CN216945158U - Clamping mechanism, goods taking device and transfer robot - Google Patents
Clamping mechanism, goods taking device and transfer robot Download PDFInfo
- Publication number
- CN216945158U CN216945158U CN202123317291.1U CN202123317291U CN216945158U CN 216945158 U CN216945158 U CN 216945158U CN 202123317291 U CN202123317291 U CN 202123317291U CN 216945158 U CN216945158 U CN 216945158U
- Authority
- CN
- China
- Prior art keywords
- guide
- arm
- plate
- sliding
- clamping
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The embodiment of the disclosure relates to a clamping mechanism, a goods taking device and a carrying robot, and belongs to the technical field of intelligent warehousing logistics. The disclosed embodiment aims to solve the technical problem that the clamping arm is easy to separate from a container in the related art. The clamping mechanism comprises an installation plate, two sliding pieces, two clamping pieces and two adjusting plates. The two sliding pieces are both connected with the mounting plate in a sliding manner; each clamping piece comprises a connecting arm and a protruding arm, the first end of each connecting arm is rotatably connected with the corresponding sliding piece along the third direction, and the second end of each connecting arm is connected with the first end of the protruding arm. Each adjusting plate is rotatably connected with the second end of the corresponding projecting arm along the third direction. In the process that the container is pulled onto the tray by the clamping mechanism, the two connecting arms rotate relative to the sliding part, so that the two adjusting plates are close to each other. The clamping mechanism can increase the clamping force of the adjusting plate on the container, and prevents the container from being separated from the adjusting plate.
Description
Technical Field
The embodiment of the disclosure belongs to the technical field of intelligent logistics, and particularly relates to a clamping mechanism, a goods taking device and a carrying robot.
Background
In the intelligent logistics system, the carrying robot is the main equipment capable of realizing automatic carrying operation, and heavy physical labor of human can be reduced through the carrying robot. The transfer robot generally includes a movable chassis, a lifting device and a goods taking device for taking and placing the work bin, wherein the lifting device is mounted on the movable chassis, and the goods taking device is mounted on the lifting device.
In the related art, the goods taking device generally includes a clamping mechanism and a tray, the clamping mechanism has two telescopic clamping arms, and the two clamping arms are symmetrically arranged on two sides of the tray. When the goods are taken, the two clamping arms extend into two sides of the goods box to be taken, the goods box is clamped, and then the goods box is pulled to the tray from the goods shelf by the two clamping arms.
However, during the process of pulling the container on the pallet from the pallet onto the pallet, the pick arm is easily disengaged from the container so that the pick device cannot perform the pick function.
SUMMERY OF THE UTILITY MODEL
In view of this, the present disclosure provides a clamping mechanism, a cargo picking device and a transfer robot to solve the technical problem that a clamping arm is easily separated from a cargo box.
The clamping mechanism comprises a mounting plate, two sliding parts, two clamping parts and two adjusting plates which are arranged oppositely, wherein the mounting plate is arranged above a tray in a sliding manner along a first direction parallel to the tray; the two sliding pieces are connected with the mounting plate in a sliding mode along a second direction; the second direction is parallel to the tray and is vertical to the first direction; each clamping piece comprises a connecting arm and an extending arm, the first end of each connecting arm is rotatably connected with the corresponding sliding piece along a third direction through a first rotating shaft, the third direction is vertical to the tray, and the second end of each connecting arm is connected with the first end of the extending arm; the two adjusting plates correspond to the two extending arms one by one; each adjusting plate is rotatably connected with the second end of the corresponding extending arm along the third direction through a second rotating shaft; and in the process that the container is pulled onto the pallet by the clamping mechanism, the two connecting arms rotate relative to the sliding part, so that the two adjusting plates are close to each other.
According to the clamping mechanism disclosed by the embodiment of the disclosure, when goods are taken from a goods shelf and the like, the two extending arms are respectively positioned on two sides of the goods box, so that the two adjusting plates are respectively positioned on two sides of the goods box; the two sliding parts of the clamping mechanism slide oppositely, and drive the two adjusting plates to move oppositely through the connecting arm and the extending arm so as to clamp the container; the clamping mechanism moves in the direction away from the goods shelf so as to pull the goods box to the pallet; during the process that the container is pulled to the pallet by the clamping mechanism, friction force is generated between the container and the goods shelf or the pallet, so that the container is subjected to force opposite to the goods taking direction, and the adjusting plate is also subjected to force which is applied to the container and opposite to the goods taking direction. Because the adjusting plate is connected with the extending arm in a rotating mode through the second rotating shaft, and the connecting arm is connected with the sliding part in a rotating mode through the first rotating shaft, the two connecting arms rotate relative to the sliding part, so that the two adjusting plates are close to each other to clamp the container, the clamping force of the adjusting plate on the container is increased, the container is prevented from being separated from the adjusting plate, and the goods taking function of the goods taking device is guaranteed.
In some other embodiments, which may include the above embodiments, the connecting arm and the protruding arm are perpendicular to each other, a distance between the first rotating shaft and the protruding arm is a first distance, a distance between the second rotating shaft and the connecting arm is a second distance, and the first distance and the second distance satisfy the following relation: mu a is more than or equal to b; wherein a is the first distance, b is the second distance, and μ is the coefficient of friction between the trim panel and the cargo box.
In some other embodiments, which may include the above embodiments, the first distance is greater than or equal to two times the second distance.
In some other embodiments, which may include the above-mentioned embodiments, the gripping mechanism further includes a guide assembly, which is disposed on the mounting plate and connected to the two connecting arms, for guiding the sliding of the two connecting arms in the second direction and the rotation of the two connecting arms in the third direction.
In some other embodiments, which may include the above-described embodiments, the guide assembly includes a guide base, a guide shaft, and two guide arms, the guide base being coupled to the mounting plate; the guide shaft is connected with the guide seat in a sliding manner along the first direction; two the guiding arm and two the linking arm one-to-one, every the first end of guiding arm with correspond the linking arm is connected, every the second end of guiding arm all is provided with first spout, first spout along with the parallel direction setting of linking arm, the second end of guiding arm passes through first spout cover is located on the guiding axle.
In some other embodiments, which may include the above-mentioned embodiment, the mounting plate is perpendicular to the tray, two first through holes are provided on the mounting plate, the two first through holes are provided corresponding to the two guide arms, and each guide arm is inserted into the corresponding first through hole; the guide holder with the linking arm is located respectively the both sides of mounting panel, the guide holder with the mounting panel is connected.
In some other embodiments, which may include the above-described embodiments, the guide base includes two bottom plates, first ends of both of the bottom plates being connected to the mounting plate; and each bottom plate is provided with a second sliding groove, the second sliding grooves are arranged along the first direction, and two ends of each guide shaft are respectively arranged in the second sliding grooves in a sliding manner.
In some other embodiments, which may include the above-mentioned embodiments, the guide holder further includes a side plate connecting the second ends of the two bottom plates; the guide assembly further comprises a guide rod, the guide rod is arranged along the first direction, one end of the guide rod is connected with the side plate, and the other end of the guide rod is connected with the mounting plate; the guide shaft is provided with a second through hole, and the guide shaft is sleeved on the guide rod through the second through hole.
In some other embodiments, which may include the above-mentioned embodiment, the guide assembly further includes a compression spring, the compression spring is sleeved on the guide rod, a first end of the compression spring abuts against the guide shaft, and a second end of the compression spring abuts against the side plate.
In some other embodiments, which may include the above embodiments, the adjustment plate is provided with a non-slip pad on a side opposite to the other adjustment plate.
In some other embodiments, which may include the above embodiments, one side of the skid pad has a stud for contacting the cargo box.
In some other embodiments, which may include the above embodiments, the gripping mechanism further includes a driving assembly, which is connected to the two sliding members, and is configured to drive the two sliding members to slide toward or away from each other along the second direction.
In some other embodiments, which may include the above embodiments, the drive assembly includes a bearing block, a drive screw, a motor, and two drive nuts, the bearing block being mounted on the mounting plate; the transmission screw rod is arranged along the second direction and penetrates through the bearing block; the motor is connected with one end of the transmission lead screw and is used for driving the transmission lead screw to rotate; external threads with opposite rotation directions are arranged at two ends of the outer circumferential surface of the transmission screw rod; the two transmission nuts are respectively in threaded connection with the external threads at the two ends of the transmission screw rod, and the two transmission nuts are respectively connected with the two sliding parts.
In some other embodiments, which may include the above-mentioned embodiments, the gripping mechanism further includes a slide guide assembly connecting the mounting plate and the slide for guiding the slide of the slide in the second direction.
In some other embodiments, which may include the above-mentioned embodiments, the sliding guide assembly includes a first rail and a first slider, the first rail is mounted on the mounting plate along the second direction, the first slider is slidably disposed on the first rail, and the first slider is connected to the sliding member.
On the other hand, the goods taking device provided by the embodiment of the disclosure comprises a telescopic mechanism, a tray and any one clamping mechanism, wherein the telescopic mechanism is connected with the clamping mechanism and used for driving the clamping mechanism to slide along the first direction above the tray.
The goods taking device of the embodiment of the disclosure includes the clamping mechanism, so that the goods taking device also has the advantages of the clamping mechanism, and the details are not repeated herein.
In addition, this get goods device of this disclosed embodiment, telescopic machanism and press from both sides the mechanism mutually independent setting of getting, and telescopic machanism and press from both sides and get the mechanism and be connected, and telescopic machanism drive is got the mechanism and is got the top of tray and slide to getting the goods position along the first direction, presss from both sides the mechanism and gets the packing box. Compared with a clamping mechanism with a telescopic function in the related art, the clamping mechanism in the embodiment of the disclosure has a simple structure, and the space required for clamping the containers is smaller, namely, a smaller space can be reserved between the adjacent containers, so that the clamping mechanism can clamp the containers, and the space utilization rate of devices for storing the containers, such as a goods shelf, is improved.
In some other embodiments, which may include the above-described embodiments, a connection plate parallel to the tray is disposed below the mounting plate; the clamping mechanism further comprises a connecting assembly, and the connecting plate is connected with the telescopic mechanism through the connecting assembly.
In some other embodiments, which may include the above embodiments, the telescoping mechanism has a drive belt for telescoping; the connecting assembly comprises a first clamping plate and a second clamping plate, and the first clamping plate is connected to the bottom surface of the connecting plate; the second splint with first splint set up relatively and are connected, will the drive belt clamp is located the second splint with between the first splint.
In some other embodiments, which may include the above-described embodiments, the grasping mechanism further includes a telescopic guide assembly connecting the connecting plate and the telescopic mechanism for guiding sliding of the connecting plate in the first direction.
In some other embodiments, which may include the above embodiments, the telescopic guide assembly includes a second rail and a second slider, the second rail is mounted on the telescopic mechanism along the first direction, the second slider is slidably disposed on the second rail, and the second slider is connected to a bottom surface of the connecting plate.
Another aspect of the embodiments of the present disclosure provides a transfer robot including any one of the above-described pickup devices.
The transfer robot of the embodiment of the present disclosure includes the above goods taking device, and therefore the transfer robot also has the advantages of the above goods taking device, and details are not described herein.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is easy to see that the drawings in the following description are some embodiments of the present disclosure, and other drawings can be obtained according to the drawings without creative efforts for those skilled in the art.
Fig. 1 is a schematic structural diagram of a pickup device according to an embodiment of the present disclosure;
fig. 2 is a first perspective view of the gripping mechanism of fig. 1;
fig. 3 is a perspective view of the second perspective of the grasping mechanism in fig. 1;
fig. 4 is a schematic view of the gripping mechanism of fig. 1 gripping a container;
fig. 5 is a schematic view of the gripper mechanism of fig. 4 pulling the container onto the pallet.
Description of reference numerals:
10-a telescoping mechanism;
110-a conveyor belt;
20-a tray;
30-a gripping mechanism;
310-a mounting plate; 311-a first via; 312-connecting plate;
320-a slide; 330-clamping and taking; 331-linker arm;
332-a first shaft; 333-extension arm; 334-a second shaft;
340-an adjustment plate; 341-non-slip mat; 342-a non-slip projection;
350-a guide assembly; 351-a guide seat; 352-a backplane;
353-a second chute; 354-side plates; 355-a guide shaft;
356-second via; 357-a guide arm; 358-a first runner;
359-guide rods; 360-a drive assembly; 361-bearing seat;
362-driving screw; 363-a motor; 364-drive nut;
370-a sliding guide assembly; 371 — a first guide rail; 372-a first slider;
380-a connecting assembly; 381-first splint; 382-a second splint;
390-a telescoping guiding assembly; 391-a second guide rail; 392-a second slide;
40-cargo box.
Detailed Description
When the goods are taken by the clamping mechanism in the related art, the two clamping arms of the clamping mechanism extend into two sides of a goods box to be taken, the goods box is clamped, certain clamping force is applied to the goods box, and then the goods box is pulled to the tray from the goods shelf by the two clamping arms. However, in the process of pulling the container on the goods shelf from the goods shelf to the pallet, friction force is generated between the container and the goods shelf or the pallet, so that the container is subjected to force opposite to the goods taking direction, the clamping force of the clamping arm on the container is small, the clamping arm is easily separated from the container, and the goods taking device cannot complete the goods taking function.
In view of this, the embodiment of the present disclosure provides a clamping mechanism, which includes two clamping members and two adjusting plates, each clamping member includes a connecting arm and an extending arm connected to each other, one end of the connecting arm is rotatably connected to a corresponding sliding member along a third direction through a first rotating shaft, and each adjusting plate is rotatably connected to one end of the corresponding extending arm along the third direction through a second rotating shaft. Get the in-process that the mechanism pulled the packing box to the tray at the clamp, two adjusting plates centre gripping workbin's both sides respectively, the adjusting plate receives the packing box to its application and get the opposite force of goods direction, because the adjusting plate passes through the second pivot and stretches out the arm and rotate to be connected, and the linking arm rotates through first pivot and slider to be connected, make two linking arm relative slider rotate, thereby make two adjusting plates be close to each other, in order to press from both sides tight packing box, thereby increase the clamping-force of adjusting plate to the packing box, prevent that adjusting plate and packing box from breaking away, guarantee to get getting of goods device and get the goods function.
To make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are some, but not all embodiments of the present disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
Referring to fig. 1, the disclosed embodiment provides a goods taking device, which is applied to a transfer robot and includes a telescopic mechanism 10, a tray 20 and a gripping mechanism 30, wherein the telescopic mechanism 10 is connected to the gripping mechanism 30 for driving the gripping mechanism 30 to slide in a first direction, i.e., a y direction shown in fig. 1, above the tray 20. The pallet 20 is used to hold a cargo box. When the goods taking device takes goods, the telescopic mechanism 10 drives the clamping mechanism 30 to move towards one end of the pallet 20, such as a goods shelf and the like, of the pallet 20 above the pallet 20, and the clamping mechanism 30 clamps the goods box; the telescoping mechanism 10 again drives the gripper mechanism 30 and the container over the pallet 20 toward the end of the pallet 20 opposite the pallet or the like, thereby pulling the container onto the pallet 20.
In the goods taking device according to the embodiment of the disclosure, the telescoping mechanism 10 and the clamping mechanism 30 are arranged independently, and the telescoping mechanism 10 is connected with the clamping mechanism 30, the telescoping mechanism 10 drives the clamping mechanism 30 to slide to the goods taking position along the first direction y above the tray 20, and the clamping mechanism 30 clamps the goods box. Compared with the clamping mechanism with the telescopic function in the related art, the clamping mechanism 30 in the embodiment of the disclosure has a simple structure, and the space required for clamping the containers is small, that is, a small space can be left between adjacent containers to clamp the containers by the clamping mechanism 30, so that the space utilization rate of the devices for storing the containers, such as the goods shelves, is improved.
Illustratively, the telescopic mechanism 10 may be a belt drive, for example, the telescopic mechanism 10 may include a drive wheel and a belt 110 engaged with the drive wheel, and the gripping mechanism 30 is connected to the belt 110. When the transmission wheel rotates, the transmission belt 110 can be driven to move, so that the clamping mechanism 30 is driven to move. It is understood that the telescoping mechanism 10 may also be a chain drive or the like.
Referring to fig. 2 and 3, the gripping mechanism 30 of the embodiment of the disclosure includes a mounting plate 310, two sliding members 320, two gripping members 330, and two oppositely disposed adjusting plates 340, wherein the mounting plate 310 is slidably disposed above the tray 20 along a first direction y parallel to the tray 20. Both slides 320 are slidably connected to the mounting plate 310 in a second direction, i.e., in the x-direction as shown in fig. 2, which is parallel to the tray 20 and perpendicular to the first direction y. Each gripping member 330 includes a connecting arm 331 and a projecting arm 333, a first end of each connecting arm 331 is rotatably connected to the corresponding slider 320 by a first rotating shaft 332 in a third direction, i.e., in the z-direction shown in fig. 2, the third direction z is perpendicular to the tray 20, and a second end of each connecting arm 331 is connected to a first end of the projecting arm 333. The two adjustment plates 340 correspond one-to-one to the two projecting arms 333. Each of the adjustment plates 340 is rotatably coupled to the second end of the corresponding projecting arm 333 in the third direction z by the second rotating shaft 334. During the process of pulling the container onto the pallet 20 by the pick-up mechanism 30, the two connecting arms 331 rotate relative to the sliding member 320, so that the two adjustment plates 340 approach each other.
In the clamping mechanism of the embodiment of the present disclosure, when goods are taken from a rack or the like, the two extending arms 333 are respectively located at two sides of the container, so that the two adjusting plates 340 are respectively located at two sides of the container. The two sliding members 320 of the clamping mechanism 30 slide towards each other, and the two adjusting plates 340 are moved towards each other by the connecting arm 331 and the extending arm 333 to clamp the container. The gripper mechanism 30 is moved away from the pallet to pull the container onto the pallet 20. During the process of the gripper mechanism 30 pulling the container onto the pallet 20, friction is created between the container and the pallet or pallet 20, causing the container to be subjected to a force opposite to the direction of pick-up, and the adjustment plate 340 is also subjected to a force opposite to the direction of pick-up applied to it by the container. Since the adjusting plates 340 are rotatably connected with the extending arms 333 through the second rotating shafts 334 and the connecting arms 331 are rotatably connected with the sliding members 320 through the first rotating shafts 332, the two connecting arms 331 are rotated relative to the sliding members 320, so that the two adjusting plates 340 are close to each other to clamp the cargo box, thereby increasing the clamping force of the adjusting plates 340 on the cargo box, preventing the adjusting plates 340 from being separated from the cargo box, and ensuring the cargo taking function of the cargo taking device.
The mounting plate 310 is used for supporting the sliding member 320, the clamping member 330 and the adjusting plate 340. Illustratively, referring to fig. 2, the mounting plate 310 is positioned above the tray 20, the mounting plate 310 may be perpendicular to the tray 20, and a connecting plate 312 parallel to the tray 20 is disposed below the mounting plate 310. The gripping mechanism 30 further comprises a connecting assembly 380, and the connecting plate 312 is connected with the telescoping mechanism 10 through the connecting assembly 380.
Illustratively, the connection assembly 380 may include a first clamping plate 381 and a second clamping plate 382, the first clamping plate 381 being connected to the bottom surface of the connection plate 312. The second clamping plate 382 is disposed opposite to and connected to the first clamping plate 381, and the second clamping plate 382 and the first clamping plate 381 may be connected by bolts, for example, so that the driving belt 110 of the telescopic mechanism 10 is clamped between the second clamping plate 382 and the first clamping plate 381. For example, the side of the second clamping plate 382 facing the first clamping plate 381, i.e., the side contacting the driving belt 110, may be provided with a tooth structure to engage with the driving teeth of the driving belt 110, so as to increase the contact area with the driving belt 110, and thus increase the connection strength of the connecting assembly 380 with the driving belt 110.
Referring to fig. 2, the gripping mechanism 30 may further include a telescopic guide assembly 390, and the telescopic guide assembly 390 connects the connecting plate 312 and the telescopic mechanism 10, and is used for guiding the sliding of the connecting plate 312 in the first direction, i.e. in the y direction, so as to improve the smoothness of the gripping mechanism 30 during moving during picking or putting.
In some implementations of the disclosed embodiment, referring to fig. 1, the telescopic guide assembly 390 may include a second guide rail 391 and a second slider 392, the second guide rail 391 is mounted on the telescopic mechanism 10 along the first direction y, the second slider 392 is slidably disposed on the second guide rail 391, and the second slider 392 is connected to the bottom surface of the connecting plate 312. When the telescopic mechanism 10 drives the gripping mechanism 30 to move, the second slider 392 connected to the bottom surface of the connecting plate 312 can slide on the second guide rail 391, so that the connecting plate 312 and the mounting plate 310 can be guided, the moving stability of the mounting plate 310 is improved, and the moving stability of the gripping mechanism 30 is further improved.
In some other implementation manners of the embodiment of the present disclosure, the telescopic guiding assembly 390 may further include a chute disposed on the telescopic mechanism 10 and a third slider (not shown in the drawings) disposed on the bottom surface of the connecting plate 312, the chute is disposed along the first direction y, the third slider is slidably disposed in the chute, when the telescopic mechanism 10 drives the clamping mechanism 30 to move, the third slider on the connecting plate 312 can slide in the chute of the telescopic mechanism 10, thereby guiding the connecting plate 312 and the mounting plate 310, thereby guiding the clamping mechanism 30, and improving stability of the clamping mechanism 30 when moving.
The two sliding members 320 are disposed on the mounting plate 310, the two sliding members 320 are slidably connected with the mounting plate 310 in the second direction, and the two sliding members 320 can slide in the second direction toward or away from each other to drive the two clamping members 330 to move toward or away from each other, so as to clamp or release the cargo box.
Exemplarily, referring to fig. 3, the slider 320 may have a plate-shaped structure, the slider 320 is disposed in parallel with the mounting plate 310, a slide guide assembly 370 is disposed between the slider 320 and the mounting plate 310, the slide guide assembly 370 connects the mounting plate 310 and the slider 320 for guiding the sliding of the slider 320 in the second direction x, and the slider 320 is slidably connected with the mounting plate 310 by the slide guide assembly 370.
For example, the sliding guide assembly 370 may include a first guide rail 371 and a first slider 372, the first guide rail 371 is mounted on the mounting plate 310 along the second direction x, the first slider 372 is slidably disposed on the first guide rail 371, and the first slider 372 is connected to the sliding member 320. When the sliding member 320 slides, the first slider 372 can be driven to slide on the first guide rail 371, and the first slider 372 and the first guide rail 371 play a role in guiding the sliding member 320.
Referring to fig. 2, the gripping mechanism 30 may further include a driving assembly 360, and the driving assembly 360 is connected to the two sliders 320 for driving the two sliders 320 to slide toward or away from each other along the second direction x.
Illustratively, the drive assembly 360 may include a bearing mount 361, a drive screw 362, a motor 363, and two drive nuts 364, the bearing mount 361 being mounted to the mounting plate 310. The driving screw 362 is disposed along the second direction x, and the driving screw 362 is disposed through the bearing seat 361. The drive screw 362 is rotatable about the axis of the drive screw 362 within the bearing housing 361. The quantity of bearing frame 361 can have two, and two bearing frames 361 set up along second direction x interval, and drive screw 362 wears to locate in two bearing frames 361, and two bearing frames 361 all support drive screw 362, have improved the support stability to drive screw 362 to stability when drive screw 362 rotates has been improved. The motor 363 is connected to one end of the transmission screw 362 for driving the transmission screw 362 to rotate. Two ends of the outer circumferential surface of the transmission screw 362 are provided with external threads with opposite rotation directions, two transmission nuts 364 are respectively in threaded connection with the external threads at the two ends of the transmission screw 362, and the two transmission nuts 364 are respectively connected with the two sliding parts 320.
When the output shaft of the motor 363 rotates, the driving lead screw 362 is driven to rotate around the axis of the driving lead screw, and the two driving nuts 364 approach to or separate from each other under the action of the external threads at the two ends of the driving lead screw 362, so as to drive the two sliding parts 320 to slide in the second direction x in the opposite direction or in the opposite direction.
Each sliding member 320 is correspondingly provided with a clamping member 330, and when the two sliding members 320 slide in opposite directions or in opposite directions, the two clamping members 330 can be driven to approach or separate from each other so as to clamp or release the container.
Referring to fig. 3 and 4, each gripper 330 may include a connecting arm 331 and a projecting arm 333 connected thereto. A first end of each connecting arm 331 is rotatably connected to the corresponding slider 320 by a first rotating shaft 332 in the third direction z, and a second end of each connecting arm 331 is connected to a first end of a protruding arm 333. The two adjusting plates 340 are in one-to-one correspondence with the two cantilever arms 333, each adjusting plate 340 is rotatably connected to the second end of the corresponding cantilever arm 333 along the third direction z via the second rotating shaft 334, and the adjusting plates 340 are used for clamping the cargo box 40.
When the clamping mechanism 30 picks up goods, referring to fig. 4, when the motor 363 drives the transmission screw 362 to rotate, the two transmission nuts 364 respectively drive the two sliders 320 to slide in opposite directions, and the two sliders 320 respectively drive the two adjustment plates 340 to approach each other through the two clamping members 330, so as to clamp the container 40. In the process of pulling the container 40 onto the pallet 20 by the gripping mechanism 30, referring to fig. 5, the two connecting arms 331 are rotated in the C direction with respect to the corresponding sliders 320, so that the two aligning plates 340 are brought closer to each other in the D direction, thereby increasing the gripping force between the aligning plates 340 and the container 40 and preventing the aligning plates 240 from being detached from the container 40.
In addition, in the clamping mechanism 30 of the embodiment of the disclosure, during the process of pulling the container 40 to the pallet 20, the two adjusting plates 240 approach each other, and the clamping force of the two adjusting plates 240 on the container 40 gradually increases. Therefore, when the motor 363 drives the two sliders 320 to slide towards each other and the two sliders 320 drive the two adjusting plates 340 to clamp the cargo box through the connecting arm 331 and the extending arm 333, only a small initial clamping force needs to be provided for the cargo box, thereby reducing the requirement on the power of the motor 363.
For example, referring to fig. 4 and 5, the connecting arm 331 and the protruding arm 333 may be perpendicular to each other, a distance between the first rotating shaft 332 and the protruding arm 333 is a first distance a, a distance between the second rotating shaft 334 and the connecting arm 331 is a second distance b, and the first distance and the second distance satisfy the following relation: mu a is more than or equal to b; wherein mu is the friction coefficient between the adjusting plate and the container.
When the gripping mechanism 30 picks up the cargo, the two adjustment plates 240 grip the cargo box 40, and the adjustment plates 240 receive the thrust N applied thereto by the cargo box 40. During the process that the gripping mechanism 30 pulls the container 40 onto the pallet 20, the gripping mechanism 30 slides in the direction a under the driving of the telescopic mechanism 10, the container 40 is subjected to the friction force of the pallet or pallet 20, so that the container 40 tends to move in the direction B, the adjusting plate 240 is subjected to the pulling force F applied thereto by the container 40, and the pushing force N and the pulling force F both act on the axis of the second rotating shaft 334. Since F ═ μ N, the first moment applied to the link arm 331 by the tensile force F is μ nxa. The second moment applied to the connecting arm 331 by the thrust N is nxb. If μ a is greater than or equal to b, the first torque is greater than or equal to the second torque, so that the connecting arm 331 rotates in the direction of the cargo box 40, i.e., in the direction C shown in fig. 5, and the two adjustment plates 340 approach each other, thereby increasing the clamping force between the adjustment plates 340 and the cargo box 40, and preventing the cargo box 40 from being detached from the adjustment plates 340.
Illustratively, the first distance a is greater than or equal to two times the second distance b. For example, the first distance a may be equal to two times the second distance b, or the first distance a may be equal to three times the second distance b.
It will be appreciated that the connecting arm 331 and the reach arm 333 may not be perpendicular to each other. When the connecting arm 331 is in a state of being parallel to the second direction, i.e., parallel to the x direction shown in fig. 4, the projection distance of the distance between the first rotating shaft 332 and the second rotating shaft 334 in the second direction x is the first projection distance, and the projection distance of the distance between the first rotating shaft 332 and the second rotating shaft 334 in the first direction y is the second projection distance, as long as the first projection distance is greater than or equal to μ times the second projection distance.
Referring to fig. 2 and 3, the gripping mechanism may further include a guide assembly 350, where the guide assembly 350 is disposed on the mounting plate 310 and connected to the two connecting arms 331, and is used for guiding the sliding of the two connecting arms 331 in the second direction x and the rotation of the two connecting arms 331 in the third direction z, so as to improve the stability of the connecting arms 331 during movement.
Illustratively, the guide assembly 350 includes a guide housing 351, a guide shaft 355, and two guide arms 357, the guide housing 351 being coupled to the mounting plate 310. The guide shaft 355 is slidably coupled to the guide holder 351 in the first direction y. Two guiding arms 357 correspond to two connecting arms 331 one-to-one, a first end of each guiding arm 357 is connected to the corresponding connecting arm 331, a second end of each guiding arm 357 is provided with a first sliding chute 358, the first sliding chute 358 is arranged along a direction parallel to the connecting arm 331, and a second end of each guiding arm 357 is sleeved on the guiding shaft 335 through the first sliding chute 358.
Referring to fig. 4, when the two sliders 320 slide towards each other, the two sliders 320 respectively drive the two connecting arms 331 to slide towards each other in the second direction x, and the first sliding chute 358 of each guiding arm 357 is sleeved on the guiding shaft 355, so that the two guiding arms 357 slide towards each other in the x direction under the action of the first sliding chute 358 and the guiding shaft 355, so as to guide the sliding of the two connecting arms 331 in the second direction x.
Referring to fig. 5, when the two connecting arms 331 rotate around the first rotating shaft 320 relative to the two sliding members 320, the two connecting arms 331 respectively drive the two guiding arms 357 to rotate around the first rotating shaft 320, the first sliding chutes 358 at the second ends of the two guiding arms 357 rotate relative to the guiding shafts 355, and the groove walls of the first sliding chutes 358 push the guiding shafts 355 to move relative to the guiding seats 351 along the first direction y in a direction away from the cargo box 40, so as to guide the rotation of the two connecting arms 331 in the third direction z.
Illustratively, referring to fig. 2, the mounting plate 310 may be perpendicular to the tray 20, two first through holes 311 are disposed on the mounting plate 310, the two first through holes 311 are disposed corresponding to the two guide arms 357, and each guide arm 357 is inserted into the corresponding first through hole 311. The guide seat 351 and the connecting arm 331 are respectively located at both sides of the mounting plate 310, and the guide seat 351 is connected with the mounting plate 310. Because the guide seat 351 and the connecting arm 331 are respectively located at two sides of the mounting plate 310, the guide seat 351 is prevented from occupying the clamping space between the connecting arm 331 and the adjusting plate 240, so that the structure of the clamping mechanism 30 is more compact, and the space utilization rate of the goods taking device is improved.
For example, referring to fig. 2 and 3, the guide seat 351 may include two bottom plates 352, and first ends of the two bottom plates 352 are connected to the mounting plate 310; each bottom plate 352 is provided with a second sliding slot 353, the second sliding slots 353 are arranged along the first direction y, and two ends of the guiding shaft 355 are respectively slidably arranged in the two second sliding slots 353. The guide shaft 355 is slidably connected to the guide holder 351 through the second slide groove 353.
The guide 351 may further include a side plate 354, the side plate 354 connecting the second ends of the two bottom plates 352. The guide assembly 350 further includes a guide bar 359, the guide bar 359 being disposed along the first direction y, one end of the guide bar 359 being connected to the side plate 354, and the other end of the guide bar 359 being connected to the mounting plate 310. The guide shaft 355 is provided with a second through hole 356, and the guide shaft 355 is sleeved on the guide rod 359 through the second through hole 356. When the guide shaft 355 slides in the second sliding slot 353, the guide shaft 355 can slide along the guide rod 359 through the second through hole 356, and the guide rod 359 can guide the guide shaft 355, so that the smoothness of the movement of the guide shaft 355 is improved.
Illustratively, the guide assembly 50 may further include a compression spring (not shown) that is sleeved on the guide bar 359, and a first end of the compression spring abuts against the guide shaft 355 and a second end of the compression spring abuts against the side plate 354. When the gripping mechanism 30 pulls the container 40 to the pallet 20, the two connecting arms 331 rotate relative to the two sliders 320, the second chutes 353 of the two guide arms 357 push the guide shafts 355 to slide along the first chutes 358 in a direction away from the container 40, and the compression springs are compressed and deformed. After the clamping mechanism 30 pulls the cargo box 40 to the pallet 20, the clamping mechanism 30 stops, the deformation of the compression spring is recovered, the compression spring applies a pushing force to the guide shaft 355, so that the guide shaft 355 slides towards the cargo box 40 along the first sliding groove 358, and the guide shaft 355 pushes the two guide arms 357 and the connecting arm 331 to rotate reversely through the second sliding groove 353, so as to reset the connecting arm 331.
Referring to fig. 3, the side of the adjustment panel 340 opposite to the other adjustment panel 340 is provided with a skid-proof pad 341 to increase the frictional force between the adjustment panel 340 and the cargo box 40, preventing the cargo box 40 from being detached from the adjustment panel 340.
Illustratively, one side of the skid-proof pad 341 has a skid-proof protrusion 342, and the skid-proof protrusion 342 is used for contacting the cargo box 40 to increase the roughness of the contact surface of the skid-proof pad 341 and the cargo box 40, increase the friction force between the skid-proof pad 341 and the cargo box 40, and further prevent the cargo box 40 from being detached from the adjustment plate 340.
The embodiment of the disclosure also provides a transfer robot, which comprises the goods taking device.
The transfer robot according to the embodiment of the present disclosure includes the above-mentioned goods taking device, so that the transfer robot also has the advantages of the above-mentioned goods taking device, and details are not described herein.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present disclosure, and not for limiting the same; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present disclosure.
Claims (21)
1. A gripping mechanism, comprising:
the mounting plate is arranged above the tray in a sliding mode along a first direction parallel to the tray;
the two sliding pieces are connected with the mounting plate in a sliding mode along a second direction; the second direction is parallel to the tray and is vertical to the first direction;
the first end of each connecting arm is rotatably connected with the corresponding sliding part along a third direction through a first rotating shaft, the third direction is vertical to the tray, and the second end of each connecting arm is connected with the first end of the extending arm;
the two oppositely arranged adjusting plates correspond to the two extending arms one by one; each adjusting plate is rotatably connected with the second end of the corresponding extending arm along the third direction through a second rotating shaft; and in the process that the container is pulled onto the pallet by the clamping mechanism, the two connecting arms rotate relative to the sliding part, so that the two adjusting plates are close to each other.
2. The gripping mechanism of claim 1, wherein the connecting arm is perpendicular to the projecting arm, the first pivot is a first distance from the projecting arm, the second pivot is a second distance from the connecting arm, and the first distance and the second distance satisfy the following relationship:
μa≥b；
wherein a is the first distance, b is the second distance, and μ is the coefficient of friction between the trim panel and the cargo box.
3. The grasping mechanism according to claim 2, wherein the first distance is greater than or equal to twice the second distance.
4. The gripping mechanism of any one of claims 1-3, further comprising a guide assembly disposed on the mounting plate and coupled to the two link arms for guiding the sliding movement of the two link arms in the second direction and the rotating movement of the two link arms in the third direction.
5. The gripper mechanism of claim 4, wherein the guide assembly comprises a guide block, a guide shaft, and two guide arms, the guide block being connected to the mounting plate; the guide shaft is connected with the guide seat in a sliding manner along the first direction; two the guiding arm and two the linking arm one-to-one, every the first end of guiding arm with correspond the linking arm is connected, every the second end of guiding arm all is provided with first spout, first spout along with the parallel direction setting of linking arm, the second end of guiding arm passes through first spout cover is located on the guiding axle.
6. The clamping mechanism as claimed in claim 5, wherein the mounting plate is perpendicular to the tray, two first through holes are provided in the mounting plate, the two first through holes are provided corresponding to the two guide arms, and each guide arm is inserted into the corresponding first through hole;
the guide holder with the linking arm is located respectively the both sides of mounting panel, the guide holder with the mounting panel is connected.
7. The gripper mechanism of claim 6, wherein the guide comprises two base plates, a first end of each of the two base plates being connected to the mounting plate; and each bottom plate is provided with a second sliding groove, the second sliding grooves are arranged along the first direction, and two ends of each guide shaft are respectively arranged in the second sliding grooves in a sliding manner.
8. The gripper mechanism of claim 7, wherein the guide further comprises a side plate connecting the second ends of the two base plates;
the guide assembly further comprises a guide rod, the guide rod is arranged along the first direction, one end of the guide rod is connected with the side plate, and the other end of the guide rod is connected with the mounting plate; the guide shaft is provided with a second through hole, and the guide shaft is sleeved on the guide rod through the second through hole.
9. The clamping mechanism as recited in claim 8, wherein said guide assembly further comprises a compression spring, said compression spring is sleeved on said guide rod, a first end of said compression spring abuts against said guide shaft, and a second end of said compression spring abuts against said side plate.
10. The gripper mechanism of any one of claims 1-3 wherein the adjustment plate is provided with a non-slip mat on the side opposite the other adjustment plate.
11. The gripper mechanism of claim 10 wherein one side of the non-slip mat has a non-slip nub for contacting the container.
12. The grasping mechanism according to any one of claims 1 to 3, further comprising a drive assembly connected to the two slides for driving the two slides to slide toward or away from each other along the second direction.
13. The gripper mechanism of claim 12 wherein the drive assembly comprises a bearing block, a drive screw, a motor, and two drive nuts, the bearing block being mounted on the mounting plate; the transmission screw rod is arranged along the second direction and penetrates through the bearing seat; the motor is connected with one end of the transmission screw rod and is used for driving the transmission screw rod to rotate; external threads with opposite rotation directions are arranged at two ends of the outer circumferential surface of the transmission screw rod; the two transmission nuts are respectively in threaded connection with the external threads at the two ends of the transmission screw rod, and the two transmission nuts are respectively connected with the two sliding parts.
14. The gripper mechanism of any one of claims 1-3 further comprising a slide guide assembly connecting the mounting plate and the slide for guiding the slide in the second direction.
15. The gripper mechanism of claim 14, wherein the slide guide assembly comprises a first rail mounted to the mounting plate in the second direction and a first block slidably disposed on the first rail, the first block being coupled to the slide.
16. A device for picking up goods, comprising a telescopic mechanism, a pallet and a gripper mechanism as claimed in any one of claims 1 to 15, the telescopic mechanism being connected to the gripper mechanism for driving the gripper mechanism to slide in the first direction over the pallet.
17. The pickup device as recited in claim 16, wherein a connection plate parallel to the tray is disposed below the mounting plate; the clamping mechanism further comprises a connecting assembly, and the connecting plate is connected with the telescopic mechanism through the connecting assembly.
18. The pickup device as recited in claim 17, wherein the telescoping mechanism has a belt for telescoping;
the connecting assembly comprises a first clamping plate and a second clamping plate, and the first clamping plate is connected to the bottom surface of the connecting plate; the second splint with first splint set up and are connected relatively, will the drive belt clamp is located the second splint with between the first splint.
19. The pickup apparatus as recited in claim 17, wherein the gripper mechanism further comprises a telescoping guide assembly connecting the web and the telescoping mechanism for guiding the sliding movement of the web in the first direction.
20. The pickup device as recited in claim 19, wherein the telescoping guiding assembly comprises a second rail and a second slider, the second rail is mounted to the telescoping mechanism along the first direction, the second slider is slidably disposed on the second rail, and the second slider is connected to a bottom surface of the connecting plate.
21. A transfer robot comprising the pickup device as recited in any one of claims 16 to 20.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123317291.1U CN216945158U (en) | 2021-12-24 | 2021-12-24 | Clamping mechanism, goods taking device and transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123317291.1U CN216945158U (en) | 2021-12-24 | 2021-12-24 | Clamping mechanism, goods taking device and transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216945158U true CN216945158U (en) | 2022-07-12 |
Family
ID=82312763
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123317291.1U Active CN216945158U (en) | 2021-12-24 | 2021-12-24 | Clamping mechanism, goods taking device and transfer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216945158U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117566308A (en) * | 2024-01-15 | 2024-02-20 | 广州龙之音电子科技有限公司 | Warehouse cargo handling shuttle robot |
-
2021
- 2021-12-24 CN CN202123317291.1U patent/CN216945158U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117566308A (en) * | 2024-01-15 | 2024-02-20 | 广州龙之音电子科技有限公司 | Warehouse cargo handling shuttle robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN216945158U (en) | Clamping mechanism, goods taking device and transfer robot | |
| CN208790737U (en) | A kind of robot palletizer handling equipment | |
| CN212711034U (en) | Goods taking mechanism and carrying device | |
| CN216470826U (en) | Battery box snatchs transfer device | |
| CN214779196U (en) | Automatic change commodity circulation letter sorting equipment | |
| CN117049163B (en) | Grabbing device, grabbing equipment, battery production line and control method | |
| CN218538014U (en) | Storage rack with automatic loading function for logistics storage | |
| CN108445245B (en) | Reagent box loading and unloading device and sample analyzer | |
| CN218114238U (en) | Transfer device and transfer robot | |
| CN114474130B (en) | Clamping manipulator for plastic products | |
| CN210456122U (en) | Gripping device | |
| CN210213834U (en) | Rotating tray | |
| CN207930685U (en) | a kind of flexible clamping system | |
| CN113814964B (en) | High-reliability encircling type logistics box grabbing manipulator for intelligent logistics and using method | |
| CN219708460U (en) | Tray stacking mechanism | |
| CN219488842U (en) | Warehouse logistics robot | |
| CN219136289U (en) | Fork subassembly and storage robot | |
| US5118154A (en) | Gripping assembly | |
| CN107499837B (en) | Mobile platform and automatic stacking equipment | |
| CN216830941U (en) | Clamping jaw mechanism capable of realizing dual purposes of product basket and tray | |
| CN218260166U (en) | Cargo handling device and handling robot | |
| CN217477191U (en) | Commodity circulation transportation is with transportation frame coupling assembling | |
| CN216888425U (en) | Cargo handling equipment for stereoscopic warehouse | |
| CN213111407U (en) | Positioning storage bin and positioning storage bin device | |
| CN217076192U (en) | Gripping tool and automatic loading and unloading all-in-one machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |