CN215618143U - Manipulator and storage robot - Google Patents

Abstract

The application discloses manipulator and storage robot relates to storage robot technical field. The manipulator comprises two clamping jaws, a first driving mechanism and a second driving mechanism, wherein the two clamping jaws are opposite, and each clamping jaw comprises a first end and a second end; the first driving mechanism is in transmission connection with the first ends of the two clamping jaws so as to drive the two clamping jaws to approach or depart from each other; the second driving mechanism is in transmission connection with the first ends of the two clamping jaws and is used for driving the two clamping jaws to swing so as to enable the second ends of the two clamping jaws to be close to or far away from each other. The manipulator that this application provided can provide reliable and stable clamping-force for the goods, reduces the possibility that the goods falls.

Description

Manipulator and storage robot

Technical Field

The application relates to the technical field of storage robots, in particular to a manipulator and a storage robot.

Background

At present, warehouse storage is also developing towards automation, and automatic goods delivery and goods input are realized. However, when the existing storage automation equipment grabs the goods on the goods shelf, the problems of insecure grabbing and goods falling are easy to occur, so that the goods are damaged, and the loss is brought to the user.

SUMMERY OF THE UTILITY MODEL

The application provides a manipulator and storage robot for the goods that snatch provides reliable and stable clamping-force, reduces the goods and falls the probability.

The present application provides:

a manipulator, comprising:

the clamping jaw is provided with two opposite clamping jaws, and the clamping jaws comprise first ends and second ends;

the first driving mechanism is in transmission connection with the first ends of the two clamping jaws so as to drive the two clamping jaws to approach or depart from each other; and

and the second driving mechanism is in transmission connection with the first ends of the two clamping jaws and is used for driving the two clamping jaws to swing so as to enable the second ends of the two clamping jaws to be close to or far away from each other.

In some possible embodiments, the second drive mechanism comprises:

a first driving member; and

two switching frames, with two the clamping jaw first end one-to-one is connected, two the switching frame is kept away from the one end transmission of clamping jaw is connected to first driving piece, first driving piece is used for driving two the switching frame rotates, in order to drive two the synchronous swing of clamping jaw, two the swing opposite direction of clamping jaw.

In some possible embodiments, the second driving mechanism further comprises a movable plate and two sliding plates slidably connected to the first driving mechanism;

the movable plate is connected with the first driving part, the first driving part drives the movable plate to be close to or far away from the second end, and two ends of the movable plate are correspondingly connected with the two adapter racks one by one;

the two sliding plates are correspondingly connected with the two switching frames one by one, each switching frame comprises a first connecting part and a second connecting part which are intersected, and the connecting part of the first connecting part and the second connecting part is rotatably connected with the sliding plate connected with the first connecting part and the second connecting part;

the first connecting portion is connected with the clamping jaw, a connecting shaft is arranged at one end, far away from the first connecting portion, of the second connecting portion, the connecting shaft is connected with the movable plate in a sliding mode, the sliding direction of the connecting shaft is parallel to the sliding direction of the sliding plate, and the movable plate is connected with the connecting shaft in a limiting mode in the moving direction of the movable plate.

In some possible embodiments, an end of the second connecting portion away from the first connecting portion is connected to an elastic restoring member, and an end of the elastic restoring member away from the second connecting portion is connected to the sliding plate;

when the two clamping jaws are parallel to each other, the elastic resetting piece is in a stretching state or a natural stretching state.

In some possible embodiments, the movable plate is provided with two guide slots, the two connecting shafts on the two adapter frames are in one-to-one corresponding sliding connection with the two guide slots, and the guide slots are parallel to the sliding direction of the sliding plate.

In some possible embodiments, the first driving mechanism includes a second driving member, a gear and two oppositely arranged racks, the gear is fixedly connected to an output shaft of the second driving member, the gear is simultaneously engaged with the two racks, and the two racks are in one-to-one corresponding transmission connection with the two clamping jaws;

the second driving piece is used for driving the two racks to move towards or away from each other so as to enable the two clamping jaws to approach or depart from each other.

In some possible embodiments, the manipulator further comprises a push rod and a third drive mechanism;

the push rod is arranged between the two clamping jaws and is parallel to the clamping jaws;

the third driving mechanism is in transmission connection with the push rod so as to drive the push rod to be close to or far away from the second end of the clamping jaw.

In some possible embodiments, the manipulator further includes a mounting plate, a base, and a fourth driving mechanism, the two clamping jaws, the first driving mechanism, and the second driving mechanism are mounted on the mounting plate, the mounting plate is slidably mounted on the base, and the fourth driving mechanism is in transmission connection with the mounting plate to drive the mounting plate to slide relative to the base.

In some possible embodiments, the manipulator further comprises a fifth driving mechanism, a sixth driving mechanism and a seventh driving mechanism;

the fifth driving mechanism is in transmission connection with the two clamping jaws so as to drive the two clamping jaws to synchronously move along a path parallel to the first direction;

the sixth driving mechanism is in transmission connection with the two clamping jaws so as to drive the two clamping jaws to synchronously move along a path parallel to a second direction, and the second direction is vertical to the plane of the two clamping jaws;

the seventh driving mechanism is in transmission connection with the two clamping jaws to drive the two clamping jaws to synchronously rotate around a rotation axis, and the rotation axis is parallel to the second direction.

In addition, this application still provides a storage robot, includes this application the manipulator.

The beneficial effect of this application is: the application provides a manipulator and storage robot, and storage robot includes this manipulator. The manipulator can comprise two clamping jaws which are oppositely arranged, a first driving mechanism for driving the two clamping jaws to be close to or far away from each other, and a second driving mechanism in transmission connection with first ends of the two clamping jaws. The first driving mechanism can drive the two clamping jaws to approach each other so as to clamp the goods. The second driving mechanism can be used for driving the two clamping jaws to swing, so that the second ends of the two clamping jaws are close to or far away from each other.

It can be understood that for two parallel clamping jaws, when grabbing more goods, the clamping force of the second end of the clamping jaw is weaker than that of the first end, and the goods close to the second end is easy to fall. In this application, through setting up the second driving piece, the second end of two clamping jaws of drive is further close to for first end to can promote the clamping-force between two clamping jaw second ends, for the goods provides reliable and stable clamping action, reduce the probability that the goods falls, and then reduce the goods and damage the probability, it is extravagant to reduce the cost.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

FIG. 1 illustrates a perspective view of a robot portion in some embodiments;

FIG. 2 illustrates another perspective view of a portion of a robot in some embodiments;

FIG. 3 illustrates a partial block diagram of a robot in some embodiments;

FIG. 4 shows a schematic internal structure of a base in some embodiments;

FIG. 5 is a partially enlarged schematic view of portion A of FIG. 4;

FIG. 6 illustrates a partial schematic view of the first and second drive mechanisms in some embodiments;

FIG. 7 illustrates another partial schematic view of the first and second drive mechanisms in some embodiments;

FIG. 8 illustrates a partial schematic view of the fifth through seventh drive mechanisms in some embodiments;

fig. 9 is a partially enlarged schematic view of a portion B in fig. 8.

Description of the main element symbols:

100-a jaw; 101-a first end; 102-a second end; 200-a first drive mechanism; 201-a second drive member; 202-gear; 203-a rack; 204-a third detection member; 205-a second sensing piece; 206-a second slider; 207-a third slide rail; 208-a connecting plate; 300-a second drive mechanism; 301-a first driver; 302-a transfer rack; 3021-a first connection; 3022-a second connection; 303-a movable plate; 3031-guide groove; 304-a sliding plate; 305-a connecting shaft; 306-a resilient return member; 307-bearings; 308-a fourth slide rail; 309-a mounting frame; 310-a third slider; 311-a rotating shaft; 400-a push rod; 500-a third drive mechanism; 501-a third driving member; 502-a second drive belt; 503-connecting piece; 504-a second slide rail; 505-a second detection member; 506-a third transmission wheel; 507-a fourth transmission wheel; 600-mounting a plate; 601-an adapter plate; 602-wing plate; 603-a mounting portion; 700-a base; 701-a support frame; 702-a carrier plate; 703-a third direction; 800-a fourth drive mechanism; 801-a fourth drive; 802-a first drive wheel; 803 — first drive belt; 804-a second driving wheel; 805-a movement block; 806-lead screw; 807-a first slide rail; 808-a first slider; 809-a guide rail; 810-a guide wheel; 811-a first sensor strip; 812-a first detection member; 900-a fifth drive mechanism; 901-a fifth slide rail; 902-a fourth slider; 903 — a first direction; 1000-a sixth drive mechanism; 1001-sixth sliding rail; 1002-a fifth slider; 1003-second direction; 1100-a seventh drive mechanism; 1101-a seventh drive; 1102-a carrier; 1103-a rotating base; 1200-a camera; 1300-laser rangefinder.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar 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 application and are not to be construed as limiting the present application.

In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. 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 this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

The embodiment provides a manipulator, which can be used in a warehousing robot and used for taking and placing goods in a warehouse.

As shown in fig. 1 and 2, the robot may include a first driving mechanism 200, a second driving mechanism 300, and two opposing jaws 100. Wherein the structure of the two clamping jaws 100 can be arranged identically. The jaw 100 has a length, and the jaw 100 includes a first end 101 and a second end 102.

The first driving mechanism 200 may be drivingly connected to the first ends 101 of the two jaws 100, and may drive the two jaws 100 toward or away from each other. It will be appreciated that when the jaws 100 are brought closer together, a clamping action is achieved which can be used to clamp goods. When the jaws 100 are moved away from each other, release of the product can be achieved to place the product on a shelf or other particular location.

The second drive mechanism 300 may also be drivingly connected to the first ends 101 of the two jaws 100. The second driving mechanism 300 may be used to drive the two jaws 100 to swing so as to move the second ends 102 of the two jaws 100 closer to or away from each other. It will be appreciated that as the jaws 100 swing, the swinging directions of the jaws 100 are opposite.

It will be appreciated that, since the first drive mechanism 200 is coupled to the first end 101 of the clamping jaw 100 and the second end 102 is located relatively distal to the first drive mechanism 200, the clamping force at the second end 102 will be correspondingly weaker than the clamping force at the first end 101. Along the length of the jaws 100, when the jaws 100 simultaneously grasp multiple items, the items near the second end 102 are susceptible to falling.

In the present application, by providing the second driving mechanism 300, the second ends 102 of the two clamping jaws 100 can be driven to further approach each other relative to the first ends 101, so that the clamping force of the second ends 102 of the two clamping jaws 100 can be increased, each part of the two clamping jaws 100 can provide stable and reliable clamping force for the goods, and the probability of dropping the goods can be reduced. When the second driving mechanism 300 drives the second ends 102 of the two clamping jaws 100 away from each other, the second ends 102 of the clamping jaws 100 can be made to reduce the clamping force on the goods so as to release the goods.

As shown in fig. 1-5, in some embodiments, the robot further includes a mounting plate 600, a base 700, and a fourth drive mechanism 800. Wherein the base 700 has a certain length, and the length extending direction of the base 700 can be parallel to the length extending direction of the clamping jaw 100. The mounting plate 600 is slidably mounted on the base 700 and is slidable along the length of the base 700. The fourth driving mechanism 800 may be drivingly connected to the mounting plate 600 to drive the mounting plate 600 to slide relative to the base 700. The clamping jaw 100, the first driving mechanism 200 and the second driving mechanism 300 may be mounted on the mounting plate 600, so that the clamping jaw 100, the first driving mechanism 200 and the second driving mechanism 300 may be moved by the mounting plate 600 along the length direction of the base 700. Wherein, the length direction of the base 700 may be parallel to the third direction 703. In some embodiments, the third direction 703 may be parallel to a horizontal plane.

As shown in fig. 1, the base 700 may include a support frame 701 and a carrier plate 702, the carrier plate 702 may be fixedly disposed on one side of the support frame 701, and the carrier plate 702 may be located on the top of the support frame 701 in normal use. The carrier plate 702 may be used to hold cargo held by the jaws 100. Accordingly, the clamping jaw 100 may be located on a side of the carrier plate 702 away from the support frame 701.

As shown in fig. 3 to 5, the fourth driving mechanism 800 includes a fourth driving member 801, and the fourth driving member 801 may be fixedly mounted in the supporting frame 701. The fourth driving member 801 may be in transmission connection with the mounting plate 600 through the first transmission assembly to drive the mounting plate 600 to slide relative to the base 700. In some embodiments, the fourth driving member 801 may be an electric motor.

The first transmission assembly may include a first transmission wheel 802, a first transmission belt 803, a second transmission wheel 804, a moving block 805, and a lead screw 806. The lead screw 806 is rotatably mounted in the supporting frame 701, and an axis of the lead screw 806 is parallel to a length direction of the base 700. The first driving wheel 802 is fixedly connected to an output shaft of the fourth driving part 801, the second driving wheel 804 is fixedly installed at one end of the lead screw 806 close to the fourth driving part 801, and the first driving belt 803 is in driving connection between the first driving wheel 802 and the second driving wheel 804. Traveling block 805 may be threadably coupled to lead screw 806.

In some embodiments, lead screw 806 may be a ball screw. Accordingly, a ball screw nut may be integrated into movable block 805 and cooperatively engaged with lead screw 806. The moving block 805 may be limited by the structure of the supporting frame 701, so as to prevent the moving block 805 from rotating along with the rotation of the lead screw 806. Mounting plate 600 may be fixedly attached to the side of the moving block 805 adjacent to the carrier plate 702. Thus, the mounting plate 600 can be driven by the fourth driving member 801 to move along the lead screw 806, i.e. slide along the length direction of the base 700.

In some embodiments, the mounting plate 600 may include a mounting portion 603 and two symmetrically disposed wings 602, wherein the two wings 602 are disposed at two ends of the mounting portion 603. Accordingly, the mounting plate 600 may be generally arcuate in configuration. In an embodiment, the mounting plate 600 may be perpendicular to the carrier plate 702.

The two wings 602 can be connected with the support frame 701 in a sliding fit manner. Specifically, two opposite side walls of the supporting frame 701 are respectively provided with a first sliding rail 807 and a guide rail 809, the first sliding rail 807 and the guide rail 809 are both arranged along the length direction of the base 700 in an extending manner, and the first sliding rail 807 and the guide rail 809 are respectively arranged on two sides of the bearing plate 702. A first sliding block 808 engaged with the first sliding rail 807 is fixedly connected to a wing 602 adjacent to the first sliding rail 807. A guide wheel 810 is connected to a wing 602 near the guide rail 809 through the adapter plate 601, and is matched with the guide rail 809. Therefore, when the fourth driving member 801 drives the mounting plate 600 to move, the mounting plate 600 can be guided on both sides, so that the mounting plate 600 is prevented from being inclined and deviated, and the mounting plate 600 can be ensured to slide smoothly relative to the supporting frame 701.

It will be appreciated that the jaws 100, the first drive mechanism 200, and the second drive mechanism 300 may be mounted to the mounting portion 603 of the mounting plate 600. In the non-operating state, the mounting plate 600 may be disposed near an end of the base 700 such that the clamping jaw 100 may be substantially located on the base 700, i.e., the clamping jaw 100 does not protrude relative to the carrier plate 702, and correspondingly, the fourth driving member 801 may be located at the end of the base 700.

Illustratively, during operation, the fourth driving member 801 may drive the mounting plate 600 to move in a forward direction and gradually protrude the second end 102 of the clamping jaw 100 relative to the base 700, so that the clamping jaw 100 extends into a shelf to grab goods. After the clamping jaw 100 grabs the goods, the fourth driving part 801 can reversely drive the mounting plate 600 to move, so that the clamping jaw 100 drives the grabbed goods to gradually move towards the base 700, the grabbed goods move onto the base 700, the base 700 can provide a supporting function for the grabbed goods, the goods are prevented from falling off, and the manipulator can convey the goods to a specific position.

As shown in fig. 3, the fourth driving mechanism 800 further includes a first sensing piece 811 and a first detecting member 812, which can limit the limit position when the fourth driving member 801 drives the mounting plate 600 to move reversely. In some embodiments, the first detecting element 812 can be a photoelectric switch, and the first detecting element 812 can be fixedly mounted on an end of the base 700 near the fourth driving element 801. The first sensing piece 811 may be fixedly mounted to the side of the mounting plate 600 remote from the clamping jaw 100. When the fourth driving element 801 drives the mounting board 600 to move backward to a proper position, the first sensing piece 811 can trigger the first detecting element 812 to generate a corresponding sensing signal, and can control the fourth driving element 801 to stop operating.

It will be appreciated that the robot may be configured with a corresponding controller that may be electrically connected to the various electronics in the robot to control the operation of the various electronics in the robot. Of course, each electronic device of the manipulator can also be directly electrically connected to the main controller of the warehousing robot and uniformly controlled by the main controller of the warehousing robot. In an embodiment, the fourth driving member 801 drives the clamping jaw 100 to extend into the shelf to grab the goods, and the moving stroke can be controlled by the controller.

As shown in fig. 2, 3, 6 and 7, the first driving mechanism 200 may include a second driving member 201 and a second transmission assembly. The second driving member 201 can be fixedly mounted on the mounting portion 603 near the fourth driving member 801. The second transmission assembly may include a gear 202 and two oppositely disposed racks 203. In some embodiments, the second driver 201 can be an electric motor.

The gear 202 can be fixedly connected to an output shaft of the second driving member 201, and the gear 202 is driven to rotate by the second driving member 201. The two racks 203 can be meshed with the gear 202 at the same time, and the two racks 203 are rotationally symmetrical about the axis of the gear 202. The rack 203 is disposed parallel to the mounting portion 603. As shown in fig. 6, for example, when the second driving member 201 drives the gear 202 to rotate clockwise, the gear 202 can drive the two racks 203 to move toward each other, even if the two racks 203 are close to each other. When the second driving member 201 drives the gear 202 to rotate counterclockwise, the gear 202 drives the two racks 203 to move away from each other, even if the two racks 203 are far away from each other.

The two clamping jaws 100 may be connected to the two racks 203 in a one-to-one correspondence, and specifically, the two clamping jaws 100 may be connected to the end portions of the two racks 203, which are far away from each other in a one-to-one correspondence. Thus, the two racks 203 can drive the two jaws 100 to approach or move away from each other.

The first driving mechanism 200 further includes a third slide rail 207 fixedly mounted on the mounting portion 603 near one side of the clamping jaws 100, the first ends 101 of the two clamping jaws 100 are both connected with a second slide block 206, and the two second slide blocks 206 are in sliding fit with the third slide rail 207, so as to support and guide the movement of the clamping jaws 100. Of course, in other embodiments, the third sliding rail 207 may also be provided in two segments, which are disposed corresponding to the two second sliding blocks 206 one by one. In an embodiment, the second sliding block 206 and the corresponding rack 203 may be connected by a connecting plate 208.

As shown in fig. 3, in some embodiments, the first driving mechanism 200 further includes a third detecting element 204 and a second sensing piece 205, which can be used to limit the extreme position when the two racks 203 are away from each other, i.e. limit the extreme position when the two jaws 100 are away from each other. Specifically, the second sensing piece 205 can be fixedly installed at one end of the installation portion 603 close to a wing 602, and correspondingly, the third detecting member 204 can be fixedly installed at the rack 203 close to the wing 602, and the third detecting member 204 is located at one end of the rack 203 close to the wing 602. When the second driving member 201 drives the two clamping jaws 100 to move to the extreme positions away from each other, the second sensing piece 205 triggers the third detecting member 204 to generate a corresponding sensing signal, so as to control the second driving member 201 to stop operating.

It will be appreciated that when the second drive member 201 drives the jaws 100 towards each other to grip a load, the jaws 100 may be reacted when the jaws 100 contact the load, such that the load on the second drive member 201 increases gradually. Accordingly, the current flowing through the second driving member 201 will gradually change, so that the controller can control the second driving member 201 to stop operation, thereby avoiding damaging the goods. Of course, in other embodiments, a corresponding pressure sensor may be disposed on a side surface of the two clamping jaws 100 close to each other, so as to detect the clamping force of the clamping jaws 100 on the goods, and the controller controls the action of the second driving element 201.

As shown in fig. 1, 2, 6 and 7, the second drive mechanism 300 may include a first drive member 301 and a third transmission assembly. The first driving member 301 may be fixedly mounted on a side of the mounting portion 603 away from the base 700, and specifically, the first driving member 301 may be located on a top of the mounting portion 603.

The third transmission assembly may include a movable plate 303 and two adapter frames 302. The movable plate 303 may be disposed parallel to the supporting plate 702, and the movable plate 303 may be a long plate structure, and correspondingly, the length extending direction of the movable plate 303 may be parallel to the extending direction of the mounting portion 603. The two adapters 302 are connected to two ends of the movable plate 303 in a one-to-one correspondence, and the two adapter frames 302 are connected to the two clamping jaws 100 in a one-to-one correspondence, specifically, the adapter frames 302 are connected to the first ends 101 of the clamping jaws 100.

As shown in fig. 6 and 7, a mounting bracket 309 may be fixedly connected to the middle portion of the movable plate 303, and the mounting bracket 309 may be connected to the output shaft of the first driving member 301. The first driver 301 may drive the mounting block 309 back and forth along a path parallel to the third direction 703. In an embodiment, the first driving member 301 may be one of an electric cylinder, an air cylinder, an electric push rod, and the like.

One side fixedly connected with third slider 310 of mounting bracket 309 near installation department 603, corresponding, one side fixedly mounted that installation department 603 is close to mounting bracket 309 has fourth slide rail 308 with third slider 310 complex to can lead the reciprocating motion of mounting bracket 309, also can avoid mounting bracket 309 to take place slope, the card and pause scheduling problem.

In the embodiment shown in fig. 6 and 7, the two adapter racks 302 may be symmetrically configured and mounted in the same manner.

The adapter rack 302 may include a first connection portion 3021 and a second connection portion 3022 fixedly connected, and a plane of the first connection portion 3021 intersects a plane of the second connection portion 3022. In some embodiments, the first connection portion 3021 and the second connection portion 3022 may be vertically disposed. The second connecting portions 3022 of the two sets of adapter frames 302 are located away from each other. When the two jaws 100 are parallel to each other, the first connecting portion 3021 of the two adapter frames 302 may be perpendicular to the mounting portion 603.

The connection point of the first connection portion 3021 and the second connection portion 3022 can be rotatably connected to a sliding plate 304 through a rotating shaft 311, wherein the rotating shaft 311 is perpendicular to the carrier plate 702. The sliding plate 304 is fixedly attached to the second slider 206 on the corresponding side.

In an embodiment, an end of the first connection portion 3021 remote from the second connection portion 3022 may be fixedly connected to the first end 101 of the corresponding jaw 100. An end of the second connecting portion 3022 away from the first connecting portion 3021 is fixedly connected with a connecting shaft 305, and the connecting shaft 305 may be parallel to the rotating shaft 311. In the moving direction of the movable plate 303, i.e. in the direction parallel to the fourth sliding rail 308, one end of the connecting shaft 305 away from the second connecting portion 3022 may be connected to the movable plate 303 in a limiting manner. Correspondingly, the movable plate 303 is provided with a guide groove 3031 cooperatively connected with the connecting shaft 305, and an extending direction of the guide groove 3031 may be parallel to an extending direction of the third slide rail 207. One end of the connecting shaft 305 near the movable plate 303 is rotatably mounted with a bearing 307, and the bearing 307 can be located in the guiding groove 3031. When the first driving mechanism 200 drives the two clamping jaws 100 to move closer to or away from each other, the bearing 307 can be driven to move along the guide groove 3031 where the bearing is located, so as to reduce the resistance between the connecting shaft 305 and the guide groove 3031, and the two clamping jaws 100 can smoothly clamp or release the goods.

The width of the guide groove 3031 may be equal to the outer diameter of the bearing 307 in a direction parallel to the third direction 703. When the first driving member 301 drives the movable plate 303 to move toward the direction close to the second end 102 of the clamping jaw 100, the two connecting shafts 305 are driven to move synchronously. Meanwhile, due to the structural limitation of the second slider 206 and the third slide rail 207, the adapter frame 302 can be driven to rotate relative to the slide plate 304 connected thereto. In the embodiment, the rotation directions of the two adapter frames 302 are opposite, and in particular, the ends of the two first connecting portions 3021 far away from the second connecting portion 3022 approach each other, so as to drive the second ends 102 of the two jaws 100 to approach each other, thereby providing a stable and reliable clamping force for the cargo far away from the end of the first driving mechanism 200. When the first driving member 301 drives the movable plate 303 to move in the opposite direction, the two clamping jaws 100 are driven to be reset to be parallel to each other.

In some embodiments, an end of the second connecting portion 3022 remote from the first connecting portion 3021 is further connected with an elastic restoring member 306, and an end of the elastic restoring member 306 remote from the second connecting portion 3022 can be fixedly connected to an end of the sliding plate 304 remote from the first connecting portion 3021. When the second ends 102 of the two jaws 100 are close to each other, i.e., the two jaws 100 are in a non-parallel state, the elastic restoring member 306 may be in a stretching state, so that when the two jaws 100 are restored to be parallel to each other, the elastic restoring member 306 may provide an auxiliary force for restoring the jaws 100, thereby restoring the jaws 100. When the jaws 100 are parallel to each other, the elastic return member 306 may be in a natural elongation or tension state.

In an embodiment, the elastic restoring member 306 may be one of a tension spring, a spring, an elastic cord, and the like.

As shown in fig. 4 and 5, the robot further includes a push rod 400 and a third driving mechanism 500, wherein the push rod 400 is parallel to the clamping jaw 100, and the push rod 400 is disposed near the first end 101 of the clamping jaw 100. The third driving mechanism 500 is drivingly connected to an end of the push rod 400 remote from the second end 102 to drive the push rod 400 to reciprocate along a path parallel to the third direction 703. In an embodiment, the push rod 400 may be located between the two jaws 100, and the two jaws 100 are symmetrical about the push rod 400.

When the manipulator needs to clamp multiple containers of goods, the third driving mechanism 500 can drive the pushing rod 400 to move toward the second end 102, so that the pushing rod 400 is pushed against the goods near the first end 101, and the pushing rod 400 pushes the goods to move toward the second end 102, so that the containers of goods are attached to each other, and the friction between adjacent goods is increased. Meanwhile, under the cooperation of the second driving mechanism 300, the probability of falling of the goods can be reduced, and the loss of the goods is reduced.

It can be understood that, after the third driving mechanism 500 drives the push rod 400 to push the boxes of goods to abut against each other, the larger reverse acting force of the push rod 400 is reacted and further acts on the third driving mechanism 500, so that the load of the third driving mechanism 500 is increased, and accordingly, the current flowing through the third driving mechanism 500 is correspondingly changed, and the controller controls the third driving mechanism 500 to stop operating. Of course, a corresponding pressure sensor may be disposed at an end of the push rod 400 near the second end 102 of the clamping jaw 100 to detect whether the push rod 400 pushes the goods in place, so that the controller controls the third driving mechanism 500 to stop.

In some embodiments, the third drive mechanism 500 may include a third driver 501 and a fourth transmission assembly. The fourth transmission assembly is connected between the output shaft of the third driving member 501 and the push rod 400.

The third driving member 501 may be a motor. The fourth drive assembly may include a third drive wheel 506, a fourth drive wheel 507, and a second drive belt 502, wherein the second drive belt 502 is parallel to the third direction 703. The fourth transmission wheel 507 can be fixedly connected to the output shaft of the third driving member 501. The third driving member 501 can be fixedly installed at one end of the supporting frame 701 close to the fourth driving member 801. The third transmission wheel 506 is rotatably mounted on an end of the supporting frame 701 away from the third driving member 501, and the second transmission belt 502 is drivingly connected between the third transmission wheel 506 and the fourth transmission wheel 507.

The end of the push rod 400 remote from the second end 102 may be fixedly attached to a second drive belt 502 by a connecting tab 503. In some embodiments, the connecting piece 503 may be L-shaped, and includes a horizontal section and a vertical section connected to each other, the horizontal section may be disposed parallel to the carrier plate 702, and the horizontal section may be fixedly connected to the second driving belt 502. The vertical section can penetrate through the bearing plate 702 from the inside of the supporting frame 701 and extend to one side of the bearing plate 702 away from the supporting frame 701, and correspondingly, the push rod 400 can be connected to one end of the vertical section away from the horizontal section, and the push rod 400 is located at one side of the bearing plate 702 away from the supporting frame 701. The bearing plate 702 is provided with a through groove for the vertical section of the connecting piece 503 to pass through, and the through groove can penetrate through the bearing plate 702 along the length direction of the base 700, so that the connecting piece 503 can smoothly drive the push rod 400 to move.

In some embodiments, the third driving mechanism 500 further includes a second slide rail 504 and a slider (not shown) fixedly connected to the horizontal section of the connecting piece 503, and the slider is connected to the second slide rail 504 in a sliding fit manner, so as to guide the movement of the connecting piece 503 and the push rod 400. The second slide rail 504 can be fixedly disposed in the supporting frame 701, and the second slide rail 504 is parallel to the second driving belt 502.

Further, the third driving mechanism 500 further includes a second detecting member 505, and the second detecting member 505 is fixedly mounted on an end of the supporting frame 701 close to the third driving member 501. The end of the horizontal segment of the connecting piece 503 remote from the vertical segment may act as a sensing piece cooperating with the second detecting member 505. The second detecting member 505 may cooperate with the connecting piece 503 to limit the limit position of the push rod 400 when moving away from the second end 102. In the process that the third driving member 501 drives the push rod 400 to move away from the second end 102 for resetting, when the connecting piece 503 triggers the second detecting member 505, the second detecting member 505 can generate a corresponding sensing signal, so that the controller controls the third driving member 501 to stop operating. In some embodiments, the second sensing member 505 can be a photosensor.

Further, as shown in fig. 6 and 7, the manipulator further includes a camera 1200, which can take pictures of the goods grabbed by the manipulator for tracing the goods in/out record in the following. The camera 1200 may be fixedly mounted to an end of the mounting bracket 309 proximate the clamping jaw 100.

As shown in fig. 4, the robot may also incorporate a laser rangefinder 1300, which may be used to measure the inventory of goods on the shelves. It will be appreciated that the items on the corresponding warehouse shelves may be ordered so that the laser ranging 1300 determines the inventory on the shelves based on the distance measured from the items on the shelves. Furthermore, the controller can control the action of the fourth driving member 801 to control the stroke of the clamping jaw 100 entering the shelf.

As shown in fig. 8 and 9, in some embodiments, the robot further includes a fifth drive mechanism 900, a sixth drive mechanism 1000, and a seventh drive mechanism 1100.

The fifth driving mechanism 900 may include two fifth sliding rails 901 disposed opposite to each other and two fourth sliding blocks 902 connected to the two fifth sliding rails 901 in a sliding fit manner. The sixth driving mechanism 1000 may be installed between the two fourth sliders 902, so that the two fourth sliders 902 drive the sixth driving mechanism 1000 to move along the fifth sliding rail 901. It can be understood that the fifth driving mechanism 900 further includes a fifth driving member (not shown), and the fifth driving member can be in transmission connection with one of the fourth sliding blocks 902, so that the fourth sliding block 902 can be driven by the fifth driving member to move along the fifth sliding rail 901, and further, the sixth driving mechanism 1000 is driven to move. In some embodiments, the fifth driving member can be one of a pneumatic cylinder, an electric push rod, and the like.

In an embodiment, the fifth sliding rail 901 may be disposed parallel to the first direction 903. In normal use, the first direction 903 may be parallel to a horizontal plane.

The sixth driving mechanism 1000 may include a sixth sliding rail 1001 and a fifth sliding block 1002, wherein two ends of the sixth sliding rail 1001 may be respectively and fixedly connected to the two fourth sliding blocks 902. The sixth slide rail 1001 may be parallel to the second direction 1003. In some embodiments, the second direction 1003 is perpendicular to the first direction 903, and the second direction 1003 may be perpendicular to the plane of the two clamping jaws 100, i.e. the second direction 1003 is perpendicular to the carrier plate 702.

It is understood that the sixth driving mechanism 1000 may further include a sixth driving element in driving connection with the fifth sliding block 1002, and the sixth driving element may be configured to drive the fifth sliding block 1002 to move along the sixth sliding rail 1001. In some embodiments, the sixth driving member can be one of an electric cylinder, an air cylinder, an electric push rod, and the like.

The seventh driving mechanism 1100 may be mounted on the fifth slider 1002 to drive the seventh driving mechanism 1100 to slide along the sixth sliding rail 1001.

As shown in fig. 9, the seventh driving mechanism 1100 may include a seventh driving member 1101, a carrier 1102 and a rotating base 1103. One end of the bearing frame 1102 can be fixedly connected to the fifth slider 1002, and the seventh driving member 1101 can be fixedly mounted on one end of the bearing frame 1102 far away from the fifth slider 1002. In some embodiments, the seventh driver 1101 may be mounted at the bottom of the carrier 1102, and the rotating base 1103 may be rotatably mounted at a side of the carrier 1102 away from the seventh driver 1101, i.e. the rotating base 1103 may be mounted at the top of the carrier 1102. The rotary base 1103 is connected to an output shaft of the seventh driving member 1101, so that the seventh driving member 1101 rotates the rotary base 1103. In some embodiments, the seventh drive 1101 may be a rotating motor.

In an embodiment, one side of the supporting frame 701, which is away from the bearing plate 702, may be fixedly installed on the rotating base 1103, so that the rotating base 1103 drives the supporting frame 701 to rotate, i.e., the base 700 is driven to rotate, and the clamping jaw 100 is driven to rotate. In some embodiments, the axis of rotation of the rotating base 1103 may be parallel to the second direction 1003.

In summary, the embodiments provide the robot, and the seven-axis movement of the clamping jaw 100 can be realized by the first driving mechanism 200 to the seventh driving mechanism 1100. Meanwhile, the arrangement of the second driving mechanism 300, the third driving mechanism 500 and the push rod 400 can provide stable and reliable clamping acting force for the goods, reduce the problem of goods falling, and reduce the loss of the goods.

In an embodiment, a warehousing robot is also provided and can comprise the manipulator provided in the embodiment. In some embodiments, the warehousing robot may be used for the stocking and shipment of goods in the warehouse.

In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.

Claims (10)

1. A manipulator, characterized by comprising:

the clamping jaw is provided with two opposite clamping jaws, and the clamping jaws comprise first ends and second ends;

the first driving mechanism is in transmission connection with the first ends of the two clamping jaws so as to drive the two clamping jaws to approach or depart from each other; and

and the second driving mechanism is in transmission connection with the first ends of the two clamping jaws and is used for driving the two clamping jaws to swing so as to enable the second ends of the two clamping jaws to be close to or far away from each other.

2. The robot hand of claim 1, wherein the second drive mechanism comprises:

a first driving member; and

two switching frames, with two the clamping jaw first end one-to-one is connected, two the switching frame is kept away from the one end transmission of clamping jaw is connected to first driving piece, first driving piece is used for driving two the switching frame rotates, in order to drive two the synchronous swing of clamping jaw, two the swing opposite direction of clamping jaw.

3. The robot hand of claim 2, wherein the second driving mechanism further comprises a movable plate and two sliding plates slidably connected to the first driving mechanism;

the movable plate is connected with the first driving part, the first driving part drives the movable plate to be close to or far away from the second end, and two ends of the movable plate are correspondingly connected with the two adapter racks one by one;

the two sliding plates are correspondingly connected with the two switching frames one by one, each switching frame comprises a first connecting part and a second connecting part which are intersected, and the connecting part of the first connecting part and the second connecting part is rotatably connected with the sliding plate connected with the first connecting part and the second connecting part;

the first connecting portion is connected with the clamping jaw, a connecting shaft is arranged at one end, far away from the first connecting portion, of the second connecting portion, the connecting shaft is connected with the movable plate in a sliding mode, the sliding direction of the connecting shaft is parallel to the sliding direction of the sliding plate, and the movable plate is connected with the connecting shaft in a limiting mode in the moving direction of the movable plate.

4. The manipulator according to claim 3, wherein an end of the second connecting portion remote from the first connecting portion is connected with an elastic restoring member, and an end of the elastic restoring member remote from the second connecting portion is connected with the sliding plate;

when the two clamping jaws are parallel to each other, the elastic resetting piece is in a stretching state or a natural stretching state.

5. The manipulator according to claim 3, wherein the movable plate has two guide slots, the two connecting shafts of the two adapter frames are slidably connected to the two guide slots in a one-to-one correspondence, and the guide slots are parallel to a sliding direction of the sliding plate.

6. The manipulator according to claim 1, wherein the first driving mechanism includes a second driving member, a gear and two oppositely arranged racks, the gear is fixedly connected to an output shaft of the second driving member, the gear is simultaneously engaged with the two racks, and the two racks are in one-to-one corresponding transmission connection with the two clamping jaws;

the second driving piece is used for driving the two racks to move towards or away from each other so as to enable the two clamping jaws to approach or depart from each other.

7. The robot hand of claim 1, further comprising a pusher and a third drive mechanism;

the push rod is arranged between the two clamping jaws and is parallel to the clamping jaws;

the third driving mechanism is in transmission connection with the push rod so as to drive the push rod to be close to or far away from the second end of the clamping jaw.

8. The manipulator according to claim 1, further comprising a mounting plate, a base, and a fourth driving mechanism, wherein the two clamping jaws, the first driving mechanism, and the second driving mechanism are mounted on the mounting plate, the mounting plate is slidably mounted on the base, and the fourth driving mechanism is drivingly connected to the mounting plate to drive the mounting plate to slide relative to the base.

9. The robot of claim 1, further comprising a fifth drive mechanism, a sixth drive mechanism, and a seventh drive mechanism;

the fifth driving mechanism is in transmission connection with the two clamping jaws so as to drive the two clamping jaws to synchronously move along a path parallel to the first direction;

the sixth driving mechanism is in transmission connection with the two clamping jaws so as to drive the two clamping jaws to synchronously move along a path parallel to a second direction, and the second direction is vertical to the plane of the two clamping jaws;

the seventh driving mechanism is in transmission connection with the two clamping jaws to drive the two clamping jaws to synchronously rotate around a rotation axis, and the rotation axis is parallel to the second direction.

10. A warehousing robot characterized by comprising the manipulator of any one of claims 1 to 9.

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