CN216422585U - Multi-joint finger and fork device, goods taking robot and logistics system - Google Patents

Abstract

The application provides a many joints point, fork device, get goods robot and logistics system, many joints point and include fixing base, joint subassembly and drive assembly, and joint unit mount is on the fixing base, and drive assembly is used for driving joint subassembly and draws in or expand, and the joint subassembly includes first joint and second joint, first joint with the second joint rotates to be connected, and drive assembly includes drive unit and drive mechanism, and drive unit's output and first articulated connection, drive mechanism's first end set up on the fixing base, and drive mechanism's second end sets up on the second joint, and when drive unit drive first joint rotated, drive mechanism drove the second joint and rotates for first joint. The utility model provides a space that multijoint finger occupy is less, can improve logistics system's storage density.

Description

Multi-joint finger and fork device, goods taking robot and logistics system

Technical Field

The utility model relates to a storage logistics technical field, in particular to many joints finger, fork device, get goods robot and logistics system.

Background

With the development of artificial intelligence and automation technology, the goods taking robot is widely applied in the field of warehouse logistics and is used for transporting goods. In the logistics system, goods are usually stored on shelves, and a goods picking robot picks and places the goods by butting against the shelves, and completes a goods transportation task.

At present, get and be provided with the fork of putting the goods on the goods robot usually, the fork can stretch into corresponding goods storehouse position of placing from the both sides of goods, is provided with at the end of fork both sides and can be for fork pivoted finger, and at the in-process of getting goods, the finger can shift out corresponding storehouse position with goods tip butt and drive goods to the completion is got the goods operation.

However, in the prior art, the goods taking width of the fork is relatively fixed, in order to meet the goods taking requirements of goods with different sizes, the fingers need to have enough length, and longer fingers occupy larger space in a furled state, so that the interlayer spacing of the goods shelf is increased, and the storage density is reduced.

SUMMERY OF THE UTILITY MODEL

The utility model provides a many joints finger, fork device, get goods robot and logistics system can reduce the occupation space of finger, is favorable to improving storage density.

In a first aspect, the application provides a multi-joint finger, the multi-joint finger includes a fixing base, a joint component and a driving component, the joint component is installed on the fixing base, and the driving component is used for driving the joint component to fold or unfold.

The joint assembly comprises a first joint and a second joint, and the first joint and the second joint are rotationally connected; drive assembly includes drive unit and drive mechanism, drive unit's output and first joint connection, drive mechanism's first end sets up on the fixing base, drive mechanism's second end sets up on the second joint, when drive unit drives first joint and rotates, drive mechanism drives the second joint in step and rotates for first joint, thereby when the multi-joint finger draws in, length is shorter, occupation space is little, make and get goods robot and can stretch into the less goods shelves of interlamellar spacing and get goods, provide storehouse storage density, and getting goods robot and getting the goods in-process, the multi-joint finger can expand, the length is elongated, can adapt to the goods demand of getting of not unidimensional goods.

As an optional implementation manner, the first end of the first joint is rotatably connected with the fixing seat, the second joint is rotatably connected with the second end of the first joint, when the joint assembly is folded, the second joint is overlapped with the first joint, and when the joint assembly is unfolded, the second joint extends in a direction away from the first joint.

As an optional implementation manner, the driving assembly may further include a coupler and a transmission shaft, the driving unit, the coupler and the transmission shaft are coaxially disposed, the driving unit is a motor, a first end of the coupler is connected to an output shaft of the motor, a second end of the coupler is connected to the transmission shaft, and the transmission shaft is connected to the first end of the first joint, so that the motor drives the first joint to rotate relative to the fixing base.

As an alternative embodiment, the transmission mechanism may include a first pulley, a second pulley, and an annular transmission belt, the first pulley is fixedly connected with the fixed seat, and the first pulley is coaxially disposed with the rotation shaft of the first joint; the second belt wheel is fixedly connected with the second joint, and the second belt wheel and a rotating shaft of the second joint are coaxially arranged; the transmission belt is sleeved between the first belt wheel and the second belt wheel and is in a tensioning state, so that when the first joint rotates, the second joint is driven to rotate relative to the first joint through tension generated by the transmission belt.

As an optional implementation manner, annular closed grooves extending along the circumferential direction are formed in the outer walls of the first belt wheel and the second belt wheel, and the portions, sleeved with the first belt wheel and the second belt wheel, of the transmission belt are located in the grooves respectively, so that the reliability of the installation of the transmission belt on the first belt wheel and the second belt wheel is improved.

As an alternative embodiment, at least part of the extension section of one side of the transmission belt sleeved with the first belt wheel is always kept in abutting connection with the first belt wheel; at least part of the extension section on one side of the transmission belt sleeved with the second belt wheel always keeps fixedly abutted with the second belt wheel, so that stable tension can be generated in the transmission process.

As an alternative, the transmission belt may be a circular belt, and the transmission mechanism may further include a first pressing mechanism, the first pressing mechanism is disposed opposite to the first pulley, and the first pressing mechanism is configured to press the transmission belt and the first pulley to prevent the transmission belt and the first pulley from sliding relatively.

As an alternative embodiment, the transmission mechanism may further include a second pressing mechanism, the second pressing mechanism is disposed opposite to the second pulley, and the second pressing mechanism is configured to press the transmission belt and the second pulley to prevent the transmission belt and the second pulley from sliding relatively.

As an alternative embodiment, the first pressing mechanism may include a first pressing plate and at least one first fastening member, the first pressing plate abuts against the transmission belt, the first fastening member fixes the first pressing plate and the first pulley and applies a pressure to the first pressing plate toward the transmission belt, so that the transmission belt and the first pulley are conveniently mounted and pressed, and the magnitude of the pressing force can be adjusted to improve reliability.

As an alternative embodiment, the second pressing mechanism may include a second pressing plate abutting against the transmission belt and at least one second fastening member fixing the second pressing plate to the second pulley and applying a pressing force to the second pressing plate toward the transmission belt, thereby facilitating the mounting and pressing of the transmission belt to the first pulley.

As an alternative embodiment, the diameter of the first pulley may be larger than that of the second pulley, or the diameter of the first pulley may be equal to that of the second pulley, or the diameter of the first pulley may be smaller than that of the second pulley, and when the first joint and the second joint rotate, different rotation angles may be provided to adjust the multi-joint finger unfolding direction and the unfolding posture.

As an alternative embodiment, when the joint component is in the folded state, the second joint is arranged on the side of the first joint in parallel; when the joint assembly is in the unfolding state, the second joint and the first joint are located on the same extension line, so that the length of the multi-joint finger in the folding state is only equal to that of the first joint, the occupied space is small, and the length of the multi-joint finger in the unfolding state can reach the sum of the lengths of the first joint and the second joint, so that the goods taking range is large.

As an optional implementation manner, the first joint may be provided with a first limiting portion, the first limiting portion is located on a side wall of the first joint, and when the joint assembly is in the folded state, the side wall of the first joint abuts against the first limiting portion.

Wherein, first spacing portion can include the arbitrary one in breach, opening, butt face, the wedge surface of seting up on the first joint lateral wall, and the breach has first spacing face, and when the joint subassembly was in the folded state, the breach was used for holding the second joint, and the lateral wall and the first spacing face butt of second joint to avoid the excessive rotation of second joint.

As an optional implementation manner, the first joint may be provided with a second limiting portion, the second limiting portion is located at the second end of the first joint, and when the joint assembly is in the unfolded state, the end of the second joint abuts against the second limiting portion.

Wherein, the spacing portion of second can be including setting up in the protruding, the activity fastener of backstop of the second end of second joint any one, and the backstop is protruding to have the spacing face of second, and when the joint subassembly was in the expansion state, the tip and the spacing face butt of second joint to avoid the excessive expansion of second joint.

In a second aspect, the present application provides a pallet fork arrangement comprising a pallet fork body and the multi-jointed finger of the first aspect mounted on the pallet fork body.

The third aspect, the application provides a get goods robot, fork device in robot main part and the above-mentioned second aspect, the fork device can be followed the direction of height of robot main part and removed, is provided with the telescopic manipulator on the fork device, and the end of manipulator is provided with at least one foretell many joints finger, and when the manipulator was got goods operation, many joints finger expanded and with the tip butt of goods to many joints finger can drive the goods and remove when the manipulator retracts.

As an optional implementation manner, the manipulator may include two telescopic arm groups, each telescopic arm group may include a fixed arm and a telescopic arm, the two telescopic arm groups are respectively disposed on two opposite sides of the fork device to form a goods taking space between the two telescopic arm groups, and the end of the telescopic arm of each telescopic arm group is provided with a multi-joint finger.

When the multi-joint fingers are folded, the multi-joint fingers extend along the vertical direction, so that the interference between the multi-joint fingers and goods is avoided in the extension process of the telescopic arm; when the multi-joint fingers are unfolded, the multi-joint fingers extend towards the interior of the goods taking space so as to block the end part of the goods to be taken.

In a fourth aspect, the present application provides a logistics system, which includes a goods shelf and the goods taking robot in the second aspect, wherein the goods shelf is used for storing goods, and the goods taking robot can be butted with the goods shelf and take and place the goods.

In addition to the technical problems, technical features constituting technical solutions, and advantages brought by the technical features of the technical solutions described above, other technical problems, technical features included in technical solutions, and advantages brought by the technical features that can be solved by the multi-joint finger, the fork device, the pick-up robot, and the logistics system provided by the present application will be described in further detail in specific embodiments.

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 for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

Fig. 1 is a schematic structural view of a multi-joint finger in a closed state according to an embodiment of the present disclosure;

FIG. 2 is a schematic structural diagram of a multi-joint finger in an expanded state according to an embodiment of the present disclosure;

FIG. 3 is a side view of a multi-jointed finger provided by an embodiment of the present application;

FIG. 4 is a side view of another perspective of a multi-joint finger provided by an embodiment of the present application;

FIG. 5 is a partial view of a first pulley position in a multi-jointed finger as provided by an embodiment of the present application;

FIG. 6 is a partial view of a second pulley position in a multi-jointed finger provided by an embodiment of the present application;

FIG. 7 is a partial view of a second joint position in a multi-joint finger deployed state as provided by an embodiment of the present application;

FIG. 8 is a schematic diagram of a fork arrangement according to an embodiment of the present disclosure;

fig. 9 is a schematic structural diagram of a pickup robot according to an embodiment of the present disclosure.

Description of reference numerals:

100-multijointed fingers; 110-a fixed seat; 120-a joint component; 121-first joint; 1211-a first stop; 1212-a second stop portion; 122-a second joint; 130-a drive unit; 131-a coupler; 132-a drive shaft; 140-a transmission mechanism; 141-a first pulley; 142-a second pulley; 143-driving belt; 144-a first hold-down mechanism; 1441 — first platen; 1442 — first fastener; 145-a second hold-down mechanism; 1451-a second platen; 1452-a second fastener;

200-a goods-taking robot; 210-a robot body; 220-a pallet fork arrangement; 221-robot arm.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

First, it should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present application, and are not intended to limit the scope of the present application. And can be adjusted as needed by those skilled in the art to suit particular applications.

Next, it should be noted that in the description of the present application, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "front", "rear", "inner", "outer", etc. are based on the direction or positional relationship shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the device or member must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present application.

Furthermore, it should be noted that, in the description of the present application, unless otherwise explicitly specified or limited, the terms "connected" and "connected" should be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; there may be communication between the interiors of the two members. The specific meaning of the above terms in the present application can be understood by those skilled in the art as the case may be.

In the description herein, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like 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 present disclosure. In this specification, the schematic representations of the terms used above do not necessarily 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.

In logistics systems with higher and higher automation degree, goods are usually stored on a goods shelf, so that goods are conveyed by a goods taking robot, the goods taking robot can move along a preset route, and goods taking and placing tasks are completed by butt joint of the goods shelf, a conveying line and other equipment. Get and be provided with the fork of getting and put the goods on the goods robot usually, the goods space of getting of the holding goods that the width is fixed has in the middle of the fork, get the goods robot and get when putting the goods operation, the fork can stretch out to the storehouse position of placing the goods, the end in fork both sides is provided with can be for fork pivoted finger, after the fork stretches into in the storehouse position, the finger can deflect toward the intermediate position of getting the goods space of fork, with keeping off the tip of establishing at the goods, when the fork withdrawal, the finger moves out corresponding storehouse position with goods tip butt and drive goods, thereby accomplish and get the goods operation.

In the prior art, the goods taking width of the fork is relatively fixed, and the goods taking robot needs to take and place goods of different sizes according to different specific application scenes, so that the width of the fork needs to be larger than the maximum width of the goods taken and placed by the fork, and meanwhile, after the fingers are opened, the gap between the fork and the fingers needs to be smaller than the minimum width of the goods. And in order to satisfy the goods demand of getting of the goods of different size sizes, the finger needs have sufficient length, and longer finger can occupy great space when the folded state, simultaneously, in order to avoid getting the finger of goods process folded state and producing the interference with the goods shelves, need increase the interlamellar spacing of goods shelves, can reduce storage density from this.

To above-mentioned problem, this application embodiment provides a many joints finger, fork device, gets goods robot and logistics system, when satisfying the application scene that gets goods robot to the goods of not unidimensional, is favorable to improving storage density.

The embodiment provides a multi-joint finger, which is applied to a goods taking robot, and in the operation process of the goods taking robot, the multi-joint finger is matched with a mechanical arm on the goods taking robot to complete the goods taking operation, wherein the multi-joint finger is installed on the mechanical arm as a terminal joint, and in the goods taking process, the multi-joint finger can rotate relative to the mechanical arm.

First, it should be noted that, in the present application, the multi-joint finger has a plurality of joints, different joints can rotate relatively, a state in which the plurality of joints are folded relatively is defined as a folded state of the multi-joint finger, at this time, the length of the multi-joint finger is short and close to the length of a single joint, and a state in which the plurality of joints are opened relatively is defined as an unfolded state of the multi-joint finger, at this time, the length of the multi-joint finger is long and close to the sum of the lengths of the plurality of joints.

In addition, in the present application, the picking robot may be applied to logistics distribution of an industrial production line, warehousing and ex-warehouse of stock products in the manufacturing industry, warehousing and ex-warehouse of products in the retail industry, and may also be applied to different fields such as warehousing and ex-warehouse of e-commerce logistics, and products or goods related to transportation may be industrial parts, electronic accessories or products, medicines, clothing ornaments, foods, books, and the like.

Fig. 1 is a schematic structural view of a folded state of a multi-joint finger provided in an embodiment of the present application, fig. 2 is a schematic structural view of an unfolded state of a multi-joint finger provided in an embodiment of the present application, and fig. 3 is a side view of a multi-joint finger provided in an embodiment of the present application.

As shown in fig. 1 to 3, the multi-joint finger 100 provided in this embodiment includes a fixing base 110, a joint component 120, and a driving component, wherein the joint component 120 is mounted on the fixing base 110, the fixing base 110 can be mounted on a mechanical arm of the goods-taking robot, and the driving component is used for driving the joint component 120 to fold or unfold relative to the fixing base 110.

The joint assembly 120 includes a first joint 121 and a second joint 122, a first end of the first joint 121 is rotatably connected to the fixing base 110, the second joint 122 is rotatably connected to a second end of the first joint 121, and the length of the multi-joint finger 100 in the folded state and the unfolded state is changed by the relative rotation of the first joint 121 and the second joint 122.

The driving assembly includes a driving unit 130 and a transmission mechanism 140, an output end of the driving unit 130 is connected to a first end of the first joint 121, a first end of the transmission mechanism 140 is disposed on the fixing base 110, a second end of the transmission mechanism 140 is disposed on the second joint 122, and when the driving unit 130 drives the first joint 121 to rotate, the transmission mechanism 140 drives the second joint 122 to rotate relative to the first joint 121.

It should be noted that, when the goods taking robot performs the goods taking operation and the mechanical arm extends into the storage position of the goods shelf, the multi-joint finger 100 is in the folded state, and at this time, the multi-joint finger 100 is vertically arranged relative to the mechanical arm, and the occupied vertical space is small, so that in an actual application scene, the goods shelf can have a small interlayer distance to improve the storage density, and the multi-joint finger 100 does not interfere with the goods shelf; when the mechanical arm starts to pick goods, the joint assembly 120 of the multi-joint finger 100 rotates and expands relative to the mechanical arm, the multi-joint finger 100 in the expanded state is blocked at the end of the goods, and the length of the multi-joint finger 100 in the expanded state is long, so that the picking requirements of large-size goods and small-size goods can be met in different application scenes.

Furthermore, in the present embodiment, when the joint assembly 120 of the multi-joint finger 100 is unfolded, the rotation of the first joint 121 and the rotation of the second joint 122 are performed in synchronization, and the drive unit 130 serves as a drive source, while the rotation of the first joint 121 and the second joint 122 can be realized, i.e., the rotation of both joints can be realized by a single drive source, thereby making the overall structure of the multi-joint finger 100 more compact.

First, the mounting structure between the driving unit and the fixing base 110 and the specific driving manner of the driving unit to the first joint 121 will be described in detail.

Referring to fig. 1 to fig. 3, the main body of the driving unit 130 may be relatively fixed to the fixing base 110, the output end of the driving unit 130 may rotate relative to the fixing base 110, the output end of the driving unit 130 is directly or indirectly connected to the first end of the first joint 121, and when the driving unit 130 works, the output end of the driving unit may drive the first joint 121 to rotate.

In some embodiments, the multi-joint finger 100 may further include a rotating member, the rotating member may include an inner ring and an outer ring that are relatively rotatable, the outer ring is relatively fixed to the fixing base 110, the inner ring is relatively fixed to the first end of the first joint 121, that is, the output end of the driving unit 130, the inner ring of the rotating member, and the rotating shaft of the first end of the first joint 121 are coaxially disposed and relatively fixed, and the inner ring of the rotating member may support the output end of the driving unit 130 and the first joint 121, so that the first joint 121 may smoothly rotate with respect to the fixing base 110.

Optionally, the rotating member may be a bearing, the bearing is detachably mounted on the fixing base 110, the output end of the driving unit 130 and the bearing may be coaxially disposed, specifically, the bearing may be a deep groove ball bearing, and the application does not specifically limit the specific size and model of the bearing.

It should be noted that, an installation groove or an installation hole may be provided on the fixing base 110 to install the rotating member; or, the rotating member may be installed on a bearing seat, and the bearing seat is detachably connected to the fixing seat 110 by a threaded fastener such as a bolt, so that convenience in assembly is improved, and maintenance and replacement of parts are facilitated.

In some embodiments, the driving assembly may further include a coupler 131 and a transmission shaft 132, the driving unit 130, the coupler 131 and the transmission shaft 132 are coaxially disposed, the driving unit 130 drives the coupler 131 to rotate, the coupler 131 drives the transmission shaft 132 to rotate, the first end of the first joint 121 may be mounted on the transmission shaft 132, and the transmission shaft 132 drives the first joint 121 to rotate.

Optionally, the driving unit 130 may be a motor, a first end of the coupling 131 is connected to an output shaft of the motor, a second end of the coupling 131 is connected to the transmission shaft 132, and the transmission shaft 132 abuts against an inner wall of the inner ring and is relatively fixed, so that the motor can drive the first joint 121 to rotate relative to the fixing base 110.

In this embodiment, the main body of the driving unit 130 needs to be relatively fixed to the fixing base 110 to ensure the stability of the joint assembly 120 in the process of unfolding and folding movements relative to the fixing base 110, for example, a motor, the main body of which can be directly and detachably mounted on one side of the fixing base 110, for example, by bolts and screws; alternatively, when the multi-joint finger 100 is assembled to the pick-up robot, the motor and the fixing base 110 are simultaneously fixed to the robot arm of the pick-up robot, and the robot arm of the pick-up robot provides an installation reference.

When the first joint 121 rotates, the first joint 121 will also drive the second joint 122 to move relative to the fixing base 110, and at the same time, the state of the transmission mechanism 140 will be changed, so that the transmission mechanism 140 drives the second joint 122 to rotate relative to the first joint 121, and the specific structure of the transmission mechanism 140 will be described in detail below.

As an alternative embodiment, the transmission mechanism 140 may include a first pulley 141, a second pulley 142, and an annular transmission belt 143, the first pulley 141 is fixedly connected to the fixing base 110, the first pulley 141 is coaxially disposed with the rotation axis of the first joint 121, the second pulley 142 is fixedly connected to the second joint 122, the second pulley 142 is coaxially disposed with the rotation axis of the second joint 122, the transmission belt 143 is sleeved between the first pulley 141 and the second pulley 142, and the transmission belt 143 is in a tensioned state, so that when the first joint 121 rotates, the tension generated by the transmission belt 143 drives the second joint 122 to rotate relative to the first joint 121.

The transmission mechanism 140 does not have a power source to directly drive, the driving unit 130 only directly drives the first joint 121 to rotate, and the first pulley 141 and the fixing base 110 are relatively fixed, that is, the first pulley 141 does not rotate with the first joint 121 during the rotation of the first joint 121.

Because the rotation axis of the first joint 121 is located at the first end thereof, the second end of the first joint 121 moves around the rotation center thereof, and the second joint 122 is fixed with the second end of the first joint 121, during the rotation of the first joint 121, the second joint 122 revolves around the rotation axis of the first joint 121 along with the second end of the first joint 121, the corresponding second pulley 142 installed at the connection position of the second joint 122 and the first joint 121 also revolves around the rotation axis of the first joint 121, the first pulley 141 and the rotation axis of the first joint 121 are coaxially arranged, and the second pulley 142 also revolves around the first pulley 141.

Next, since the first pulley 141 is kept relatively stationary and the transmission belt 143 is tightened between the first pulley 141 and the second pulley 142, when the second pulley 142 revolves around the first pulley 141, the tightening force of the transmission belt 143 tends to change, specifically, the tightening force of the transmission belt 143 on the side of the revolution direction of the second pulley 142 tends to decrease and the tightening force of the transmission belt 143 on the side away from the revolution direction of the second pulley 142 tends to increase, and the transmission belt 143 pulls the second pulley 142 to rotate under the tightening force to maintain the tightening force stable, and the rotation center of the second pulley 142 is the rotation axis center of the second joint 122 relative to the first joint 121, and the second pulley 142 and the second joint 122 are kept relatively fixed, so that when the second pulley 142 rotates, the second joint 122 rotates relative to the first joint 121.

It can be seen that, while the driving unit 130 drives the first joint 121 to rotate, the second joint 122 rotates relative to the first joint 121, and the second joint 122 rotates relative to the first joint 121 under the driving of the tension of the transmission belt 143, and the change of the tension of the transmission belt 143 actually comes from the rotation of the first joint 121, that is, from the driving of the driving unit 130, so that the two-stage rotation of the first joint 121 and the second joint 122 is realized by a single driving source in the present application.

It should be noted that the rotation of the second joint 122 is linked with the rotation of the first joint 121, and the rotation direction of the first joint 121 is opposite to the rotation direction of the second joint 122, for example, when the first joint 121 rotates clockwise, the tension of the transmission belt 143 changes to drive the second joint 122 to rotate counterclockwise, and conversely, when the first joint 121 rotates counterclockwise, the second joint 122 rotates clockwise.

In addition, in the present embodiment, the rotation angle of the first joint 121 depends on the output rotation angle of the output end of the driving unit 130, and the rotation angle of the second joint 122 relative to the first joint 121 depends on the rotation angle of the first joint 121 and the specific size and arrangement of the transmission mechanism 140, i.e. the rotation angle of the first joint 121 and the rotation angle of the second joint 122 directly have a corresponding proportional relationship. The dimensional relationship and arrangement of the transmission mechanism 140 will be explained below.

In some embodiments, the outer walls of the first pulley 141 and the second pulley 142 may be provided with annular closed grooves extending along the circumferential direction, the portions of the transmission belt 143 sleeved with the first pulley 141 and the second pulley 142 are respectively located in the grooves, and the transmission belt 143 and the first pulley 141 and the second pulley 142 are directly and relatively free from sliding, that is, during the rotation of the first joint 121 and the second joint 122, the transmission belt 143 and the first pulley 141 and the second pulley 142 are only changes of the abutting surfaces, so as to improve the reliability of the installation of the transmission belt 143 on the first pulley 141 and the second pulley 142, and avoid the occurrence of slipping or the slipping of the transmission belt 143 during the transmission process.

The specific shape and size of the groove may be set according to the shape and size of the driving belt 143, which is not particularly limited in this embodiment.

In order to achieve the relative positional relationship of the first joint 121 and the second joint 122 in the expanded and collapsed states, the diameter of the first pulley 141 may be larger than the diameter of the second pulley 142, or the diameter of the first pulley 141 may be equal to the diameter of the second pulley 142, or the diameter of the first pulley 141 may be smaller than the diameter of the second pulley 142. When the first joint 121 and the second joint 122 rotate, they may have different rotation angles to adjust the extension direction and the extension posture of the multi-joint finger 100.

Taking the example that the diameter of the first pulley 141 may be larger than the diameter of the second pulley 142, wherein the second joint 122 may be arranged side by side on the side of the first joint 121 when the joint assembly 120 is in the folded state; when the joint component 120 is in the unfolded state, the second joint 122 and the first joint 121 are located on the same extension line, so that the length of the multi-joint finger 100 in the folded state is only equal to the length of the first joint 121, the occupied space is small, and when the multi-joint finger 100 in the unfolded state is capable of reaching the sum of the lengths of the first joint 121 and the second joint 122, and the multi-joint finger has a large goods taking range.

Alternatively, from the folded state to the unfolded state, or from the unfolded state to the folded state, the rotation angle of the second joint 122 may be twice the rotation angle of the first joint 121, and correspondingly, the diameter of the first pulley 141 may be twice the diameter between the second pulleys 142.

Illustratively, the first joint 121 is rotated by 90 ° between the collapsed state and the expanded state, and correspondingly, the second joint 122 is rotated by 180 ° relative to the first joint 121. When the foldable bicycle is in a folded state, the first joint 121 and the second joint 122 are folded, the included angle between the second joint 122 and the first joint 121 is 0 degree, when the foldable bicycle is in an unfolded state, the second joint 122 and the first joint 121 extend in the same direction, and the included angle between the second joint 122 and the first joint 121 is 180 degrees.

When the diameter of the first pulley 141 may be equal to the diameter of the second pulley 142, or the diameter of the first pulley 141 may be smaller than the diameter of the second pulley 142, the degrees of tightness of the transmission belts 143 on different sides may be inconsistent, or the first shutdown device 121 and the second joint 122 may be rotated in a chain transmission manner, which is not described herein.

Since the transmission belt 143 is always in a tensioned state during the rotation of the first joint 121, and the second pulley 142, i.e. the second joint 122, needs to be driven to rotate by the tensioning force of the transmission belt 143, it is necessary to ensure that there is no relative slip between the transmission belt 143 and the first pulley 141 and the second pulley 142.

In some embodiments, at least a portion of the extension of the side of belt 143 that is sleeved on first pulley 141 is always kept in fixed abutment with first pulley 141, and at least a portion of the extension of the side of belt 143 that is sleeved on second pulley 142 is always kept in fixed abutment with second pulley 142, so that during transmission, stable tension can be generated, and relative sliding between belt 143 and first pulley 141 and second pulley 142 can be avoided.

It will be understood by those skilled in the art that the driving belt 143 may be formed of different structures, such as a toothed synchronous belt, a flat belt, a V-belt, a circular belt, etc., and the different structures of the driving belt 143 only need to avoid sliding with the first pulley 141 and the second pulley 142, so as to achieve the folding and unfolding effects of the first joint 121 and the second joint 122 in the above-mentioned embodiments.

The transmission belt 143 may be fixed by its own structure to prevent relative slippage, for example, a toothed synchronous belt may be engaged with a tooth on a pulley to prevent slippage, or by friction force, for example, a flat belt and a V-belt have a large contact surface with an outer wall of the pulley, or by other external structures, for example, a circular belt has a small friction force and may be fixed by other components.

Since the transmission belt 143 itself needs to bear a certain tension, in an actual application scenario, the transmission belt 143 needs to have a sectional area of a certain size to ensure a structural strength thereof, and thus the toothed synchronous belt, the flat belt and the V-belt need to have a certain width, and a width dimension of the circular belt is relatively small. Because the goods robot is getting when goods, articulated finger 100 can butt in the tip of goods, and articulated finger 100 self also can occupy certain space in the storehouse position depth direction of goods shelves, consequently, the back interval of goods on the goods shelves just can be littleer for the size of articulated finger 100 is the less, and corresponding just can improve storage density.

Therefore, the smaller the thickness of the first pulley 141 and the second pulley 142, the higher the warehouse density of the rack can be designed, and the width of the transmission belt 143 matches the width of the first pulley 141 and the second pulley 142, the wider the transmission belt 143 is, the wider the first pulley 141 and the second pulley 142 are, and the narrower the transmission belt 143 is, the narrower the first pulley 141 and the second pulley 142 are.

Fig. 4 is a side view of another perspective of the multi-joint finger provided by the embodiment of the present application, fig. 5 is a partial view of a first pulley position in the multi-joint finger provided by the embodiment of the present application, and fig. 6 is a partial view of a second pulley position in the multi-joint finger provided by the embodiment of the present application, as shown in fig. 4 to 6, in some embodiments, when the transmission belt 143 is a circular belt, the transmission mechanism 140 may further include a first pressing mechanism 144, the first pressing mechanism 144 is disposed opposite to the first pulley 141, and the first pressing mechanism 144 is configured to press the transmission belt 143 and the first pulley 141 to prevent the transmission belt 143 and the first pulley 141 from sliding relative to each other.

The first pressing mechanism 144 may include a first pressing plate 1441 and at least one first fastening member 1442, the first pressing plate 1441 abuts against the transmission belt 143, and the first fastening member 1442 fixes the first pressing plate 1441 to the first pulley 141 and applies a pressure to the first pressing plate 1441 toward the transmission belt 143, so as to facilitate installation and pressing of the transmission belt 143 and the first pulley 141, and may adjust a magnitude of the pressing force, thereby improving reliability.

Alternatively, since the size of the first pulley 141 is larger relative to the size of the second pulley 142, the first fastening member 1442 may be plural, and the first pressing plate 1441 may be disposed at a side of the first pulley 141. For example, the first fastening member 1442 may be a screw, the first pressure plate 1441 may be provided with a mounting hole, the screw may be inserted into the mounting hole to press the driving belt 143, the screw may be two screws, and the two screws may be spaced apart in the extending direction of the driving belt 143 and press the driving belt 143 at the same time.

It will be understood by those skilled in the art that the transmission mechanism 140 may further include a second pressing mechanism 145, the second pressing mechanism 145 is disposed opposite to the second pulley 142, the second pressing mechanism 145 is used for pressing the transmission belt 143 and the second pulley 142 to prevent the transmission belt 143 and the second pulley 142 from sliding relatively, the second pressing mechanism 145 may include a second pressing plate 1451 and at least one second fastener 1452, the second pressing plate 1451 abuts against the transmission belt 143, and the second fastener 1452 fixes the second pressing plate 1451 and the second pulley 142 and applies a pressing force to the transmission belt 143, so as to facilitate the installation and pressing of the transmission belt 143 and the first pulley 141.

For example, the second fastener 1452 can be a screw, and the second fastener 1452 can be disposed in a manner similar to the first fastener 1442, which will not be described herein.

It should be noted that, because there is a change in the contact surface between the transmission belt 143 and the first pulley 141 and the second pulley 142, the specific installation position of the first pressing mechanism 144 on the first pulley 141 and the specific installation position of the second pressing mechanism 145 on the second pulley 142 need to be selected according to the range of the transmission belt 143 and the contact surface thereof, and need to be set in a position where the transmission belt 143 and the pulleys are always in contact with each other in the whole folding and unfolding process, so as to avoid interference with the folding and unfolding movement of the joint assembly 120.

Since the process of folding and unfolding the joint assembly 120 is the process of reciprocating the first joint 121 and the second joint 122, both the first joint 121 and the second joint 122 have a certain stroke range, the stroke range of the first joint 121 and the stroke range of the second joint 122 have a corresponding proportional relationship, and the motion stroke between the folded state and the unfolded state of the multi-joint finger 100 can be limited by limiting the stroke of the second joint 122, which will be described below.

Fig. 7 is a partial view of a second joint position when the multi-joint finger provided by the embodiment of the present application is in an expanded state, please refer to fig. 2 to 7, as an alternative embodiment, a first position-limiting portion 1211 may be disposed on the first joint 121, the first position-limiting portion 1211 is located on a side wall of the first joint 121, and when the joint assembly 120 is in a collapsed state, the side wall of the first joint 121 abuts against the first position-limiting portion 1211.

The first position-limiting portion 1211 may include any one of a notch, an opening, an abutting surface, and a wedge surface, which are formed on a side wall of the first joint 121, and only needs to perform a position-limiting function.

When the joint assembly 120 is in the folded state, the notch is used for accommodating the second joint 122, and the side wall of the second joint 122 abuts against the first limiting surface to prevent the second joint 122 from rotating excessively, and at this time, the second joint 122 is folded side by side on the side of the first joint 121, so that the length of the joint assembly 120 is approximately equal to the length of the first joint 121 in the folded state.

In addition, the first joint 121 may be provided with a second limiting portion 1212, the second limiting portion 1212 is located at a second end of the first joint 121, and when the joint assembly 120 is in the unfolded state, an end of the second joint 122 abuts against the second limiting portion 1212.

Wherein, the second spacing portion 1212 can be including setting up in the backstop arch of the second end of second joint 122, any one in the activity fastener, only need play spacing blocking effect can to the backstop arch is for example, and the backstop arch has the spacing face of second, and when joint subassembly 120 was in the expansion state, the tip and the spacing face butt of second joint 122 in order to avoid the excessive expansion of second joint 122. In the deployed state, the length of the joint assembly 120 is approximately equal to the sum of the lengths of the first joint 121 and the second joint 122.

The embodiment provides a multi-joint finger, which comprises a fixed seat, a joint component and a driving component, wherein the joint component is arranged on the fixed seat, the fixed seat can be arranged on a mechanical arm of a goods-taking robot, the driving component is used for driving the joint component to fold or unfold relative to the fixed seat, the joint component comprises a first joint and a second joint, the first end of the first joint is rotatably connected with the fixed seat, the second joint is rotatably connected with the second end of the first joint, the driving component comprises a driving unit and a transmission mechanism, the output end of the driving unit is connected with the first end of the first joint, the first end of the transmission mechanism is arranged on the fixed seat, the second end of the transmission mechanism is arranged on the second joint, when the driving unit drives the first joint to rotate, the transmission mechanism drives the second joint to rotate relative to the first joint, when the mechanical arm extends into a storage position of a goods shelf, the multi-joint finger is in a furled state, and the multi-joint finger at the moment is vertically arranged relative to the mechanical arm, so that the occupied vertical space is small, and the goods shelf can have small interlayer spacing in the practical application scene so as to improve the storage density.

Fig. 8 is a schematic structural diagram of a fork apparatus according to an embodiment of the present invention, and as shown in fig. 8, the present invention provides a fork apparatus 220, which includes a fork body and a mechanical arm 221 disposed at two sides of the fork body, wherein the mechanical arm 221 has a telescopic arm, the multi-joint finger 100 may be disposed on a last joint arm extending from the telescopic arm, when a user enters a storage space of a rack to pick up a product, the mechanical arm 221 may stretch the multi-joint finger 100 to enter the storage space of the rack or enter a temporary storage space of a storage rack on a robot body, and during this process, the multi-joint finger 100 may be folded or unfolded, so that the user may enter the storage space of the rack, the occupied space of the folded multi-joint finger 100 is small, the space utilization rate is improved, the storage space of the rack can have a small interlayer height, the storage density is improved, and when a product is taken out, the multi-joint finger 100 may be unfolded, and has a long length, the butt joint drives the goods steady removal at the terminal surface of goods.

Fig. 9 is a schematic structural diagram of a goods taking robot according to an embodiment of the present disclosure, and a goods taking robot 200 is further provided in an embodiment of the present disclosure, and is configured to take and place goods, the goods taking robot 200 includes a robot main body 210 and a fork device 220, the fork device 220 is movable along a height direction of the robot main body 210 through a lifting mechanism, a telescopic manipulator 221 is disposed on the fork device 220, and at least one multi-joint finger 100 in the foregoing embodiments is disposed at a distal end of the manipulator 221.

Taking the case that the multi-joint finger 100 is disposed on the manipulator 221, when the manipulator 221 performs a goods picking operation, when the manipulator 221 extends outward, the multi-joint finger 100 is in a folded state to avoid interference with goods, and when the manipulator 221 extends to a preset position, the multi-joint finger 100 is unfolded to block the end portion of the back side of the goods, and then the manipulator 221 retracts, the multi-joint finger 100 in the unfolded state can abut against the end portion of the goods and drive the goods to move out of the storage position of the shelf, thereby completing the goods picking operation. The specific structure and movement of the multi-joint finger 100 are the same as those of the above embodiments, and are not described herein again. Illustratively, the multi-jointed finger 100 is typically disposed on the distal arm from which the telescopic arm extends, and may be disposed at the front end of the distal arm, at the rear end of the distal arm, or at both ends. If the multi-joint finger 100 is arranged at the rear end of the tail arm, the multi-joint finger 100 in the unfolded state can be abutted against the end part of the temporary storage goods in the fork device so as to drive the goods to move to the storage position of the goods shelf or the temporary storage position of the storage shelf on the robot body from the fork device.

In some embodiments, the manipulator 221 may include two telescopic arm sets, each telescopic arm set includes a fixed arm and a telescopic arm, the two telescopic arm sets are respectively disposed on two opposite sides of the fork device 220 to form a goods taking space between the two telescopic arm sets, the end of the telescopic arm of each telescopic arm set is provided with the multi-joint finger 100, and the two multi-joint fingers 100 may be symmetrically disposed and may rotate relatively. When the multi-joint finger 100 is folded, the multi-joint finger 100 extends in the vertical direction; when articulated finger 100 expandes, articulated finger 100 extends to getting goods space to can satisfy the getting of not equidimension goods and put the demand on the one hand, on the other hand the length is shorter when vertical drawing in, is favorable to reducing goods shelves layer interval, improves storage density.

The embodiment of the application further provides a logistics system, the logistics system comprises the goods shelf and the goods taking robot in the embodiment, the goods shelf is used for storing goods, and the goods taking robot can be in butt joint with the goods shelf and take and place the goods.

Wherein, goods shelves have a plurality of storehouse positions that are used for depositing the goods, and the storehouse position can be the setting of multilayer multiseriate, is provided with the polylinker finger on the manipulator of the goods robot of getting with goods shelves butt joint, and the polylinker finger is in vertical fold condition when the manipulator stretches into corresponding storehouse position and gets goods, can avoid producing with goods shelves and interfere, and goods shelves have less interlamellar spacing, and storage density is higher.

In addition, for the application scenario of the logistics system provided in this embodiment, according to the type of specific goods, the logistics system can be applied to different fields such as warehousing and ex-warehouse of manufacturing factory production lines or inventory products, retail logistics, fast warehousing and ex-warehouse of e-commerce logistics, and the products or goods related to transportation can be industrial parts, electronic accessories or products, clothing accessories, food, and the like, but this is not specifically limited in this embodiment of the application.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled 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; such modifications or substitutions do not depart from the scope of the embodiments of the present invention.

Claims (17)

1. A multi-joint finger is characterized by comprising a fixed seat, a joint component and a driving component, wherein the joint component is arranged on the fixed seat, and the driving component is used for driving the joint component to fold or unfold;

the joint assembly comprises a first joint and a second joint, and the first joint and the second joint are rotationally connected; the driving assembly comprises a driving unit and a transmission mechanism, the output end of the driving unit is connected with the first joint, the first end of the transmission mechanism is arranged on the fixed seat, the second end of the transmission mechanism is arranged on the second joint, and when the driving unit drives the first joint to rotate, the transmission mechanism synchronously drives the second joint to rotate relative to the first joint so as to enable the first joint and the second joint to be mutually closed, or the second joint to be unfolded relative to the first joint.

2. The multi-jointed finger of claim 1, wherein the first end of the first joint is pivotally connected to the holder, the second joint is pivotally connected to the second end of the first joint, the second joint overlaps the first joint when the joint assembly is collapsed, and the second joint extends in a direction away from the first joint when the joint assembly is expanded.

3. The multi-joint finger according to claim 2, wherein the driving assembly further comprises a shaft coupler and a transmission shaft, the driving unit, the shaft coupler and the transmission shaft are coaxially arranged, the driving unit is a motor, a first end of the shaft coupler is connected with an output shaft of the motor, a second end of the shaft coupler is connected with the transmission shaft, and the transmission shaft is connected with a first end of the first joint, so that the motor drives the first joint to rotate relative to the fixing base.

4. The multi-joint finger according to any one of claims 1 to 3, wherein the transmission mechanism comprises a first belt wheel, a second belt wheel and an annular transmission belt, the first belt wheel is fixedly connected with the fixed seat, and the first belt wheel is coaxially arranged with the rotating shaft of the first joint; the second belt wheel is fixedly connected with the second joint, and the second belt wheel and a rotating shaft of the second joint are coaxially arranged; the transmission belt is sleeved between the first belt wheel and the second belt wheel and is in a tensioning state.

5. The multi-joint finger according to claim 4, wherein the outer walls of the first pulley and the second pulley are provided with circumferentially extending annular closed grooves, and the parts of the transmission belt sleeved with the first pulley and the second pulley are respectively positioned in the grooves.

6. The multi-joint finger according to claim 4, wherein at least a part of the extension section of one side of the driving belt sleeved with the first belt wheel is always kept in abutting connection with the first belt wheel; and at least part of the extension section of one side of the transmission belt, which is sleeved with the second belt wheel, is always kept fixedly abutted against the second belt wheel.

7. The multi-jointed finger of claim 4, wherein the drive belt is a circular belt; the transmission mechanism further comprises a first pressing mechanism, the first pressing mechanism is arranged opposite to the first belt wheel, and the first pressing mechanism is used for pressing the transmission belt and the first belt wheel;

and/or the transmission mechanism further comprises a second pressing mechanism, the second pressing mechanism is opposite to the second belt wheel, and the second pressing mechanism is used for pressing the transmission belt and the second belt wheel.

8. The multi-jointed finger of claim 7, wherein the first compression mechanism includes a first compression plate and at least one first fastener, the first compression plate abutting the drive belt, the first fastener securing the first compression plate to the first pulley and applying pressure to the first compression plate toward the drive belt.

9. The multijointed finger of claim 7, wherein said second hold-down mechanism includes a second hold-down plate and at least one second fastener, said second hold-down plate abutting said drive belt, said second fastener securing said second hold-down plate to said second pulley and applying pressure to said second hold-down plate toward said drive belt.

10. The multijointed finger of any one of claims 5-9, wherein the diameter of said first pulley is greater than the diameter of said second pulley; or the like, or, alternatively,

the diameter of the first pulley is equal to the diameter of the second pulley; or the like, or, alternatively,

the diameter of the first pulley is smaller than the diameter of the second pulley.

11. The multi-jointed finger of claim 10, wherein the second joint is disposed side-by-side to the side of the first joint when the joint assembly is in a collapsed state; when the joint assembly is in the unfolding state, the second joint and the first joint are positioned on the same extension line.

12. The multi-joint finger according to any one of claims 1 to 3, wherein a first limiting part is formed on the side wall of the first joint, and when the joint assembly is in a folded state, the side wall of the first joint abuts against the first limiting part;

the first limiting part comprises any one of a notch, a butt joint surface and a wedge surface which are arranged on the side wall of the first joint.

13. The multi-joint finger according to any one of claims 1 to 3, wherein the first joint is provided with a second limiting part, the second limiting part is positioned at the second end of the first joint, and when the joint assembly is in the unfolded state, the end part of the second joint is abutted against the second limiting part;

the second limiting part comprises a stop bulge arranged at the second end of the second joint and any one of a movable fastener.

14. A pallet fork arrangement comprising a pallet fork body and the multi-jointed finger of any one of claims 1-13 mounted on the pallet fork body.

15. A goods taking robot, characterized by comprising a robot main body and the fork device of claim 14, wherein the fork device can move along the height direction of the robot main body, the fork device is provided with a telescopic manipulator, the tail end of the manipulator is provided with multi-joint fingers, and when the manipulator carries out goods taking operation, the multi-joint fingers are unfolded and abutted against the end part of goods.

16. The pickup robot as recited in claim 15, wherein the manipulator includes two sets of telescopic arms, each set including a fixed arm and a telescopic arm, the two sets being disposed on opposite sides of the fork assembly to form a pickup space therebetween, the end of the telescopic arm of each set being disposed with the multi-joint finger;

when the multi-joint fingers are folded, the multi-joint fingers extend along the vertical direction; when the multi-joint fingers are unfolded, the multi-joint fingers extend into the goods taking space.

17. A logistics system comprising a rack for storing goods and the pick robot of claim 15 or 16, wherein the pick robot can interface with the rack and pick and place the goods.

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