first mounting hole, the first mounting hole is communicated with the notch, the finger shaft is inserted in the first mounting hole, and the finger shaft is partially positioned in the notch.

In an implementation, this application provides a finger structure, first stop part sets up on the finger axle, and the finger axle drives first stop part rotatory, and first stop part is located the breach, and second stop part is for being located the bellying on the supporting seat body.

In one implementation, the finger structure provided in the present application has a first abutting portion and a second abutting portion on the first stopper, and the first abutting portion and the second abutting portion are abutted to different protruding portions respectively.

In an implementation, the application provides a finger structure, still include the driving piece, the driving piece is connected with the supporting seat, and the one end of driving piece has the drive shaft, and the drive shaft is connected with the finger axle to it is rotatory to drive the finger through the finger axle.

In an implementation manner, the finger structure provided by the application further comprises a controller and a sensing assembly, the sensing assembly and the driving piece are electrically connected with the controller, the sensing assembly is used for detecting the position of the finger assembly, and when the finger assembly rotates to a preset position, the controller controls the finger assembly to stop rotating through the driving piece.

In one implementation manner, in the finger structure provided by the application, the sensing assembly comprises a sensing block and a sensing piece, the sensing block is sleeved on the finger shaft, the driving piece drives the sensing block to rotate through the finger shaft, and the sensing piece is located on the inner surface of the supporting seat body;

the induction block is provided with two induction parts, the induction parts and the induction parts are arranged in a one-to-one correspondence manner, and the induction parts are used for detecting the induction parts corresponding to the induction parts;

the sensing piece is connected with the controller electricity, and when the sensing piece detected the response portion, the controller stopped the rotation through driving piece control finger subassembly.

In one implementation, the finger structure provided by the present application, the first stop member and the sensing block are integrally formed.

In an implementation, the finger structure that this application provided has the second mounting hole on the second support arm, second mounting hole and breach intercommunication, and the one end that the driving piece has the drive shaft still has grafting portion, and grafting portion inserts and establishes on the second mounting hole, and the driving piece has the one end and the second support arm connection of drive shaft, and the drive shaft is located the breach.

In a second aspect, the application further provides a carrying device, which comprises a carrying device body, a finger structure and at least one telescopic arm, wherein the telescopic arm is connected with the carrying device body, and the telescopic arm is telescopic relative to the carrying device body to the outside of the carrying device body;

the finger structure is the finger structure that above-mentioned first aspect provided, and the finger structure is located the flexible end of flexible arm.

In an implementation, the application provides a handling device, the quantity of flexible arm is two, has the detection piece on the supporting seat of finger structure, and the sense terminal of the detection piece on two flexible arms is relative.

In one implementation, the present application provides a handling device, the detection piece is a correlation sensor.

In a third aspect, the present application further provides a transfer robot including a robot body and the transfer device of the second aspect disposed on the robot body.

The application provides a finger structure, handling device and transfer robot, the finger structure is through setting up the supporting seat, point subassembly and spacing subassembly, spacing subassembly includes first stop part and two second stop parts, one in first stop part and each second stop part is located the finger subassembly, another is located the supporting seat, the finger subassembly rotates with the supporting seat to be connected, when the finger subassembly is rotatory for the supporting seat, through first stop part and second stop part butt in order to restrict the rotation angle of finger subassembly for the supporting seat, therefore, be convenient for control the rotation angle of finger structure, and make the rotation angle of finger structure be difficult for surpassing the stroke scope.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a first schematic structural diagram of a finger structure according to an embodiment of the present disclosure;

FIG. 2 is a schematic view of another angle of FIG. 1;

fig. 3 is a second schematic structural diagram of a finger structure according to an embodiment of the present application;

FIG. 4 is a schematic structural diagram of a finger assembly in a finger structure according to an embodiment of the present disclosure;

fig. 5 is a schematic structural diagram of a support seat in a finger structure according to an embodiment of the present disclosure;

FIG. 6 is a schematic view of another angle of FIG. 5;

FIG. 7 is a schematic structural diagram of a driving member in a finger structure according to an embodiment of the present disclosure;

fig. 8 is a schematic structural diagram of a sensing block in a finger structure according to an embodiment of the present disclosure;

fig. 9 is a schematic structural diagram of a handling device according to an embodiment of the present application;

FIG. 10 is a schematic view of another angle of FIG. 9;

FIG. 11 is an enlarged view of a portion of FIG. 10 at A;

fig. 12 is a schematic structural view of a transfer robot according to an embodiment of the present application.

Description of reference numerals:

1-a robot body;

10-finger configuration;

100-a support seat; 110-a support base body; 120-a first support arm; 121-a first mounting hole; 130-a second support arm; 131-a second mounting hole; 140-a notch; 200-a finger assembly; 210-finger; 211-finger body; 212-a mounting portion; 220-finger axis; 300-a spacing assembly; 310-a first stop; 311-a first abutment; 312 — a second abutment; 320-a second stop; 400-a driver; 410-a drive shaft; 420-a plug-in part; 500-a sensing component; 510-a sensing block; 511-a sensing part; 520-a sensing member;

20-carrying device body;

30-a telescopic arm;

40-detecting element.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the accompanying drawings in the preferred embodiments of the present application. In the drawings, the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The described embodiments are a subset of the embodiments in the present application and not all embodiments in the present application. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application. Embodiments of the present application will be described in detail below with reference to the accompanying drawings.

In the description of the present application, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may include, for example, a first connection, a second connection indirectly through an intermediate, a connection between two elements, or an interaction between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientation or positional relationships illustrated in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application.

The terms "first," "second," and "third" (if any) in the description and claims of this application and the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein.

Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or display that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or display.

Warehousing is an important link in the logistics process, and the transfer robot can replace manual goods transfer and play an important role in intelligent warehousing and logistics.

However, the rotation angle of the finger structure relative to the rotation of the telescopic assembly is not easy to control, the rotation angle of the finger structure easily exceeds the travel range, so that the contact area between the finger structure and the container is reduced, the finger structure is inconvenient to apply acting force to the container, the finger structure is more laborious when the container is pulled to the carrying device, the occupied space of a sensor of the finger structure is large, and the structure of the finger structure is not compact enough.

Based on this, the embodiment of the application provides a finger structure, a carrying device and a carrying robot, and the rotation angle of the finger structure is easy to control and is not easy to exceed the stroke range.

Fig. 1 is a first schematic structural diagram of a finger structure according to an embodiment of the present disclosure; FIG. 2 is a schematic view of another angle of FIG. 1; fig. 3 is a schematic structural diagram of a finger structure according to an embodiment of the present application. Referring to fig. 1 to 3, a finger structure 10 according to an embodiment of the present disclosure includes a supporting base 100, a finger element 200 and a limiting element 300, wherein the finger element 200 is connected to the supporting base 100, and the finger element 200 rotates relative to the supporting base 100.

The position limiting assembly 300 includes a first stopper 310 and two second stoppers 320, one of the finger assembly 200 and the support base 100 has the first stopper 310, and the other has the second stopper 320, when the finger assembly 200 rotates, the first stoppers 310 on the finger assembly 200 abut against the different second stoppers 320, or the second stoppers 320 on the support base 100 abut against the first stoppers 310, respectively, to limit the rotation angle of the finger assembly 200.

The finger structure 10 according to the present embodiment can be connected to a transfer device of a transfer robot. Specifically, the support base 100 is connected to the carrying device, and the finger structures 10 can be disposed on two opposite sides of the carrying device. The finger assembly 200 is fixed to the support base 100 and the finger assembly 200 is rotatable relative to the support base 100 such that, when a container is being handled, the finger assembly 200 is rotated to rotate the finger assembly 200 to the rear side of the container, and the container is pulled by the finger assembly 200 to the handling device.

In addition, the finger structure 10 is further provided with a limiting component 300, so that the rotation angle of the finger component 200 relative to the supporting seat 100 can be controlled. It can be understood that, the finger assembly 200 has the first stop member 310, and the support base 100 has the two second stop members 320, or the support base 100 has the two first stop members 310 and the finger assembly 200 has the second stop members 320, which can be set by a user according to the specific implementation, and this embodiment is not limited thereto.

Illustratively, the first stopper 310 is located on the finger assembly 200, during the rotation of the finger assembly 200, the first stopper 310 rotates along with the finger assembly 200, and the two second stoppers 320 are located on the support base 100 and fixed relative to the support base 100. When the finger assembly 200 rotates clockwise to the horizontal direction, the first stop member 310 rotates to abut against one second stop member 320, the finger assembly 200 stops rotating, the finger assembly 200 is located at the rear side of the container, the finger assembly 200 pulls the container, when the container is pulled to the carrying device, when the finger assembly 200 rotates counterclockwise to the vertical direction, the first stop member 310 rotates to abut against the other second stop member 320, the finger assembly 200 stops rotating, and the finger assembly 200 rotates to the side of the container, so that the finger assembly 200 is prevented from blocking the container from entering and exiting the carrying device.

It can be understood that two second stoppers 320 are located on the finger assembly 200, during the rotation of the finger assembly 200, the two second stoppers 320 rotate along with the finger assembly 200, and the first stopper 310 is located on the support base 100 and fixed relative to the support base 100. When the finger assembly 200 is rotated clockwise to the horizontal direction, one of the second stoppers 320 is rotated to abut against the first stopper 310. When the finger assembly 200 is rotated counterclockwise to the vertical direction, the other second stopper 320 is rotated to abut against the first stopper 310, and the finger assembly 200 stops rotating.

In the finger structure 10 provided in the embodiment of the present application, the support base 100, the finger assembly 200 and the limiting assembly 300 are disposed on the finger structure 10, the limiting assembly 300 includes the first stop member 310 and the two second stop members 320, one of the first stop member 310 and each of the second stop members 320 is located on the finger assembly 200, and the other one is located on the support base 100, the finger assembly 200 is rotatably connected to the support base 100, and when the finger assembly 200 rotates relative to the support base 100, the first stop member 310 abuts against the second stop member 320 to limit the rotation angle of the finger assembly 200 relative to the support base 100, so that the rotation angle of the finger structure 10 is conveniently controlled, and the rotation angle of the finger structure 10 is not easily out of the travel range.

Fig. 4 is a schematic structural diagram of a finger assembly in the finger structure according to the embodiment of the present application. Referring to fig. 1 to 4, in a specific implementation, the finger assembly 200 includes a finger 210 and a finger shaft 220, the finger 210 includes a finger body 211 and a mounting portion 212 connected to the finger body 211, the mounting portion 212 is sleeved on the finger shaft 220, the finger shaft 220 is inserted on the supporting seat 100, and at least a portion of the finger body 211 is located at a side of the supporting seat 100.

Specifically, the finger shaft 220 rotates relative to the support base 100, so that the mounting portion 212 provided on the finger shaft 220 drives the finger body 211 to rotate, so that the finger body 211 can rotate to the rear side of the cargo box.

In some embodiments, the first stopper 310 is located between two second stoppers 320, when one second stopper 320 abuts against the first stopper 310, the extending direction of the finger body 211 coincides with the horizontal direction, and when the other second stopper 320 abuts against the first stopper 310, the extending direction of the finger body 211 coincides with the vertical direction.

In order to improve the stability of the cargo box, the cargo box is placed on a horizontal plane, and when the finger body 211 is rotated to the extent that the extension direction of the finger body 211 is consistent with the horizontal direction, the finger body 211 is located at the rear side of the cargo box, and at this time, the fingers 210 are convenient to apply acting force to the cargo box, so that the cargo box can be smoothly pulled to the carrying device. When the finger body 211 rotates to the extent direction of the finger body 211 is consistent with the vertical direction, therefore, the finger body 211 is prevented from blocking the cargo box when the finger body 211 rotates by a small rotation angle.

Fig. 5 is a schematic structural diagram of a support seat in a finger structure according to an embodiment of the present disclosure. In a specific implementation, as shown in fig. 1 and 3 to 5, one of the first stopper 310 and the second stopper 320 is located on the mounting portion 212, and the other is located on the supporting seat 100.

The first stopper 310 is located at an end surface of the support base 100, and the second stopper 320 is located at a side surface of the mounting portion 212. Alternatively, the second stoppers 320 are located on the end surface of the support base 100, the two second stoppers 320 are located in the same vertical plane or the same horizontal plane, and the first stopper 310 is located on the side surface of the mounting portion 212.

It should be understood that in some embodiments, the first stopper 310 may be located in the middle of the end surface of the support base 100, and the two second stoppers 320 may be located on the side surface of the mounting portion 212, and in other embodiments, the first stopper 310 may be located on the side surface of the mounting portion 212, and the two second stoppers 320 may be located at the top and bottom of the end surface of the support base 100, respectively. The two second stoppers 320 are located in the same vertical plane or the same horizontal plane, so that when the finger assembly 200 rotates, the first stopper 310 can abut against the two second stoppers 320 respectively.

In a specific implementation, the end surface of the mounting portion 212 faces the end surface of the supporting seat 100, and the side surface of the mounting portion 212 is arc-shaped.

The end face of the mounting portion 212 faces the end face of the support base 100, that is, when the finger assembly 200 is inserted into the support base 100, the end face of the mounting portion 212 abuts against the end face of the support base 100, or a gap is formed between the end face of the mounting portion 212 and the end face of the support base 100, so that the finger 210 smoothly rotates around the axis of the finger shaft 220 with respect to the support base 100. The side surface of the mounting part 212 is arc-shaped, so that the side surface of the mounting part 212 is prevented from contacting the first stop part 310 when the mounting part 212 rotates, and thus, the second stop part 320 arranged on the side surface of the mounting part 212 can be ensured to be abutted against the first stop part 310 under the condition of small size; alternatively, the side surface of the mounting portion 212 is prevented from contacting the second stopper 320 when the mounting portion 212 is rotated, and thus the first stopper 310 provided on the side surface of the mounting portion 212 can be surely abutted against the second stopper 320 even when the size is small.

Fig. 6 is a schematic view of another angle structure of fig. 5. Referring to fig. 4 to 6, in a specific implementation, the support seat 100 includes a support seat body 110, a first support arm 120 and a second support arm 130, the first support arm 120 and the second support arm 130 are connected to the support seat body 110, the first support arm 120 and the second support arm 130 are located on the same side of the support seat body 110, and a gap 140 is formed between the first support arm 120, the second support arm 130 and the support seat body 110.

The first support arm 120 has a first mounting hole 121, the first mounting hole 121 is communicated with the notch 140, the finger shaft 220 is inserted into the first mounting hole 121, and the finger shaft 220 is partially located in the notch 140.

Specifically, the finger 210 is located at an end surface of the first support arm 120 facing away from the notch 140, the finger shaft 220 is inserted into the first mounting hole 121, and the finger shaft 220 can rotate relative to the first mounting hole 121, so that the finger assembly 200 can rotate relative to the support base 100.

FIG. 7 is a schematic structural diagram of a driving member in a finger structure according to an embodiment of the present disclosure; fig. 8 is a schematic structural diagram of a sensing block in a finger structure according to an embodiment of the present application. Referring to fig. 2, 6 to 8, in another embodiment, the first stopper 310 is disposed on the finger shaft 220, the finger shaft 220 drives the first stopper 310 to rotate, the first stopper 310 is located in the notch 140, and the second stopper 320 is a protrusion located on the support seat body 110.

Specifically, the first stop member 310 is disposed on one side of the finger shaft 220 located in the notch 140, the first stop member 310 is sleeved on the finger shaft 220, or the first stop member 310 is connected to the finger shaft 220 through a screw, and the first stop member 310 rotates along with the rotation of the finger shaft 220 to abut against the different second stop members 320, so that the limiting assembly 300 can limit the finger assembly 200 from over-rotating, and the rotation angle of the finger assembly 200 is easy to control.

In a specific implementation, the first stopper 310 has a first abutting portion 311 and a second abutting portion 312, and the first abutting portion 311 and the second abutting portion 312 abut against different boss portions, respectively.

Illustratively, the first stopper 310 is sleeved on the finger shaft 220, the first stopper 310 rotates along with the rotation of the finger shaft 220, when the finger assembly 200 rotates clockwise until the extending direction of the finger body 211 is the horizontal direction, the first abutting portion 311 abuts against one of the protruding portions, the finger assembly 200 stops rotating, the finger 210 is located at the rear side of the container, at this time, the finger 210 can pull the container, after the container is transported to a destination, when the finger assembly 200 rotates counterclockwise until the extending direction of the finger body 211 is the vertical direction, the second abutting portion 312 abuts against the other protruding portion, the finger assembly 200 stops rotating, and the finger 210 rotates to the side of the container, so that the finger 210 is prevented from blocking the container.

In addition, the finger structure 10 provided in the embodiment of the present application further includes a driving member 400, as shown in fig. 1, fig. 2 and fig. 7, the driving member 400 is connected to the supporting seat 100, one end of the driving member 400 has a driving shaft 410, and the driving shaft 410 is connected to the finger shaft 220, so as to drive the finger 210 to rotate by driving the finger shaft 220.

The second support arm 130 has a second mounting hole 131, the second mounting hole 131 is communicated with the notch 140, one end of the driving member 400 having the driving shaft 410 further has an insertion portion 420, the insertion portion 420 is inserted into the second mounting hole 131, one end of the driving member 400 having the driving shaft 410 is connected with the second support arm 130, and the driving shaft 410 is located in the notch 140.

Specifically, the driving member 400 is located at an end surface of the second support arm 130 away from the notch 140, and the housing of the driving member 400 can be connected to the second support arm 130 through a screw, so that the driving member 400 can be stably fixed on the support base 100. The driving shaft 410 can be coaxially inserted with the finger shaft 220, or the driving shaft 410 is connected with the finger shaft 220 through a coupling, so that the driving member 400 drives the finger shaft 220 to rotate, and the finger 210 is driven to rotate through the finger shaft 220. The driving member 400 may be a rotating motor or a rotating cylinder, and the driving member 400 may be a servo motor, which is light in weight and fast in response.

In addition, the finger structure 10 provided in the embodiment of the present application further includes a controller and a sensing component 500, as shown in fig. 1 and 6 to 8, the sensing component 500 and the driving component 400 are electrically connected to the controller, the sensing component 500 is used for detecting the position of the finger assembly 200, and when the finger assembly 200 rotates to a preset position, the controller controls the finger assembly 200 to stop rotating through the driving component 400.

Specifically, the sensing element 500 is located in the gap 140, so that the finger structure 10 can be more compact. The controller can control the rotation direction of the driving member 400 or stop rotating, when the finger assembly 200 rotates to a preset position, that is, the extending direction of the finger body 211 is a horizontal direction or a vertical direction, at this time, the first stopping member 310 abuts against the second stopping member 320, the sensing assembly 500 generates a sensing signal, the sensing assembly 500 transmits the sensing signal to the controller, the controller controls the driving member 400 to stop rotating, and the finger assembly 200 stops rotating, so that the sensing assembly 500 can increase the sensitivity of the finger structure 10.

In a specific implementation, the sensing assembly 500 includes a sensing block 510 and a sensing element 520, the sensing block 510 is sleeved on the finger shaft 220, the driving element 400 drives the sensing block 510 to rotate through the finger shaft 220, and the sensing element 520 is located on the inner surface of the supporting seat body 110.

The sensing block 510 has two sensing parts 511, the sensing parts 520 and the sensing parts 511 are arranged in a one-to-one correspondence manner, and the sensing parts 520 are used for detecting the sensing parts 511 corresponding to the sensing parts 520.

The sensor 520 is electrically connected to the controller, and when the sensor 520 detects the sensor 511, the controller controls the finger assembly 200 to stop rotating through the driving member 400.

Illustratively, when the driving member 400 drives the finger assembly 200 to rotate clockwise to the horizontal direction, the first stop member 310 abuts against the second stop member 320, the sensing member 520 detects a sensing portion 511, the sensing member 500 generates a sensing signal, and the controller controls the driving member 400 to stop rotating, so as to stop rotating the finger assembly 200. When the driving member 400 drives the finger assembly 200 to rotate counterclockwise to the vertical direction, the first stop member 310 abuts against the other second stop member 320, the sensing member 520 detects the other sensing portion 511, the sensing assembly 500 generates a sensing signal, and the controller controls the driving member 400 to stop rotating. Therefore, when the first stopper 310 abuts against the second stopper 320, the sensing piece 520 can detect the sensing block 510, generate a sensing signal and transmit the sensing signal to the controller, so that the controller can control the finger assembly 200 to stop rotating.

In a specific implementation, the first stopper 310 and the sensing block 510 are integrally formed, so that the structure of the finger structure 10 is more compact, and when the first stopper 310 abuts against the second stopper 320, the sensing assembly 500 can rapidly generate a sensing signal.

Fig. 9 is a schematic structural diagram of a handling device according to an embodiment of the present application; FIG. 10 is a schematic view of another angle of FIG. 9; fig. 11 is a partial enlarged view of a portion a in fig. 10.

Referring to fig. 1 to 11, a carrying device provided in an embodiment of the present application includes a carrying device body 20, a finger structure 10, and at least one telescopic arm 30, where the telescopic arm 30 is connected to the carrying device body 20, the telescopic arm 30 is telescopic relative to the carrying device body 20 to the outside of the carrying device body 20, and the finger structure 10 is located at a telescopic end of the telescopic arm 30. The finger structure 10 is the finger structure 10 provided in the foregoing embodiments, and the structure, the working principle, and the main functions of the finger structure 10 have been described in detail in the foregoing embodiments, and are not described herein again.

Specifically, the support base 100 of the finger structure 10 is connected to the telescopic arm 30 by screws or welding, one of the telescopic arm 30 and the carrying device body 20 has a sliding groove, the other of the telescopic arm 30 and the carrying device body 20 has a guide rail, the telescopic arm 30 can be extended and retracted relative to the carrying device body 20 along the extension direction of the guide rail, and the finger structure 10 is located at the extension end of the telescopic arm 30, so that when the telescopic arm 30 extends out of the carrying device body 20, the finger structure 10 and the telescopic arm 30 can jointly pull the cargo box to the carrying device body 20. The number of the telescopic arms 30 may be one or more than two, and in the specific implementation, the user may set the telescopic arms as required.

In a specific implementation, the number of the telescopic arms 30 is two, the supporting base 100 of the finger structure 10 has the detecting element 40, and the detecting ends of the detecting elements 40 on the two telescopic arms 30 are opposite.

The two telescopic arms 30 are provided with two finger structures 10, and the two finger structures 10 can simultaneously apply force to the container, so that the container is pulled onto the carrying device by the two telescopic arms 30 more stably and reliably.

The detecting member 40 can be used to detect whether there is a container in the carrying device body 20, or whether the finger structure 10 is located on both sides of the container when the finger structure 10 pulls the container, so as to prevent the finger 210 from being blocked by the container when the finger 210 rotates to the horizontal direction.

In a specific implementation, the detecting member 40 is a correlation sensor. The correlation sensor comprises an emitting end and a receiving end, the emitting end emits red light or infrared light, the receiving end receives light, when the two opposite correlation sensors detect the container, the light is cut off, and the correlation sensors output signals to the controller.

Fig. 12 is a schematic structural view of a transfer robot according to an embodiment of the present application. Referring to fig. 1 to 12, a transfer robot according to an embodiment of the present application includes a robot body 1 and a transfer device provided on the robot body 1. The structure, the working principle and the main functions of the carrying device have been described in detail in the foregoing embodiments, and are not described herein again.

The carrying device is liftable and rotatable with respect to the robot body 1, and the finger structures 10 prevent the cargo box from falling down when the carrying device is lifted and rotated. The finger structures 10 together with the handling device pull the container onto the robot body 1, which can transport the container to the destination.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A finger structure is characterized by comprising a supporting seat, a finger component and a limiting component, wherein the finger component is connected with the supporting seat and rotates relative to the supporting seat;

the limiting assembly comprises a first stop part and two second stop parts, the first stop part is arranged on one of the finger assembly and the supporting seat, the second stop part is arranged on the other of the finger assembly and the supporting seat, when the finger assembly rotates, the first stop part positioned on the finger assembly is respectively abutted with the different second stop parts, or the second stop part positioned on the supporting seat is respectively abutted with the first stop part, so that the rotating angle of the finger assembly is limited.

2. The finger structure of claim 1, wherein said finger assembly comprises a finger and a finger shaft, said finger comprises a finger body and an installation part connected with said finger body, said installation part is sleeved on said finger shaft, said finger shaft is inserted on said supporting seat, at least part of said finger body is located at the side of said supporting seat.

3. The finger structure of claim 2, wherein said first stop is located between two said second stops, and when one said second stop abuts against said first stop, the extension direction of said finger body coincides with the horizontal direction, and when the other said second stop abuts against said first stop, the extension direction of said finger body coincides with the vertical direction.

4. The finger structure of claim 2, wherein one of said first stopper and said second stopper is located on said mounting portion and the other is located on said support seat.

5. The finger structure of claim 4, wherein said first stopper is located at an end surface of said support base, and said second stopper is located at a side surface of said mounting portion;

6. The finger structure of claim 2, wherein the end surface of said mounting portion faces the end surface of said support base, and the side surface of said mounting portion is curved.

7. The finger structure of claim 2 or 3, wherein the support seat comprises a support seat body, a first support arm and a second support arm, the first support arm and the second support arm are connected with the support seat body, the first support arm and the second support arm are located on the same side of the support seat body, and a gap is formed between the first support arm, the second support arm and the support seat body;

the first supporting arm is provided with a first mounting hole, the first mounting hole is communicated with the notch, the finger shaft is inserted in the first mounting hole, and the finger shaft is partially located in the notch.

8. The finger structure of claim 7, wherein said first stop member is disposed on said finger shaft, said finger shaft rotates said first stop member, said first stop member is located in said gap, and said second stop member is a protrusion located on said support base body.

9. The finger structure of claim 8, wherein said first stopper has a first abutting portion and a second abutting portion, and said first abutting portion and said second abutting portion abut different ones of said convex portions, respectively.

10. The finger structure of claim 7, further comprising an actuating member connected to said support base, said actuating member having a drive shaft at one end thereof, said drive shaft being connected to said finger shaft for driving said finger to rotate via said finger shaft.

11. The finger structure of claim 10, further comprising a controller and a sensing component, wherein the sensing component and the driving component are electrically connected with the controller, the sensing component is used for detecting the position of the finger component, and when the finger component rotates to a preset position, the controller controls the finger component to stop rotating through the driving component.

12. The finger structure of claim 11, wherein the sensing assembly comprises a sensing block and a sensing element, the sensing block is sleeved on the finger shaft, the driving element drives the sensing block to rotate through the finger shaft, and the sensing element is located on the inner surface of the supporting seat body;

the induction block is provided with two induction parts, the induction pieces and the induction parts are arranged in a one-to-one correspondence manner, and the induction pieces are used for detecting the induction parts corresponding to the induction pieces;

the sensing piece is electrically connected with the controller, and when the sensing piece detects the sensing part, the controller controls the finger assembly to stop rotating through the driving piece.

13. The finger structure of claim 12, wherein said first stop is integrally formed with said sensing block.

14. The finger structure of claim 12, wherein the second support arm has a second mounting hole, the second mounting hole is communicated with the notch, the end of the driving member having the driving shaft has a plug portion, the plug portion is plugged into the second mounting hole, the end of the driving member having the driving shaft is connected to the second support arm, and the driving shaft is located in the notch.

15. A carrying device is characterized by comprising a carrying device body, a finger structure and at least one telescopic arm, wherein the telescopic arm is connected with the carrying device body, and the telescopic arm is telescopic relative to the carrying device body to the outside of the carrying device body;

the finger structure of any one of claims 1 to 14, located at the telescopic end of the telescopic arm.

16. The carrier device as claimed in claim 15, wherein the number of the telescopic arms is two, the support of the finger structure has a detecting member thereon, and the detecting ends of the detecting members on the two telescopic arms are opposite to each other.

17. The handling device of claim 16, wherein the detection member is a correlation sensor.

18. A transfer robot comprising a robot body and the transfer device of any one of claims 15 to 17 provided on the robot body.