CN216582519U

CN216582519U - Get container device, transfer robot and storage logistics system

Info

Publication number: CN216582519U
Application number: CN202122584103.5U
Authority: CN
Inventors: 袁李; 王海超
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2021-10-26
Filing date: 2021-10-26
Publication date: 2022-05-24
Anticipated expiration: 2031-10-26

Abstract

The utility model belongs to the technical field of logistics, and particularly discloses a container taking device, a carrying robot and a warehouse logistics system. Get the container device and include the mount pad and can set up along X direction telescopically container on the mount pad is got and is put the mechanism, the container is got and is put the mechanism and include two yoke units that set up along Y direction interval, two the yoke unit can stretch into the relative both sides of container front end respectively in order to stir or the centre gripping the container, two interval between the yoke unit can be adjusted, the X direction with the equal level in Y direction sets up and becomes certain contained angle each other. The transfer robot comprises the container taking device, and the warehouse logistics system comprises the containers and the transfer robot. The container taking device, the carrying robot and the warehouse logistics system disclosed by the utility model can improve the safety and reliability of taking and placing the containers, and improve the use flexibility and the applicability of the container taking device and the carrying robot to containers with different widths.

Description

Get container device, transfer robot and storage logistics system

Technical Field

The utility model relates to the technical field of logistics, in particular to a container taking device, a carrying robot and a warehouse logistics system.

Background

The rapid development of electronic commerce brings unprecedented development opportunities to the warehouse logistics industry, also provides a serious challenge to warehouse logistics services, and the difficult problem of how to carry out package sorting flexibly and accurately with high efficiency and low cost is always faced by the warehouse logistics industry.

The transfer robot is a carry material in the warehouse, realizes the automation robot equipment of operations such as material loading, unloading and transfer, wherein, the transfer robot for carrying the container can take off the container from goods shelves and transport to selecting the station in to realize the "container to people" letter sorting of goods letter sorting, improved the efficiency of letter sorting.

The existing transfer robot for carrying containers is provided with two fork arms which are arranged in a bilateral symmetry mode, and the two fork arms can stretch out to two sides of the containers so as to clamp the containers on a goods shelf or clamp the containers and place the containers on the goods shelf. However, since the two fork arms are required to extend into the side portions of the container respectively, the fork arms are easily interfered with the container beside the target container in the extending or contracting process, so that the container beside the target container is inclined to influence the subsequent goods taking operation, and the container falls down to cause potential safety hazards or goods damage; meanwhile, the two fork arms which are oppositely arranged are only suitable for the same type of containers with the same container width due to the fixed distance between the two fork arms, and the use universality and the flexibility are poor.

SUMMERY OF THE UTILITY MODEL

One object of the present invention is to provide a container taking device, which improves safety and reliability of taking and placing containers and improves applicability to containers of different sizes.

Another object of the present invention is to provide a transfer robot that improves safety and reliability of taking and placing containers by the transfer robot, and improves a range of use and flexibility of the transfer robot.

Another objective of the present invention is to provide a warehouse logistics system to improve the warehouse logistics efficiency and reduce the warehouse logistics cost.

In order to achieve the purpose, the utility model adopts the following technical scheme:

the utility model provides a get the container device, get the container device and include the mount pad and can set up along X direction telescopically container on the mount pad is got and is put the mechanism, the container is got and is put the mechanism and includes two yoke units that set up along Y direction interval, two the relative both sides that the yoke unit can stretch into the container front end respectively are in order to stir or centre gripping the container, two interval between the yoke unit can be adjusted, the X direction with the equal level in Y direction sets up and is certain contained angle each other.

As an optional technical scheme of the container taking device, the yoke unit comprises an arm plate and a hook piece arranged at the front end of the arm plate, and the hook piece can protrude out of one side of the arm plate, facing to the other yoke unit, so as to hook a vertical convex rib or a groove wall on the side face of the front end of the container.

As an optional technical solution of the container taking device, the hook is rotatably connected to the arm plate, and the yoke unit includes a rotary driving member, the rotary driving member is mounted on the arm plate, and the rotary driving member is configured to drive the hook to rotate relative to the arm plate, so that the hook selectively protrudes out of one surface of the arm plate facing to another yoke unit.

As an alternative to the container removing device, the yoke unit includes arm plates perpendicular to the Y direction, and a surface of each arm plate facing the other arm plate is a friction surface.

As an optional technical scheme who gets container device, the yoke unit includes armed plate and the limiting plate of perpendicular connection, two the yoke unit the armed plate is relative and the interval sets up, the armed plate is used for the centre gripping or stirs the container, the limiting plate is located the armed plate is towards another one side of yoke unit, just limiting plate connect in the rear end of armed plate.

As an optional technical solution of the container taking and placing device, the container taking and placing mechanism further includes:

the fixing frame is arranged on the mounting seat in a sliding manner along the X direction;

and the adjusting assembly is arranged on the fixing frame and used for driving at least one fork arm unit to move along the Y direction so as to adjust the distance between the two fork arm units.

As an optional technical solution of the container taking device, the adjusting assembly is connected to the two yoke units, and the adjusting assembly is configured to synchronously drive the two yoke units to move towards or away from each other.

As an alternative solution to the container removing device, the adjusting assembly comprises:

the adjusting driving motor is arranged on the fixed frame;

the screw rod is in transmission connection with the adjusting driving motor and extends along the Y direction, and the screw rod is rotatably arranged on the fixed frame;

the nut seats are sleeved on the screw rod in a screwing mode and connected with the fork arm units, and the nut seats are arranged in one-to-one correspondence with the fork arm units.

As an optional technical solution of the container taking device, the adjusting and driving motor has two coaxial and opposite driving shafts, each driving shaft is coaxially connected with one lead screw, each lead screw is sleeved with one nut seat in a screwing manner, and the screwing directions of the threads on the two lead screws are opposite.

As an optional technical solution of the container taking device, the container taking device includes a width detection device, the width detection device is configured to detect a front end width of the container to be taken and placed, and the adjustment assembly adjusts a distance between the two yoke units according to the front end width.

As an optional technical scheme of the container taking device, the fixing frame comprises a supporting seat extending along the Y direction and a connecting support arranged below the supporting seat, the connecting support is connected with the mounting seat in a sliding mode, and the adjusting assembly is detachably arranged on the supporting seat.

As an optional technical solution of the container taking and placing device, the container taking and placing mechanism further includes an adjustment guide assembly, and the adjustment guide assembly is used for guiding the movement of the yoke unit along the Y direction.

As an optional technical solution of the container taking device, the container taking device further includes a carrying seat disposed above the mounting seat and having an accommodating space for accommodating the container, and the container taking and placing mechanism is slidably disposed on the carrying seat along the X direction to pull or push the container into or out of the accommodating space.

As an optional technical solution of the container taking device, the carrying seat can slide back and forth along the X direction relative to the mounting seat.

As an optional technical scheme of the container taking device, the container taking device further comprises a telescopic driving mechanism, the telescopic driving mechanism comprises a first-stage telescopic driving mechanism and a second-stage telescopic driving mechanism which are arranged in a split mode, the first-stage telescopic driving mechanism is used for driving the bearing seat to be opposite to the mounting seat along the X direction to be telescopic, and the second-stage telescopic driving mechanism is used for driving the container taking and placing mechanism to be opposite to the bearing seat along the X direction to be telescopic.

As an optional technical scheme of getting the container device, bear the seat including the connecting bottom plate of level setting and connect the backup pad of connecting bottom plate along Y direction both sides, the backup pad is along keeping away from the direction level of connecting the bottom plate extends, the flexible actuating mechanism of one-level sets up the mount pad with between the backup pad, the flexible actuating mechanism of second grade sets up on the connecting bottom plate.

As an alternative solution to the container removing device, the supporting plate is higher than the connecting bottom plate.

As an optional technical solution of the container taking device, the container taking device further includes a telescopic driving mechanism, and the telescopic driving mechanism is configured to drive the container taking and placing mechanism to slide along the X direction relative to the mounting base;

the container removing device further comprises:

the first limiting structure is used for limiting the limit position of the container taking and placing mechanism relative to the contraction of the bearing seat;

the second limiting structure is used for limiting the extending limit position of the bearing seat relative to the mounting seat;

the elastic piece is connected between the bearing seat and the mounting seat and always applies acting force towards the extending direction of the container taking and placing mechanism to the bearing seat.

As an alternative solution to the container removing device, the telescopic driving mechanism comprises:

a telescopic driving motor;

the belt wheel assembly comprises a plurality of fixed belt wheels rotatably mounted on the mounting seat and a movable belt wheel rotatably mounted on the lower surface of the bearing seat, the movable belt wheels are respectively arranged at the front end and the rear end of the bearing seat, and the telescopic driving motor is in transmission connection with one belt wheel;

the transmission belt is sequentially wound on the two moving belt wheels and the plurality of fixed belt wheels, the two moving belt wheels are adjacently arranged in the circumferential direction of the transmission belt, the two belt wheels adjacently arranged in the circumferential direction are respectively positioned on the inner side and the outer side of the transmission belt, and the transmission belt between at least one moving belt wheel and the fixed belt wheel adjacently arranged in the circumferential direction is arranged in the X direction and is connected with the container taking and placing mechanism.

As an optional technical solution of the container taking device, the carrying seat includes a supporting plate and a front baffle plate, which are vertically connected, the supporting plate is horizontally disposed and is used for supporting the container, and the front baffle plate is connected to the front end of the supporting plate and extends downward.

A transfer robot comprises the container taking device, a movable chassis and a vertical frame arranged on the movable chassis, wherein the container taking device can be arranged on the vertical frame in a lifting mode.

As an optional technical scheme of transfer robot, transfer robot still includes the baffle of keeping in, the baffle of keeping in is followed the direction of height interval of grudging post is provided with a plurality ofly, just can keep in on the baffle of keeping in the container, it can realize to get the container device the container is in the transfer between baffle of keeping in and the stock container.

As an optional technical scheme of the transfer robot, the transfer robot further comprises a lifting mechanism, the lifting mechanism comprises a lifting driving assembly and a lifting frame, the lifting driving assembly is installed between the lifting frame and the vertical frame, and the lifting driving assembly is used for driving the lifting frame to lift along the vertical direction;

the lifting frame and the container taking device are both positioned on one side, away from the temporary storage partition plate, of the vertical frame, and the mounting seat can be rotatably mounted on the lifting frame around a vertical axis.

A warehouse logistics system comprising a transfer robot as described above.

The utility model has the beneficial effects that:

according to the container taking device provided by the utility model, the two fork arm units are arranged, so that the two opposite sides of the front end of the container can be shifted or clamped, the depth of the fork arm units extending into the side part of the container can be reduced, and the interference between the container taking device and other containers on the stock container when the container is taken and placed is reduced; simultaneously, through adjusting the interval between two yoke units, can adjust the clamping-force of yoke unit to the container, improve the stability and the reliability to the centre gripping of container, can also adapt to the use of the container of different width, improve the use flexibility of getting the container device and the suitability under the different scenes.

The carrying robot provided by the utility model can improve the carrying stability and reliability of the container by carrying the container by adopting the container taking device, can carry the containers with different types and widths, and improves the universality and the use flexibility of the carrying robot.

According to the warehouse logistics system, the container is conveyed by the conveying robot, so that the same conveying robot can convey containers with different sizes, the applicability of the conveying robot is improved, and the container conveying cost of the warehouse logistics system is reduced.

Drawings

Fig. 1 is a schematic structural diagram of a container taking device in a contracted state according to an embodiment of the present invention;

FIG. 2 is a schematic view of a container removing device in an extended state according to an embodiment of the present invention;

FIG. 3 is a schematic view of a portion of the structure of FIG. 2;

fig. 4 is a schematic structural diagram of a container pick and place mechanism provided in an embodiment of the present invention from a perspective;

fig. 5 is a schematic structural diagram of a container pick and place mechanism provided in an embodiment of the present invention from another perspective;

FIG. 6 is a schematic structural diagram of a yoke unit according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a container taking device in a contracted state according to a second embodiment of the present invention;

fig. 8 is a schematic structural view of a container taking device provided by a second embodiment of the utility model in an extended state;

fig. 9 is a schematic structural view of a telescopic driving mechanism provided in the second embodiment of the present invention in a contracted state;

fig. 10 is a schematic structural view of a telescopic driving mechanism provided in a second embodiment of the present invention in an extended state;

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

fig. 12 is a schematic view of a disassembled structure of the carrier according to the second embodiment of the present invention;

fig. 13 is a schematic structural diagram of a container pick and place mechanism according to a second embodiment of the present invention.

1. A container pick and place mechanism; 11. a yoke unit; 111. an arm plate; 112. a hook member; 113. a claw seat; 1131. positioning holes; 1132. a notch; 114. a slide plate portion; 115. a limiting plate; 12. an adjustment assembly; 121. adjusting the drive motor; 122. a lead screw; 123. a nut seat; 1231. a cylindrical portion; 1232. a fixed plate portion; 13. a fixed mount; 131. a supporting seat; 132. connecting a bracket; 1321. a lateral support plate portion; 1322. a longitudinal support plate portion; 1323. a base part; 1324. an extension seat; 14. adjusting the guide assembly; 141. a Y-direction guide rail; 142. a Y-direction sliding block; 15. a belt fastener;

2. a telescoping mechanism; 21. a bearing seat; 211. connecting the bottom plate; 212. a support plate; 2121. perforating; 213. a connecting strip; 214. a front baffle; 215. a stopper; 2151. a baffle portion; 2152. a guide plate portion; 2153. a flange part; 216. a supporting strip; 217. a middle plate; 2171. a partition plate portion; 2172. a side baffle portion; 2173. avoiding the mouth; 218. a limiting part; 22. a telescopic driving mechanism; 221. a primary telescopic driving mechanism; 2211. a first-stage drive motor; 2212. a primary driving pulley; 2213. a primary driven pulley; 2214. a primary synchronous belt; 222. a secondary telescopic driving mechanism; 2221. a secondary drive motor; 2222. a secondary driving pulley; 2223. a secondary driven pulley; 2224. a secondary synchronous belt; 223. a telescopic driving motor; 224. a pulley assembly; 2241. a first moving pulley; 2242. a second moving pulley; 2243. a first fixed pulley; 2244. a second fixed pulley; 2245. a third fixed pulley; 2246. a fourth fixed pulley; 225. a transmission belt; 23. a primary guide assembly; 231. a primary guide rail; 232. a first-stage slide block; 24. a secondary guide assembly; 241. a secondary guide rail; 242. a secondary slide block; 25. an elastic member; 26. a belt connector; 261. a belt clamping portion; 262. a connecting seat part; 2621. a bottom arm portion; 2622. a side arm portion; 263. an elastic pad;

3. and (7) mounting a seat.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the utility model and are not limiting of the utility model. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

Example one

The embodiment provides a transfer robot for the realization is to the transport of container with get put, and it mainly is applied to storage logistics industry, gets to deposit the container of order goods or express delivery and gets and transport, in order to realize getting goods or getting the goods operation based on the order. The present invention can also be applied to other places where containers or goods need to be transported, and the application to the transport robot in the present embodiment is only an example, and the present embodiment does not specifically limit this.

The transfer robot that this embodiment provided includes removal chassis, grudging post, gets container device, elevating system, detection components and controller. The mobile chassis is used for realizing the movement of the transfer robot on the ground so as to realize the transportation of the container by the transfer robot; the vertical frame is arranged on the movable chassis and used for fixing and supporting the container taking device; the container taking device is arranged on the vertical frame in a lifting way through the lifting mechanism so as to take the container on the stock container or place the container on the stock container; the detection assembly is used for detecting the working state and the external environment state of the transfer robot; the controller is used for acquiring order information of warehouse logistics and intelligently regulating and controlling the operation of the transfer robot based on the order information and the detection result of the detection assembly.

The arrangement of the movable chassis, the vertical frame, the lifting mechanism, the detection assembly and the controller can refer to the prior art, which is not the focus of the utility model and is not described herein again.

As shown in fig. 1 and fig. 2, the container taking device provided in this embodiment includes a mounting base 3, a telescopic mechanism 2, and a container taking and placing mechanism 1, where the mounting base 3 is used to connect with a lifting mechanism to implement the installation and the integral lifting of the container taking device on a stand; the container taking and placing mechanism 1 is connected with the mounting base 3 through the telescopic mechanism 2, and the telescopic mechanism 2 is used for driving the container taking and placing mechanism 1 to horizontally stretch out or contract relative to the mounting base 3, so that the container taking and placing mechanism 1 can take and place containers.

For convenience of subsequent description, an XYZ coordinate system of the container taking and placing apparatus is established in the directions shown in fig. 1, wherein the X direction is a direction in which the container taking and placing mechanism 1 horizontally extends and retracts, the Z direction is a vertical direction, the Y direction is perpendicular to the X direction and the Z direction, respectively, and X, Y and Z satisfy the right-hand rule. Meanwhile, in the foregoing or following text, the front end of a certain structure refers to the end facing the extending direction of the container pick-and-place mechanism 1, and the rear end refers to the end away from the extending direction of the container pick-and-place mechanism 1.

In order to simplify the structure of the container removing device, the mounting base 3 is preferably a plate-like structure parallel to the XY plane, and the arrangement of the plate-like structure is also beneficial to the butt joint with other structures on the carrying robot.

As shown in fig. 1-4, in the present embodiment, the telescopic mechanism includes a telescopic driving mechanism 22 and a carrying seat 21, the carrying seat 21 is horizontally disposed above the mounting seat 3, and an accommodating space for accommodating the container is disposed on the carrying seat 21; the container taking and placing mechanism 1 is arranged on the bearing seat 21 in a sliding manner along the X direction so as to pull or push the container into the accommodating space; the telescopic driving mechanism 22 is used for the container taking and placing mechanism 1 to be telescopic along the X direction. Bear the setting of seat 21, can realize the container and get the temporary storage on the container device, improve getting of container and put the convenience.

The telescoping mechanism 2 is preferably a two-stage telescoping mechanism, i.e. the carriage 21 can slide back and forth in the X direction relative to the mounting base 3, and the container pick and place mechanism 1 can slide back and forth in the X direction relative to the carriage 21. Through setting up second grade telescopic machanism, can get the stretching out of putting mechanism 1 and bearing the stretching out of seat 21 relatively to bearing seat 21 through bearing the stretching out of seat 21 relative mount pad 3 and container, when reducing the size of getting the container device along the X direction, increase the stroke that the mechanism 1 was got to the container along the X direction, be favorable to guaranteeing that the container is got and is put the mechanism 1 and stretch out the position and target in place, guarantee to get smoothly getting of container and put and improve the reliability of getting and putting the container, the stretching out of bearing the seat 21 simultaneously also can reduce and treat to get and put the clearance between the container and get the container device, prevent getting and putting the container in-process, the container card is in getting the clearance between container device and the stock container.

In other embodiments, the telescopic mechanism 2 may also be a primary telescopic mechanism, that is, the carrying base 21 is fixed relative to the mounting base 3 or relative to the container pick-and-place mechanism 1, and the telescopic driving mechanism 22 directly drives the container pick-and-place mechanism 1 to extend and retract relative to the mounting base 3. The structure of the primary telescoping mechanism 2 can refer to the prior art, and is not described in detail here. It can be understood that, when the telescoping mechanism 2 is a primary telescoping mechanism, the telescoping mechanism 2 may not be provided with the carrying seat 21, and the container taken by the container taking and placing mechanism 1 may be directly placed on the mounting seat 3.

In this embodiment, the telescopic driving mechanism 22 includes a first-stage telescopic driving mechanism 221 and a second-stage telescopic driving mechanism 222 which are separately arranged, and the first-stage telescopic driving mechanism 221 is arranged between the bearing seat 21 and the mounting seat 3 and is used for driving the bearing seat 21 to extend and retract along the X direction relative to the mounting seat 3; the two-stage telescopic driving mechanism 222 is disposed between the carrying seat 21 and the container pick-and-place mechanism 1, and is configured to drive the container pick-and-place mechanism 1 to slide along the X direction relative to the carrying seat 21. This kind of setting can simplify flexible actuating mechanism 22's structure, guarantees that every level is flexible can both go on alone, can conveniently maintain the change to flexible actuating mechanism 22 from this. In other embodiments, the telescopic driving mechanism 22 may use a driving member to drive the carrier base 21 and the container pick-and-place mechanism 1 to synchronously extend and retract.

The bearing seat 21 preferably includes a connection base plate 211 and two support plates 212 connected to both sides of the connection base plate 211 in the Y direction, the connection base plate 211 and the support plates 212 are parallel to the XY plane, and the support plates 212 are higher than the connection base plate 211 and extend in a direction away from the connection base plate 211. The primary telescopic driving mechanism 221 is installed between the mounting base 3 and the supporting plate 212, and the secondary telescopic driving mechanism 222 is installed on the connecting base plate 211. With the arrangement, the primary telescopic driving mechanism 221 and the secondary telescopic driving mechanism 222 can be arranged at intervals along the Y direction, which is beneficial to avoiding interference between the primary telescopic driving mechanism 221 and the secondary telescopic driving mechanism 222; meanwhile, the supporting plate 212 covers the first-stage telescopic driving mechanism 221, so that the container taken by the container taking and placing mechanism 1 can be placed on the supporting plate 212, and the temporary storage of the container is realized; and because the supporting plate 212 is higher than the connecting bottom plate 211, the second-stage telescopic driving mechanism 222 arranged on the connecting bottom plate 211 can be prevented from rubbing the containers, so that the layout rationality and the structure compactness of the container taking device are improved, and meanwhile, the safety of the containers entering and exiting the accommodating space is also improved.

The connecting strip 213 is convexly arranged on two sides of the connecting bottom plate 211 along the Y direction, the connecting strip 213 extends along the X direction, and one side of the supporting plate 212 close to the connecting bottom plate 211 is detachably connected to the upper end surface of the connecting strip 213. The connection bar 213 is provided to reinforce the structural strength and rigidity of the connection between the connection base 211 and the support plate 212, thereby improving the supporting ability of the support plate 212. In other embodiments, the connecting bottom plate 211 and the supporting plate 212 may be integrally formed by bending, or may be connected by other methods.

The flexible actuating mechanism 221 of one-level includes one-level driving motor 2211, one-level driving pulley 2212, one-level driven pulley 2213 and around establishing the one-level hold-in range 2214 on one-level driving pulley 2212 and one-level driven pulley 2213, one-level driving pulley 2212 and one-level driven pulley set up on mount pad 3 along the X direction interval, and rotate with mount pad 3 and be connected, the vertical setting of one-level driving motor 2211's drive shaft and be connected with one-level driving pulley 2212 transmission, one-level hold-in range 2214 is connected with backup pad 212.

In this embodiment, only one primary telescopic driving mechanism 221 is provided to reduce the overall cost of the container removing device. In other embodiments, the primary telescopic driving mechanism 221 may be disposed corresponding to each of the two support plates 212. In this embodiment, the primary telescopic driving mechanism 221 is a belt type transmission structure, and in other embodiments, the primary telescopic driving mechanism 221 may be in the form of other transmission structures such as a rack and pinion transmission, a lead screw nut transmission, a chain and sprocket transmission, and the like, which are not illustrated here.

In order to improve the telescopic stability of the bearing seat 21, a first-level guide assembly 23 is further arranged between the bearing seat 21 and the mounting seat 3, the first-level guide assembly 23 comprises a first-level guide rail 231 extending along the X direction and a first-level sliding block 232 arranged on the first-level guide rail 231 in a sliding manner, the first-level guide rail 231 is connected with the mounting seat 3, and the first-level sliding block 232 is connected with the lower surface of the supporting plate 212. In the present embodiment, the primary guide assemblies 23 preferably correspond one-to-one to the support plates 212. In other embodiments, only one set of primary guide assemblies 23 may be disposed at the one side support plate 212 where the primary telescopic driving mechanism 221 is not disposed.

The secondary telescopic driving mechanism 222 also adopts a belt transmission, and includes a secondary driving motor 2221, a secondary driving pulley 2222, a secondary driven pulley 2223, and a secondary synchronous belt 2224 wound around the secondary driving pulley 2222 and the secondary driven pulley 2223, the secondary driving pulley 2222 and the secondary driven pulley 2223 are arranged on the connecting base plate 211 at intervals along the X direction, and are both rotatably connected with the connecting base plate 211, a driving shaft of the secondary driving motor 2221 is vertically arranged and coaxially connected with the secondary driving pulley 2222, and the secondary synchronous belt 2224 is connected with the container pick-and-place mechanism 1.

In order to improve the stretching stability of the container pick-and-place mechanism 1, a secondary guide assembly 24 is further arranged between the connecting bottom plate 211 and the container pick-and-place mechanism 1, the secondary guide assembly 24 comprises a secondary guide rail 241 laid on the connecting bottom plate 211 along the X direction and a secondary slide block 242 connected with the secondary guide rail 241 in a sliding manner, and the secondary slide block 242 is connected with the container pick-and-place mechanism 1. The secondary guide members 24 are preferably provided in two sets, and the two sets of secondary guide members 24 are respectively provided on opposite sides of the secondary timing belt 2224 in the Y direction.

To avoid interference between the structures, the primary driving motor 2211 is disposed at an end of the mounting base 3 away from the extending direction of the container pick-and-place mechanism 1, the secondary driving motor 2221 is disposed at an end of the connecting base plate 211 away from the extending direction of the container pick-and-place mechanism 1, and the upper surface of the secondary guide assembly 24 is lower than the supporting plate 212.

Since the container taken by the container taking and placing mechanism 1 can be placed on the support plates 212, in order to prevent the container from falling off the support plates 212, each support plate 212 is provided with a stop member 215, the stop members 215 extend in the X direction, and an accommodating space for temporarily storing the container is formed between the two stop members 215. Further, to facilitate the connection of the stopper 215 to the support plate 212, the stopper 215 includes a vertical plate portion and a lateral plate portion which are vertically connected, the lateral plate portion is located on a side of the vertical plate portion away from the other stopper 215, and the lateral plate portion is attached to and detachably connected to the support plate 212.

In order to improve the reliability and smoothness of the container placed on the bearing seat 21, the stopper 215 includes a baffle portion 2151 disposed along the X direction and a guide plate portion 2152 disposed at the front end of the baffle portion 2151, the guide plate portion 2152 is located at the inlet of the accommodating space, and the guide plate portion 2152 is inclined and extended gradually in the direction away from the baffle portion 2151 to the direction away from the other stopper 215, so that a flaring state is formed between the two guide plate portions 2152, which is beneficial for guiding the container into the accommodating space. Further, a rib portion 2153 is connected to one end of the guide plate portion 2152 away from the stopper portion 2151, and the rib portion 2153 extends in the Y direction in a direction away from the other stopper 215. Due to the arrangement of the flange portions 2153, the problem that the guide plate portions 2152 are deformed due to the fact that the container extrudes the front ends of the guide plate portions 2152 can be solved, and meanwhile, the edges of the stop pieces 215 can be prevented from scraping and rubbing the surfaces of the container.

As shown in fig. 3 and 4, the container pick and place mechanism 1 includes a fixed frame 13, an adjustment assembly 12, and a yoke unit 11. Two fork arm units 11 are arranged at intervals along the Y direction, and the two fork arm units 11 can respectively extend into two sides of the front end of the container to stir or clamp the container; the adjusting assembly 12 is connected between the two yoke units 11 and is used for adjusting the distance between the two yoke units 11; the adjusting assembly 12 is disposed on the fixing frame 13, and the fixing frame 13 is connected to the secondary telescopic driving mechanism 222.

According to the container taking and placing mechanism 1 and the container taking device provided by the embodiment, through the arrangement of the two fork arm units 11, the poking or clamping of the two opposite sides of the front end of the container can be realized, so that the depth of the fork arm units 11 extending into the side part of the container can be reduced, and the interference between the container taking device and other containers on the stock container when taking and placing the container is reduced; simultaneously, adjust the interval between two yoke units 11 through setting up adjusting part 12, can adjust the effort of yoke unit 11 to the container, improve the stability and the reliability of the effect to the container, can also adapt to the use of the container of different width, improve the use flexibility of getting the container device and the suitability under the different scenes.

In this embodiment, the X direction sets up perpendicularly with the Y direction for two yoke units 11's regulation direction is perpendicular with flexible direction, and in other embodiments, the X direction also can be certain contained angle with the Y direction, as long as can guarantee that the interval between two yoke units 11 is adjustable, and yoke unit 11 can the level flexible can.

In this embodiment, the fixing frame 13 includes a supporting base 131 horizontally disposed and a connecting bracket 132 connected below the supporting base 131, the supporting base 131 extends along the Y direction, and the adjusting assembly 12 is mounted on the supporting base 131; the connecting bracket 132 is connected to the secondary telescoping drive mechanism 222. Preferably, the connecting bracket 132 is connected to the middle of the supporting base 131 in the Y direction to improve the force and operational stability of the container pick and place mechanism 1.

Further, linking bridge 132 includes two mounting panels that relative and the interval set up along the Y direction, and two mounting panels are located the relative both sides of second grade hold-in range 2224 respectively, and every mounting panel all is connected with corresponding second grade slider 242, and the inboard of one of them mounting panel is provided with takes mounting 15, takes mounting 15 to be connected with second grade hold-in range 2224. This kind of linking bridge 132's structural setting can make the clearance between two linking bridge 132 can supply second grade hold-in range 2224 to pass, when guaranteeing container pick and place mechanism 1 operating stroke, avoids the interference between the structure, improves compact structure nature, simultaneously, also improves the convenience of being connected of mount 13 and second grade slider 242 and second grade hold-in range 2224.

Preferably, the support plate includes a horizontal support plate portion 1321 and a vertical support plate portion 1322, the two vertical support plate portions 1322 are disposed opposite to each other at an interval, one end of each of the two horizontal support plate portions 1321 is connected to a lower end of the vertical support plate portion 1322, the other end of each of the two horizontal support plate portions 1321 extends in a direction away from the other support plate, and the two horizontal support plate portions 1321 are detachably connected to the two secondary sliders 242, respectively. The structural arrangement of this kind of mounting panel easily realizes being connected of mounting panel and supporting seat 131 and second grade slider 242, and is favorable to raising the height of supporting seat 131, guarantees the contact position of yoke unit 11 and container. The horizontal support plate 1321 and the vertical support plate 1322 may be screwed, welded, or integrally formed.

In order to better realize the installation and positioning of the supporting plate on the supporting seat 131, a positioning groove is formed in the lower surface of the supporting seat 131, the positioning groove and the longitudinal supporting plate portion 1322 are arranged in a one-to-one correspondence manner, and the upper end of the longitudinal supporting plate portion 1322 is inserted into the positioning groove. The longitudinal plate portion 1322 and the support seat 131 are preferably connected by a screw, and specifically, the longitudinal plate portion 1322 and the support seat 131 are connected by a screw member penetrating through the support seat 131 and the upper end surface of the longitudinal plate portion 1322.

As shown in fig. 4 and 5, the adjusting assembly 12 includes an adjusting driving motor 121 and a screw nut assembly, the adjusting driving motor 121 is mounted on the supporting base 131, the screw nut assembly includes a screw 122 extending along the Y direction and nut bases 123 screwed and sleeved on the screw 122, the nut bases 123 are connected with the yoke unit 11 and are arranged in a one-to-one correspondence manner, and the screw 122 is rotatably mounted on the supporting base 131 through a rotating shaft base. The adjusting driving motor 121 is in transmission connection with the lead screw 122 to drive the lead screw 122 to rotate, so as to drive the nut seat 123 to move along the Y direction, i.e. to adjust the distance between the two yoke arm units 11.

To ensure that the yoke unit 11 moves only in the Y direction relative to the support base 131, the container pick and place mechanism 1 further comprises an adjustment guide assembly 14, and the adjustment guide assembly 14 guides the movement of the yoke unit 11 in the Y direction. The adjusting guide assembly 14 includes a Y-direction guide rail 141 arranged along the Y-direction and a Y-direction slider 142 slidably connected to the Y-direction guide rail 141, the Y-direction guide rail 141 is mounted on the support base 131, the Y-direction slider 142 is connected to the yoke unit 11, and the Y-direction slider 142 and the yoke unit 11 are disposed in one-to-one correspondence.

In this embodiment, the Y-guide rail 141 is disposed on the lower surface of the supporting base 131, and the two Y-sliders 142 are slidably connected to the same Y-guide rail 141, so that the Y-guide rail 141 is prevented from being disposed to interfere with the adjustment assembly 12. The upper end of the vertical support plate 1322 is provided with an avoiding groove with an opening at the upper end, and the Y-direction guide rail 141 penetrates through the avoiding groove.

Preferably, the adjusting driving motor 121 is a two-axis motor having two coaxial and opposite driving shafts, the screw nut assemblies are respectively disposed in one group on two opposite sides of the adjusting driving motor 121, the screw 122 in each group of screw nut assemblies is connected to one driving shaft, and the nut seat 123 in each group of screw nut assemblies is connected to the yoke unit 11 on the corresponding side. With the arrangement, the synchronous movement of the two fork arm units 11 can be realized, and the arrangement of a synchronous transmission component is avoided; meanwhile, the lead screw 122 and the driving shaft of the adjusting driving motor 121 are positioned on the same axis, so that the size of the adjusting assembly 12 in the X direction is reduced, and the structural compactness is improved.

In another embodiment, only one screw 122 may be provided, two opposite thread sections are respectively provided at two ends of the screw 122, the two nut seats 123 are respectively screwed on the two thread sections, and the adjustment driving motor 121 drives the screw 122 to rotate through the intermediate transmission assembly. Wherein, the intermediate transmission assembly can be but not limited to a belt transmission, a chain wheel and chain transmission and the like. In other embodiments, it is also possible that one yoke unit 11 is fixed, and the adjusting assembly 12 drives only the other yoke unit 11 to move relatively in the Y direction; alternatively, the adjustment assembly 12 may drive any of the yoke units 11 to move in the Y direction alone.

As shown in fig. 4 and 6, in the present embodiment, vertical ribs are provided on opposite sides of the front end of the container, the yoke unit 11 includes a vertically arranged arm plate 111 and a hook 112 arranged at the front end of the arm plate 111, the hook 112 protrudes from a surface of the arm plate 111 facing the other yoke unit 11, and the arm plate 111 is connected to the nut seat 123 and the Y-direction slider 142.

When a container needs to be taken, the telescopic driving mechanism 22 drives the container taking and placing mechanism 1 to extend to the right position, and the adjusting assembly 12 adjusts the distance between the two fork arm units 11, so that the two fork arm units 11 can respectively extend to two opposite sides of the front end of the container; when the fork arm units 11 extend to the rear part of the hook piece 112 positioned on the vertical convex rib, the adjusting assembly 12 adjusts the distance between the fork arm units 11, so that the two fork arm units 11 contact two side surfaces of the container; then, the container pick-and-place mechanism 1 is driven by the telescopic driving mechanism 22 to retract, so that the hook member 112 hooks on the vertical rib and pulls the container into the accommodating space. When the fork arm units 11 are required to be separated from the container, the gap between the two fork arm units 11 is increased through the adjusting assembly 12, so that the fork arm units 11 are separated from the vertical convex ribs; then, the container pick-and-place mechanism 1 is retracted by the telescopic driving mechanism 22, so that the fork arm units 11 are withdrawn from the two opposite sides of the container.

In order to improve the convenience of connecting the nut holder 123 to the yoke unit 11, the nut holder 123 preferably includes a cylindrical portion 1231 and a fixing plate portion 1232 disposed at one end of the cylindrical portion 1231, a threaded hole coaxial with the cylindrical portion 1231 is formed in the nut holder 123, and the nut holder 123 is screwed through the screw shaft 122 via the threaded hole. The yoke unit 11 includes a claw base 113, the claw base 113 is connected to the rear end of the arm plate 111, and the claw base 113 is provided with a positioning hole 1131, the cylindrical portion 1231 is inserted into the positioning hole 1131 and is in clearance fit with the positioning hole 1131, and the fixing plate portion 1232 is attached to and detachably connected with the claw base 113.

Preferably, a notch 1132 communicating with the positioning hole 1131 is formed in one surface of the claw seat 113 away from the arm plate 111, the notch 1132 is provided, so that the notch 1132 and the positioning hole 1131 form a C-shaped hole together, and the cylindrical portion 1231 can be squeezed into the positioning hole 1131 through the notch 1322, so that the convenience in mounting and dismounting the yoke unit 11 and the nut seat 123 is improved.

Furthermore, a horizontal sliding plate part 114 is connected to the rear end of the arm plate 111, the sliding plate part 114 is positioned below the claw seat 113, and the sliding plate part 114 extends into the lower part of the Y-direction slider 142 and is detachably connected with the Y-direction slider 142.

The yoke unit 11 further includes a limiting plate 115, the limiting plate 115 is perpendicular to the arm plate 111, and is opposite to the hook 112 and spaced from the hook, and the limiting plate 115 is located on one side of the arm plate 111 facing to another yoke unit 11. The limiting plate 115 is used to abut against the front end surface of the container, so that the container pick-and-place mechanism 1 can push the container located in the accommodating space out of the accommodating space, and can also be used to limit the depth of the yoke unit 11 extending into the side of the container.

Preferably, the claw seat 113 and the slide plate portion 114 are connected to the stopper plate 115 to enhance the overall structural strength and rigidity of the yoke unit 11. In the embodiment, the arm plate 111, the hook 112, the claw seat 113, the sliding plate 114 and the limiting plate 115 are integrally formed, which is beneficial to simplifying the structure of the yoke unit 11, reducing the processing difficulty of the yoke unit 11 and improving the structural strength of the yoke unit 11.

The carrying robot provided by the embodiment can improve the carrying stability and reliability of the containers by carrying the containers by adopting the container taking device, can carry the containers with different types and widths, and improves the universality and the use flexibility of the carrying robot.

In this embodiment, transfer robot still includes a plurality of temporary storage baffles that set up along the direction of height interval of grudging post, and every temporary storage baffle all is connected with the support column is perpendicular, and every temporary storage baffle homoenergetic is used for a container of keeping in. With this arrangement, the transfer robot can transfer a plurality of containers at one time, and the efficiency of container transfer can be improved.

Further, every baffle of keeping in all can dismantle with the grudging post and be connected to can set up the baffle of keeping in of reasonable quantity on the grudging post according to the demand of the height of stock container, the height of grudging post and transport, improve transfer robot's use flexibility and commonality, make the baffle of keeping in can carry out modularization processing and setting, improve the processing and the use flexibility of the baffle of keeping in, conveniently keep in processing, equipment and the transport of baffle. The specific structure of the temporary storage partition board can refer to the prior art, which is not the focus of the present invention and will not be described herein.

In order to avoid interference between the container taking device and the temporary storage partition plate, the container taking device and the temporary storage partition plate are respectively positioned on two opposite sides of the vertical frame, and the container taking device is connected with the lifting frame through the rotating mechanism, so that the container taking device rotates around a vertical axis, the opening direction of the accommodating space is changed, and the container taking and placing mechanism 1 can be driven by the telescopic mechanism 2 to realize transfer of the container between the accommodating space and the temporary storage partition plate. The arrangement of the rotating mechanism can refer to the prior art, which is not the focus of the present invention and is not described herein again.

The embodiment also provides a warehouse logistics system, which comprises the carrying robot. By adopting the carrying robot to carry the containers, the carrying of the same carrying robot to the containers with different sizes can be realized, the applicability of the carrying robot is improved, and the container carrying cost of the warehouse logistics system is reduced.

Example two

The present embodiment provides a container taking device and a transfer robot, and the structures of the container taking device and the transfer robot provided in the present embodiment are substantially the same as those of the first embodiment, and only some of the structures are different, and the structure of the first embodiment is not described again in the present embodiment.

As shown in fig. 7 and 8, in the present embodiment, the telescoping mechanism 2 is also a two-stage telescoping mechanism, but the specific structure is different from that of the first embodiment. In this embodiment, the telescopic mechanism 2 includes a bearing seat 21, a first limit structure, a second limit structure, a telescopic driving mechanism 22, and an elastic member 25. The telescopic driving mechanism 22 is used for driving the container taking and placing mechanism 1 to slide along the X direction relative to the mounting base 3; the first limiting structure is used for limiting the extending limit position of the bearing seat 21 relative to the mounting seat 3; the second limiting structure is used for limiting the extending limit position of the bearing seat 21 relative to the mounting seat 3; the elastic member 25 is connected between the carriage 21 and the mounting base 3, and the elastic member 25 always applies a force to the carriage 21 in a direction toward the container pick and place mechanism 1.

In the telescopic mechanism 2, when the container taking and placing mechanism 1 is in a contracted state (initial state), the container taking and placing mechanism 1 is positioned at the rear end of the bearing seat 21, and the relative position of the container taking and placing mechanism 1 and the bearing seat 21 is limited by the first limiting structure, at this time, even if the elastic piece 25 applies a force in the extending direction to the bearing seat 21, the first limiting structure limits the container taking and placing mechanism 1 to move backwards relative to the bearing seat 21 (namely, limits the bearing seat 21 to extend forwards relative to the container taking and placing mechanism 1), and the bearing seat 21 is fixed relative to the container taking and placing mechanism 1; when the container picking and placing mechanism 1 needs to extend, the telescopic driving mechanism 22 acts to drive the container picking and placing mechanism 1 to extend, and meanwhile, the bearing seat 21 synchronously extends forwards relative to the mounting seat 3 under the elastic acting force of the elastic piece 25, namely when the container picking and placing mechanism 1 begins to extend, the bearing seat 21 and the container picking and placing mechanism 1 synchronously extend relative to the mounting seat 3; after the bearing seat 21 extends out of the mounting seat 3 by a preset length, the bearing seat 21 cannot extend out of the mounting seat 3 under the limiting action of the second limiting structure, that is, the bearing seat 21 is fixed relative to the mounting seat 3, and at this time, the container pick-and-place mechanism 1 continues to extend out forward under the action of the telescopic driving mechanism 22 until the container pick-and-place mechanism 1 moves to the front end of the bearing seat 21.

When the container taking and placing device needs to be converted from an extending state to a contracting state, in an initial state that the container taking and placing mechanism 1 is contracted, the bearing seat 21 and the mounting seat 3 are relatively fixed, and the container taking and placing mechanism 1 is driven by the telescopic driving mechanism 22 to be contracted backwards; when the container pick-and-place mechanism 1 moves to the rear end of the bearing seat 21, the container pick-and-place mechanism 1 and the bearing seat 21 are kept relatively fixed due to the limiting effect of the first limiting structure, so that the container pick-and-place mechanism 1 continues to retract and move to drive the bearing seat 21 to move backwards relative to the mounting seat 3 until the bearing seat 21 and the container pick-and-place mechanism 1 return to the initial positions, that is, the container pick-and-place device integrally returns to the contracted state.

The telescopic mechanism 22 provided by the embodiment can better control the extending length of the bearing seat 21, simplify the structure of the telescopic driving mechanism 22 and reduce the cost on the basis of ensuring that the container taking and placing mechanism 1 can extend in place; meanwhile, the transmission structure of the telescopic driving mechanism 22 is basically located between the bearing seat 21 and the mounting seat 3, so that the upper surface of the bearing seat 21 can be arranged in a plane, the contact area between the container and the bearing seat 21 is effectively increased, the bottom of the container is prevented from being scratched by the container taking device, and the safety and the reliability of taking and placing the container are improved.

In this embodiment, the elastic member 25 is a spring, and the spring may be always in a compressed state or always in a stretched state, and the state of the spring is specifically set according to the structure of the connection of the two ends of the spring, which is not limited in the present invention. In other embodiments, the elastic member 25 may be an air spring, an air cylinder, an oil cylinder, or the like that can elastically expand and contract.

As shown in fig. 9 and 10, the telescopic driving mechanism 22 includes a telescopic driving motor 223, a pulley assembly 224, and a transmission belt 225. Specifically, the band pulley subassembly includes a plurality of band pulley, and a plurality of band pulley is including moving band pulley and a plurality of fixed band pulley, and the moving band pulley rotates to be installed in bearing the lower surface of seat 21, and fixed band pulley rotates to be installed on mount pad 3. The movable belt wheels are respectively arranged at the front end and the rear end of the bearing seat 21, and the telescopic driving motor 223 is coaxially connected with one of the belt wheels, including a fixed belt wheel and a movable belt wheel; the transmission belt 225 is sequentially wound around two moving pulleys and a plurality of fixed pulleys, the two moving pulleys are adjacently arranged in the circumferential direction of the transmission belt 225, the two pulleys adjacently arranged in the circumferential direction are respectively positioned at the inner side and the outer side of the transmission belt 225, and the transmission belt 225 between at least one moving pulley and one fixed pulley adjacently arranged in the circumferential direction is arranged in the X direction and is connected with the container pick-and-place mechanism 1.

Specifically, in the present embodiment, the moving pulleys include a first moving pulley 2241 provided at the front end of the carrier base 21 and a second moving pulley 2242 provided at the rear end of the carrier base 21. Fixed band pulley is including setting up the first fixed band pulley 2243 at the mount pad 3 rear end, and first fixed band pulley 2243 and first removal band pulley 2241 are relative and the interval sets up in the X direction. The fixed pulley still includes the second fixed pulley 2244 relative and the interval that sets up with second removal pulley 1342 and third fixed pulley 2245 and fourth fixed pulley 2246 that set up along the X direction interval, first fixed pulley 2243, second fixed pulley 1343 and third fixed pulley 2245 all set up at the rear end of mount pad 3 and set up at the interval in the Y direction, fourth fixed pulley 2246 sets up at the middle part region of mount pad 3 in the X direction, and first removal pulley 2241, fourth fixed pulley 2246 and second removal pulley 2242 set gradually in the X direction.

As shown in fig. 10 and 11, the driving belt 225 is connected to the fixing frame 13 of the container pick-and-place mechanism 1 by a belt connecting member 26, the belt connecting member 26 includes a belt clamping portion 261 for clamping and fixing the driving belt 225 and a connecting seat portion 262 connected to an upper end of the belt clamping portion 261, and the connecting seat portion 262 is connected to the fixing frame 13 after passing upward through the carrying seat 21.

Further, the belt clamping portion 261 is provided with a clamping groove for clamping the transmission belt 225, a corresponding portion of the transmission belt 225 is located in the clamping groove, and an elastic gasket 263 is arranged between a groove wall on one side of the clamping groove and the transmission belt 225, so as to improve the clamping degree of the transmission belt 225. Preferably, the transmission belt 225 is a single-sided toothed belt, and the groove wall of the clamping groove without the elastic pad 263 is provided with a groove corresponding to the belt teeth, so as to further improve the tightness of the connection of the belt clamping part 261 and the transmission belt 225.

The attachment seat portion 262 is preferably in an upwardly open U-shaped configuration, i.e., it includes a horizontally disposed bottom arm portion 2621 and two side arm portions 2622 spaced apart in the Y-direction, the bottom arm portion 2621 being connected to the belt clamping portion 261, and the two side arm portions 2622 being connected to the fixing frame 13, respectively.

As shown in fig. 11 and 12, in the present embodiment, the carrying seat 21 includes a supporting plate 212 horizontally disposed to simplify the structure of the carrying seat 21 and ensure that the upper surface of the carrying seat 21 is a complete plane. The supporting plate 212 is provided with two through holes 2121 corresponding to the two side arm portions 2622, the through holes 2121 extend along the X direction, the two through holes 2121 are spaced apart along the Y direction, and the two side arm portions 2622 respectively pass through the two through holes 2121 and can slide in the corresponding through holes 2121.

The front end of the supporting plate 212 is bent downward to form a front baffle 214, and the lower end of the front baffle 214 is flush with or slightly higher than the upper surface of the mounting base 3. The front baffle plate 214 is arranged and used for abutting against the layer plate of the inventory container when the bearing seat extends forwards; in addition, the gap between the supporting plate 212 and the mounting seat 3 can be shielded, so that the appearance is more attractive, and external impurities are prevented from entering between the bearing seat 12 and the mounting seat 3 from the front end of the bearing seat 12.

Further, the rear end of the supporting plate 212 is provided with a limiting portion 218, the rear end of the mounting base 3 is provided with a limiting block, and the limiting portion 218 can be abutted against the limiting block to limit the limit position of the bearing base 21 which is retracted backwards relative to the mounting base 3. Meanwhile, the limiting part 218 protrudes out of the supporting plate 212, and the limiting part 218 can be abutted against the fixing frame 13 of the container pick-and-place mechanism 1 to limit the limit position of the container pick-and-place mechanism 1 relative to the contraction of the bearing seat 21, so that the operation safety and reliability of the container pick-and-place device are ensured. That is, the position-limiting portion 218 and the fixing frame 13 cooperate to form a first position-limiting structure.

It should be understood that, in other embodiments, the first limiting structure may also adopt other structural forms as long as the first limiting structure can limit the position of the container pick-and-place mechanism 1 relative to the limit position of the carrier seat 21, which is not limited in the present invention, and meanwhile, the second limiting structure may also be arranged with reference to the limiting structure in the prior art, which is not limited in the present invention.

The rear end of the supporting plate 212 is protruded with an extending plate portion, the periphery of the extending plate portion is protruded with a limiting portion 218, when the container taking device is in a contracted state, the extending plate portion is located at one side of the telescopic driving motor 223 along the Y direction, so that the size of the bearing seat 21 along the X direction can be increased while avoiding structural interference, and the stroke of the container taking and placing mechanism 1 can be increased.

The two opposite sides of the adapter plate along the Y direction are provided with the stoppers 215, and the structure of the stoppers 215 can be set with reference to the first embodiment, which is not described herein again.

More preferably, the carrier base 21 further comprises a middle plate 217 disposed below the adapter plate, the middle plate 217 comprises a partition portion 2171 horizontally disposed, the moving pulleys are rotatably mounted on the partition portion 2171, and the partition portion 2171 is detachably connected to the support plate 212. The partition portion 2171 is opened with an escape opening 2173 corresponding to the connection seat portion 261, the escape opening 2173 extends in the X direction, and the mounting seat portions 261 each extend upward through the escape opening 2173. The arrangement of the middle plate 217 can simplify the structure of the bearing seat 21, and is convenient to disassemble and assemble.

Furthermore, the support bars 216 are detachably connected to the lower surface of the middle plate 217, one support bar 261 is arranged at each of two edges of the avoiding opening 2173 in the Y direction, the support bars 216 extend to the lower side of the avoiding opening 2173, the two support bars 216 are arranged at intervals, and the bottom arm 2621 is slidably arranged on the support bars 216. The setting of support bar 261 can play the setting of sliding support connection seat portion 261, improves the removal stationarity and the stability that sets up of taking connecting piece 26.

Further, the side baffle portion 2172 is bent downward on both sides of the baffle portion 2171 in the Y direction, and the side baffle portion 2172 has a slight gap from the upper surface of the mount base 3. The side baffle 2172 provides shielding for the belt 225 and some of the pulleys, reduces the probability of dust entering the telescopic drive mechanism 22, and improves the operational safety and reliability of the telescopic drive mechanism 22.

As shown in fig. 13, the structure of the container pick and place mechanism 1 is substantially the same as that of the first embodiment, and only the difference exists in the structure of the yoke unit 11. Specifically, the yoke unit 11 includes arm plates 111, the arm plates 111 are shaped to match the contour of the contact with the container, such as plate-shaped structures, and two arm plates 111 are disposed opposite to each other and spaced apart from each other, and a surface of each arm plate 111 facing the other arm plate 111 is a friction surface. That is, the grabbing mechanism that this embodiment provided is applicable to the side and does not have the container of vertical protruding muscle, like the carton structure, application scope is wide, can avoid causing the damage to the container, and this kind of get that gets structure gets the container device and also can realize getting of the container to different dimensions and specification getting.

In order to ensure the grabbing stability of the arm plates 111 to the container, one surface of each arm plate 111 facing the other fork arm unit 11 is provided with a friction structure, the friction structure may be a rubber pad, and may also be a friction bump, a friction raised strip, or the like.

In this embodiment, the claw seat 113 is detachably connected to the arm plate 111, the claw seat 113 is rotatably sleeved on the nut seat 123 and is connected to the Y-direction slider 142, the limiting plate 115 is disposed at the front end of the claw seat 113, and the limiting plate 115 and the claw seat 113 may be integrally formed or detachably connected.

In this embodiment, the Y-guide rail 141 is disposed on the upper surface of the supporting base 131, and the upper surface of the supporting base 131 is provided with a receiving groove for receiving the Y-guide rail 141, so as to prevent the Y-guide rail 141 from interfering with the adjustment driving motor 121. However, it is understood that the Y-guide 141 may be disposed on the lower surface of the supporting base 131, and the embodiment is not limited thereto.

Further, in the present embodiment, the connecting bracket 132 includes a base portion 1323 located below the supporting seat 131 and an extending seat portion 1324 connected to one side of the base portion 1323, the base portion 1323 is connected to the supporting seat 131 by welding or screwing; the extension seat portion 1324 protrudes rearward of the support seat 131 and is connected to the two side arm portions 2622. The extension seat portion 1324 is configured to abut against the stopper portion 128 to prevent other structures on the container pick and place mechanism 1 from colliding with the rear end of the mounting seat 3, thereby improving the operational safety and reliability of the container pick and place mechanism 1 and the container pick and place device.

The embodiment also provides a warehouse logistics system, which comprises the carrying robot.

EXAMPLE III

The present embodiment provides a container taking device and a transfer robot, and the container taking device provided in the present embodiment is basically the same as the first embodiment, and only the structure of the yoke unit 11 is different, and the structure the same as the first embodiment is not described again in the present embodiment.

In this embodiment, a hook is disposed at the front end of the arm plate 111, the hook is rotatably connected to the arm plate 111, and a rotary driving member is disposed on the arm plate 111, and the rotary driving member is connected to the hook for driving the hook to rotate, so that the hook selectively protrudes out of one side of the arm plate 111 facing the other yoke unit 11.

That is, in the yoke unit 11 provided in this embodiment, when the hook 111 protrudes from one surface of the arm plate 111 facing to another yoke unit 11, the hook can be used to push the vertical ribs or the groove walls on both sides of the front end of the container. When the hook 111 does not protrude from the side of the arm plate 111 facing the other yoke unit 11, the yoke unit 11 can be more easily disengaged from the container, that is, when the yoke unit 11 is butted against or separated from the container, it is not necessary to adjust the distance between the two yoke units 11.

That is, the container taking device and the transfer robot provided by the embodiment can realize taking, placing and transferring of containers with different sizes, and can reduce the difficulty in butting and separating the fork arm unit 11 and the container.

Example four

The present embodiment provides a container taking device and a transfer robot, and the container taking device and the transfer robot provided in the present embodiment are based on structural improvements of any one of the container taking devices in the first to third embodiments, and the same contents as those in the above embodiments are not repeated in this embodiment.

In this embodiment, the container taking device includes a detecting device for detecting the front end width of the container to be taken and placed, and the adjusting component adjusts the distance between the two fork arm units 11 according to the front end width.

The detection device comprises a first detection device which is arranged on the fixed frame 13 and can collect the container size of the container to be carried so as to adjust the box taking size of the container taking and placing mechanism 1 based on the container size; the actual position of the container to be handled may also be acquired to adjust the pick-up position of the handling robot based on the actual position.

The detection device further comprises a second detection device, the second detection device is installed on the fixed seat, the position of the arm plate can be collected in real time when the container taking and placing mechanism stretches, and whether the bearing seat shrinks to the position of the bearing seat under the condition that the container taking and placing mechanism does not work can be judged based on the collected position of the arm plate. Based on the above determination, it is possible to avoid the occurrence of situations such as interference between the container pick and place mechanism and the stock container due to an erroneous operation of the transfer robot.

The container pick-and-place mechanism can utilize the detection device arranged on the container pick-and-place mechanism to acquire the target container size of the target container, and at the moment, the box pick-and-place mechanism can only adjust the box pick-and-place size of the target container at the box pick-and-place position of the target container. Specifically, the transfer robot is configured to adjust the distance between the two fork arm units to match the size of the target container based on the size of the target container collected by the detection device after the transfer robot runs to the container taking position of the target container to be transferred, and acquire and transfer the target container by using the adjusted container taking and placing mechanism. The detection device may be a sensor assembly capable of detecting a distance, such as a vision sensor or a depth sensor, and the specific sensor type is not specifically limited herein.

In one possible embodiment, in the case where the controller in the transfer robot is capable of providing the transfer robot with the target container size of the target container, the transfer robot may first adjust the container pick and place mechanism using the target container size provided by the container transfer command, and then perform the verification process on the initially adjusted container pick and place mechanism using the detection device. Specifically, the transfer robot is configured to be capable of adjusting the spacing between the two yoke units to match a target container size in response to a container transfer command and based on the target container size in the container transfer command; after the container is moved to the box taking position of the target container to be conveyed, whether the size of the target container is matched with the actual size of the container is verified based on the actual size of the container of the target container collected by the detection device; if the container is matched with the target container, the adjusted container taking and placing mechanism is used for obtaining and carrying the target container; and if the actual sizes of the containers are not matched, adjusting the box taking size (namely the distance between the two fork arm units) of the container taking and placing mechanism by using the actual size of the container, and acquiring and carrying the target container by using the adjusted container taking and placing mechanism under the condition that the box taking size of the container taking and placing mechanism is determined to be matched with the actual size of the container.

In combination with the actual size of the container detected by the target container size and the first detection device in real time, the carrying robot can adjust the size of the box between the two fork arm units to be matched with the minimum size capable of obtaining the target container, so that the position of the target container in the fork arm units can be kept when the robot embraces the target container, the abnormal states such as deviation, rotation and inclination are avoided, and the adaptability of the carrying robot to container storage scenes with various container sizes is improved to the maximum extent. Meanwhile, the distance between the containers stored on the inventory container can be adjusted to be the minimum distance precision that the carrying robot can obtain the target container by the mode that the carrying robot actively adjusts the size of the container taking and placing mechanism to take the container, the storage density of the containers can be improved, and the waste of storage space is further reduced.

In another possible embodiment, in the case where only the container pick-and-place position of the target container is included in the container handling instruction, the target container size of the target container may be acquired by using the first detection device included in the container pick-and-place mechanism; when the carrying robot runs to the box taking position of the target container, the box taking size of the container taking and placing mechanism is adjusted to be matched with the size of the target container based on the size of the target container collected by the first detection device. Specifically, based on the size of the target container acquired by the first detection device, the box taking size between the two fork arm units is adjusted to be matched with the size of the target container.

Here, after the transfer robot moves to the box taking position of the target container, the first detection device may further collect an actual position of the target container to be transferred on the rack, readjust the box taking position of the transfer robot based on the actual position, and acquire the target container at the box taking position after readjustment. For example, the actual position of the target container to be transported on the inventory container may be acquired based on the first detection device, the transfer robot is controlled to move to the container taking position, and the transfer robot controls the fork assembly to stretch and retract at the container taking position, so that the target container placed on the shelf in an offset manner can be acquired.

It is to be noted that the foregoing description is only exemplary of the utility model and that the principles of the technology may be employed. Those skilled in the art will appreciate that the present invention is not limited to the particular embodiments described herein, and that various obvious changes, rearrangements and substitutions will now be apparent to those skilled in the art without departing from the scope of the utility model. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. The utility model provides a get container device, its characterized in that, get container device and include mount pad (3) and can set up along X direction telescopically place mechanism (1) is got to container on mount pad (3), mechanism (1) is got to container includes two yoke units (11) that set up along Y direction interval, two relative both sides that yoke unit (11) can stretch into the container front end respectively are in order to stir or centre gripping the container, two interval between yoke unit (11) can be adjusted, the X direction with the equal level setting in Y direction just becomes certain contained angle each other.

2. The device for taking out containers as claimed in claim 1, wherein the yoke unit (11) comprises an arm plate (111) and a hook member (112) arranged at the front end of the arm plate (111), the hook member (112) can protrude from one side of the arm plate (111) facing the other yoke unit (11) to hook a vertical rib or groove wall of the side of the front end of the container.

3. The device for removing containers according to claim 2, characterized in that said hook (112) is rotatably connected to said arm (111) and said yoke unit (11) comprises a rotary drive mounted on said arm (111) and adapted to drive said hook (112) in rotation with respect to said arm (111) so as to selectively project said hook (112) beyond a face of said arm (111) facing the other yoke unit (11).

4. Device according to claim 2, characterized in that said hook (112) is integral or fixedly connected to said armplate (111).

5. Device according to claim 1, characterized in that said yoke unit (11) comprises armplates (111), said armplates (111) being perpendicular to said Y-direction, the face of each of said armplates (111) facing the other armplate (111) being a friction face.

6. The device for taking containers according to claim 1, characterized in that the yoke unit (11) comprises a vertically connected arm plate (111) and a limiting plate (115), the arm plates (111) of the two yoke units (11) are arranged opposite and spaced apart, the arm plates (111) are used for clamping or poking the containers, the limiting plate (115) is located on one side of the arm plate (111) facing the other yoke unit (11), the limiting plate (115) is connected to the rear end of the arm plate (111), and the limiting plate (115) is used for pushing the containers to move.

7. The device for picking and placing containers according to claim 1, characterized in that the mechanism (1) for picking and placing containers further comprises:

a fixing frame (13) which is arranged on the mounting seat (3) in a sliding manner along the X direction;

the adjusting assembly (12) is arranged on the fixing frame (13), and the adjusting assembly (12) is used for driving at least one fork arm unit (11) to move along the Y direction so as to adjust the distance between the two fork arm units (11).

8. The device for taking containers according to claim 7, characterized in that the adjustment assembly (12) is connected to both fork arm units (11) and in that the adjustment assembly (12) is adapted to drive the fork arm units (11) synchronously towards and away from each other.

9. The container removing device according to claim 7, wherein the adjusting assembly (12) comprises:

the adjusting driving motor (121) is arranged on the fixed frame (13);

the lead screw (122) is in transmission connection with the adjusting driving motor (121) and extends along the Y direction, and the lead screw (122) is rotatably installed on the fixed frame (13);

the nut seats (123) are screwed and sleeved on the lead screw (122) and connected with the fork arm units (11), and the nut seats (123) are arranged in one-to-one correspondence with the fork arm units (11).

10. The device for removing containers according to claim 9, characterized in that the adjustment drive motor (121) has two coaxial and opposite drive shafts, each of which is coaxially connected with a lead screw (122), each lead screw (122) is screwed and sleeved with a nut seat (123), and the screw threads of the two lead screws (122) are in opposite directions.

11. The device according to claim 7, characterized in that it comprises a width detection device for detecting the front width of the container to be handled, said adjustment assembly adjusting the spacing between the two fork arm units (11) according to said front width.

12. The device for removing containers according to claim 7, characterized in that said holder (13) comprises a support (131) extending in the Y direction and a connecting bracket (132) arranged below said support (131), said connecting bracket (132) being slidably connected to said mounting seat (3), said adjusting assembly (12) being removably arranged on said support (131).

13. The container pick and place device according to any one of claims 1-12, characterised in that the container pick and place mechanism (1) further comprises an adjustment guide assembly (14), the adjustment guide assembly (14) being adapted to guide the movement of the yoke unit (11) in the Y-direction.

14. The container removing device according to any of the claims 1-12, further comprising a carrying seat (21) arranged above the mounting seat (3) and having a receiving space for receiving the container, wherein the container removing and placing mechanism (1) is slidably arranged on the carrying seat (21) along the X-direction for pulling the container into or pushing the container out of the receiving space.

15. Device according to claim 14, characterized in that said carriage (21) is reciprocally slidable in said X direction with respect to said mounting (3).

16. The container picking and placing device according to claim 15, further comprising a telescopic driving mechanism (22), wherein the telescopic driving mechanism (22) comprises a primary telescopic driving mechanism (221) and a secondary telescopic driving mechanism (222) which are separately arranged, the primary telescopic driving mechanism (221) is used for driving the carrying seat (21) to telescope along the X direction relative to the mounting seat (3), and the secondary telescopic driving mechanism (222) is used for driving the container picking and placing mechanism (1) to telescope along the X direction relative to the carrying seat (21).

17. The container removing device according to claim 16, wherein the carrying seat (21) comprises a connecting bottom plate (211) horizontally arranged and supporting plates (212) connected to two sides of the connecting bottom plate (211) along the Y direction, the supporting plates (212) horizontally extend along the direction far away from the connecting bottom plate (211), the primary telescopic driving mechanism (221) is arranged between the mounting seat (3) and the supporting plates (212), and the secondary telescopic driving mechanism (222) is arranged on the connecting bottom plate (211).

18. The container removing device according to claim 17, wherein the support plate (212) is higher than the connection bottom plate (211).

19. The device according to claim 15, characterized in that it further comprises a telescopic driving mechanism (22), said telescopic driving mechanism (22) being adapted to drive said container pick and place mechanism (1) to slide in said X direction with respect to said mounting (3);

the container removing device further comprises:

the first limiting structure is used for limiting the limit position of the container taking and placing mechanism (1) relative to the contraction of the bearing seat (21);

the second limiting structure is used for limiting the extending limit position of the bearing seat (21) relative to the mounting seat (3);

the elastic piece (25) is connected between the bearing seat (21) and the mounting seat (3), and the elastic piece (25) always applies acting force towards the extending direction of the container taking and placing mechanism (1) to the bearing seat (21).

20. Container-fetching device according to claim 19, in which the telescopic drive mechanism (22) comprises:

a telescopic driving motor (223);

the belt wheel assembly comprises a plurality of fixed belt wheels rotatably mounted on the mounting seat (3) and a movable belt wheel rotatably mounted on the lower surface of the bearing seat (21), the movable belt wheel is respectively arranged at the front end and the rear end of the bearing seat (21), and the telescopic driving motor (223) is in transmission connection with one of the belt wheels;

the transmission belt (225) is sequentially wound on the two moving belt wheels and the plurality of fixed belt wheels, the two moving belt wheels are adjacently arranged in the circumferential direction of the transmission belt (225), the two belt wheels adjacently arranged in the circumferential direction are respectively positioned on the inner side and the outer side of the transmission belt (225), and the transmission belt (225) between at least one moving belt wheel and one fixed belt wheel adjacently arranged in the circumferential direction is arranged in the X direction and is connected with the container taking and placing mechanism (1).

21. The container removing apparatus according to claim 14, wherein the carrying seat (21) comprises a support plate (212) and a front baffle (214) which are vertically connected, the support plate (122) is horizontally disposed and is used for supporting the container, and the front baffle (214) is connected to a front end of the support plate (122) and extends downward.

22. A transfer robot comprising the container pickup apparatus according to any one of claims 1 to 21, further comprising a moving chassis and a stand provided on the moving chassis, wherein the container pickup apparatus is provided on the stand so as to be able to be lifted.

23. The transfer robot of claim 22, further comprising a plurality of temporary storage partitions provided at intervals in a height direction of the vertical frame, the temporary storage partitions being capable of temporarily storing the containers thereon, wherein the container pickup device is capable of transferring the containers between the temporary storage partitions and the stock containers.

24. The transfer robot of claim 23, further comprising a lifting mechanism, wherein the lifting mechanism comprises a lifting driving assembly and a lifting frame, the lifting driving assembly is installed between the lifting frame and the vertical frame, and the lifting driving assembly is used for driving the lifting frame to lift in a vertical direction;

the lifting frame and the container taking device are both positioned on one side, away from the temporary storage partition plate, of the vertical frame, and the mounting seat (3) can be rotatably mounted on the lifting frame around a vertical axis.

25. A warehouse logistics system, characterized by comprising the transfer robot of any one of claims 22-24.