CN218539199U - Finger structure, fork assembly and transfer robot - Google Patents

Abstract

The application relates to a finger structure, a fork assembly and a transfer robot. This finger structure includes: the device comprises a base, a finger body, a crank mechanism and a driving piece; the finger body is pivotally connected to the base and can rotate around an axis in the horizontal direction, and a sliding groove is formed in the finger body; one end of the crank mechanism is pivotally connected to the base, and the driving piece is used for driving the crank mechanism to rotate; the other end of the crank mechanism is provided with a sliding part connected with the sliding groove, and when the crank mechanism rotates, the sliding part can slide back and forth along the sliding groove so as to drive the finger body to rotate; the sliding groove is provided with a first end and a second end, when the finger body is in a horizontal state or a vertical state, the sliding piece is located at the first end of the sliding groove, and the crank mechanism enables the finger body to be locked in the horizontal state or the vertical state through the sliding piece. The application provides a scheme can adapt to and get goods from the top of packing box.

Description

Finger structure, fork assembly and transfer robot

Technical Field

The application relates to the technical field of warehouse logistics, in particular to a finger structure, a fork assembly and a transfer robot.

Background

With the improvement of the automation degree of the logistics industry, the transfer robot is increasingly used for transferring goods, and therefore, the transfer robot becomes a research hotspot of the logistics industry.

In the related art, a transfer robot includes a fork assembly that can be lifted in a vertical direction, and the fork assembly is used for picking and placing a cargo; the fork subassembly has the flexible arm that can stretch out and draw back the removal in the horizontal direction, and the tip of flexible arm is equipped with the finger structure, when getting and putting the goods, and flexible arm drives the finger structure and stretches into the parking space of packing box from the left and right sides of packing box, and rotatory finger structure after targetting in place to make flexible arm and finger structure pull the packing box to the fork subassembly jointly.

However, for some scenes with limited space in the width direction, the telescopic arm is required to extend from the upper part of the container into the storage space of the container for picking up goods, and the finger structure in the related art cannot adapt to the picking up requirement.

SUMMERY OF THE UTILITY MODEL

In order to solve or partially solve the problem that exists among the correlation technique, this application provides a finger structure, fork subassembly and transfer robot, can adapt to and get goods from the top of packing box.

The application provides a finger structure in a first aspect, which comprises a base, a finger body, a crank mechanism and a driving piece;

the finger body is pivotally connected to the base and can rotate around an axis in the horizontal direction, and a sliding groove is formed in the finger body;

one end of the crank mechanism is pivotally connected to the base, and the driving piece is used for driving the crank mechanism to rotate; the other end of the crank mechanism is provided with a sliding piece connected with the sliding groove, and when the crank mechanism rotates, the sliding piece can slide back and forth along the sliding groove to drive the finger body to rotate;

the sliding groove is provided with a first end and a second end, when the finger body is in a horizontal state or a vertical state, the sliding piece is located at the first end of the sliding groove, and the crank mechanism enables the finger body to be locked in the horizontal state or the vertical state through the sliding piece.

Further, the spout is followed the length direction of pointing the body extends, first end is the spout is close to the one end of base, the second end is the spout is kept away from the one end of base.

Further, when the sliding part is located at the first end of the sliding groove, the sliding part, the pivotal connection position of the crank mechanism and the base, and the pivotal connection position of the finger body and the base form an obtuse triangle, and the vertex of the obtuse angle of the obtuse triangle is located on the sliding part.

Furthermore, the finger structure further comprises a first rotating shaft and a second rotating shaft, the finger body is pivotally connected to the base through the first rotating shaft, and the crank mechanism is pivotally connected to the base through the second rotating shaft.

Furthermore, one end of the second rotating shaft is fixedly connected with the crank mechanism, the other end of the second rotating shaft is connected with the driving piece, and the second rotating shaft is rotatably connected with the base.

Further, the driving part comprises a motor, a speed reducer connected with the motor and a coupler connected with the speed reducer, and the coupler is connected with the second rotating shaft.

Furthermore, the crank mechanism comprises two crank arms which are oppositely arranged on two sides of the finger body, the sliding piece is connected between the two crank arms, and the sliding piece penetrates through the sliding groove.

Furthermore, the finger structure further comprises a push plate, and the push plate is connected with one end, far away from the base, of the finger body.

The second aspect of the application provides a fork subassembly, including the fork body, flexible arm and as aforementioned any one scheme the finger structure, flexible arm can be relative the fork body is stretched out and is retracted, the finger structure is located the tip of flexible arm.

The third aspect of the present application provides a transfer robot, including base, grudging post and as above-mentioned scheme the fork subassembly, the grudging post is located on the base, the fork subassembly is located on the grudging post and can slide from top to bottom on the grudging post.

The technical scheme provided by the application can comprise the following beneficial effects: the finger structure is arranged on the telescopic arm, the telescopic arm can extend into the storage space of the container from the upper part of the container when the container is taken, after the container is in place, the driving piece drives the crank mechanism to rotate, the sliding piece moves along the sliding groove, so that the finger body is turned downwards from the horizontal state to the vertical state, the container can be pushed by the finger body to take the container, and the container can be taken from the upper part of the container when the space in the width direction is limited; and when the finger body is in two positions of horizontal state and vertical state, crank mechanism all can make the finger body locking, guarantees to get goods smoothly, simple structure.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the application.

Fig. 1 is a schematic structural diagram of a finger structure according to an embodiment of the present application, where the finger body is in a horizontal state;

FIG. 2 is a side cross-sectional view of FIG. 1;

fig. 3 is another structural schematic diagram of the finger structure shown in the embodiment of the present application, wherein the finger body is in an upright state;

FIG. 4 is a side cross-sectional view of FIG. 3;

FIG. 5 is an exploded view of a finger structure shown in an embodiment of the present application;

FIG. 6 is a schematic structural diagram of a finger body according to an embodiment of the present disclosure;

FIG. 7 is a schematic structural diagram of a crank mechanism according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of a base according to an embodiment of the present application.

Reference numerals:

1-base, 11-bottom plate, 12-side plate, 13-first shaft hole, 14-second shaft hole, 2-finger body, 21-sliding groove, 22-first end, 23-second end, 24-pushing plate, 25-third shaft hole, 3-crank mechanism, 31-sliding piece, 32-crank arm, 4-driving piece, 41-motor, 42-speed reducer, 43-coupling, 5-first rotating shaft, 6-second rotating shaft and 7-connecting frame.

Detailed Description

Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While embodiments of the present application are illustrated in the accompanying drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

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

Unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and encompass, for example, both fixed and removable connections or integers; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In the related art, a transfer robot includes a fork assembly that can be lifted in a vertical direction, and the fork assembly is used for picking and placing a cargo; the fork subassembly has the flexible arm that can stretch out and draw back the removal in the horizontal direction, and the tip of flexible arm is equipped with the finger structure, and when getting and putting the goods, flexible arm drives the finger structure and stretches into the parking space of packing box from the left and right sides of packing box, and rotatory finger structure after targetting in place to make flexible arm and finger structure pull the packing box to the fork subassembly jointly on.

However, for some scenes with limited space in the width direction, the telescopic arm is required to extend from the upper part of the container into the storage space of the container for picking up goods, and the finger structure in the related art cannot adapt to the picking up requirement.

In view of the above problems, embodiments of the present application provide a finger structure, a fork assembly, and a transfer robot, which are suitable for picking up goods from above a cargo box.

The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.

As shown in fig. 1 to 8, the present embodiment provides a finger structure, which includes a base 1, a finger body 2, a crank mechanism 3, and a driving member 4. Wherein the base 1 serves as a support and connection member for connection with the telescopic arm.

The finger body 2 is pivotally connected to the base 1, the finger body 2 can rotate around the axis in the horizontal direction, and the finger body 2 is provided with a sliding groove 21; when the telescopic arm extends from the upper part of the container, the finger body 2 is in a horizontal state shown in fig. 1, and after the telescopic arm is in place, the finger body 2 is turned downwards to a vertical state shown in fig. 3, so that the container can be driven to move by the finger body 2 when the telescopic arm retracts.

One end of the crank mechanism 3 is pivotally connected to the base 1, and the driving piece 4 is used for driving the crank mechanism 3 to rotate; the other end of crank mechanism 3 is equipped with slider 31 with being connected with spout 21, and when crank mechanism 3 rotated, slider 31 can be followed spout 21 and slided back and forth to drive finger body 2 and rotate, and crank mechanism 3 controls the rotation of finger body 2 through the cooperation of slider 31 and spout 21 promptly.

The slide groove 21 has a first end 22 and a second end 23, and when the finger body 2 is in the horizontal state shown in fig. 1 or the vertical state shown in fig. 3, the sliding member 31 is located at the first end 22 of the slide groove 21 and the crank mechanism 3 locks the finger body 2 in the horizontal state or the vertical state through the sliding member 31.

Specifically, as shown in fig. 1 and 2, when the finger body 2 is in a horizontal state, the crank mechanism 3 is abutted against the first end 22 of the sliding slot 21 through the sliding member 31, so that the finger body 2 cannot rotate clockwise and downward; as shown in fig. 3 and 4, when the finger body 2 is in the vertical state, the crank mechanism 3 is also abutted against the first end 22 of the chute 21 through the sliding member 31, so that the finger body 2 cannot rotate counterclockwise and upward, and can bear the force pushing the cargo box.

The finger structure is arranged on the telescopic arm, when goods are taken, the finger body 2 is firstly in a horizontal state, the telescopic arm can extend into the storage space of the goods box from the upper part of the goods box, after the goods are taken, the driving piece 4 drives the crank mechanism 3 to rotate, the sliding piece 31 moves along the sliding groove 21, so that the finger body 2 is turned downwards from the horizontal state to the vertical state, the goods can be taken by pushing the goods box through the finger body 2, and the goods can be taken from the upper part of the goods box when the space in the width direction is limited; and when the finger body 2 is in two positions of a horizontal state and a vertical state, the crank mechanism 3 can lock the finger body 2 through the sliding piece 31, smooth goods taking is guaranteed, and the structure is simple.

As shown in fig. 1 to 6, in the present embodiment, the sliding groove 21 extends along the length direction of the finger body 2, the first end 22 is an end of the sliding groove 21 close to the base 1, and the second end 23 is an end of the sliding groove 21 away from the base 1, wherein the sliding member 31 may be a cylinder, so as to reduce the friction between the surface of the sliding member 31 and the side wall of the sliding groove 21. The end of the slide groove 21 has a U-shaped configuration that fits the slider 31, and the extending direction and shape of the slide groove 21 can be modified as needed.

Specifically, as shown in fig. 1 to 4, when the sliding member 31 is located at the first end 22 of the sliding slot 21 (when the finger body 2 is in a horizontal state or a vertical state), the sliding member 31, a pivotal connection between the crank mechanism 3 and the base 1 (hereinafter, at the second rotating shaft 6), and a pivotal connection between the finger body 2 and the base 1 (hereinafter, at the first rotating shaft 5) form an obtuse triangle, and an obtuse vertex of the obtuse angle of the obtuse triangle is located at the sliding member 31. The arrangement of the obtuse triangle is formed, so that the finger body 2 is locked in a horizontal state and a vertical state, and the finger is simple in structure, good in stability and not easy to damage.

As shown in fig. 1 to 8, the finger structure of the embodiment of the present application further includes a first rotating shaft 5 and a second rotating shaft 6, the finger body 2 is pivotally connected to the base 1 through the first rotating shaft 5, and the crank mechanism 3 is pivotally connected to the base 1 through the second rotating shaft 6.

Specifically, the finger body 2 is provided with a third shaft hole 25 sleeved on the first shaft 5, the third shaft hole 25 can rotate relative to the first shaft 5 or is fixedly connected with the first shaft 5, the base 1 is provided with a first shaft hole 13 sleeved on the first shaft 5, and the first shaft 5 can be fixed on the first shaft hole 13 or rotate relative to the first shaft hole 13.

In some embodiments, one end of the second shaft 6 may be fixedly connected to the crank mechanism 3, the other end is connected to the driving member 4, the second shaft 6 is rotatably connected to the base 1, and the base 1 may be provided with a second shaft hole 14 sleeved on the second shaft 6. The driving member 4 drives the crank mechanism 3 to rotate by driving the second rotating shaft 6 to rotate.

In some embodiments, as shown in fig. 5, the driving member 4 may include a motor 41, a reducer 42 connected to the motor 41, and a coupling 43 connected to the reducer 42, wherein the coupling 43 is connected to the second rotating shaft 6. The motor 41 transmits power to the second rotating shaft 6 through the speed reducer 42 and the coupling 43, and drives the second rotating shaft 6 to rotate.

Specifically, the finger structure of the embodiment of the present application may further include a connecting frame 7, and the speed reducer 42 is mounted on the base 1 through the connecting frame 7.

As shown in fig. 5 and 7, in some embodiments, the crank mechanism 3 includes two crank arms 32 oppositely disposed on both sides of the finger body 2, the sliding member 31 is connected between the two crank arms 32, the sliding slot 21 penetrates through the finger body 2, and the sliding member 31 penetrates through the sliding slot 21.

Specifically, as shown in fig. 8, the base 1 may include a bottom plate 11 and two side plates 12 oppositely disposed on the bottom plate 11, the bottom plate 11 is connected to the telescopic arm, the finger body 2 and the crank mechanism 3 are both located between the two side plates 12, the finger body 2 and the two crank arms 32 are respectively pivotally connected to the two side plates 12, the first shaft hole 13 and the second shaft hole 14 are both disposed on the side plates 12, and no interference occurs during rotation, so that the finger body 2 can be rotated more stably by using the two crank arms 32.

As shown in fig. 6, the finger structure of the embodiment of the present application further includes a push plate 24, and the push plate 24 is connected to an end of the finger body 2 away from the base 1. The push plate 24 is used for abutting against the container when the container is taken, so that the contact area between the finger body 2 and the container is increased, and the container is more stable when moving.

The embodiment of the application further provides a fork assembly, including the fork body, flexible arm and as above-mentioned embodiment the finger structure, flexible arm can stretch out and retract relative to the fork body, and the tip of flexible arm is located to the finger structure. When the telescopic arm extends out, the finger body 2 is in a horizontal state, and when the telescopic arm retracts, the finger body 2 is in a vertical state, so that goods can be taken from the upper part of a container when the space in the width direction is limited.

The embodiment of the application still provides a transfer robot, including base, grudging post and as above-mentioned embodiment the fork subassembly, on the base was located to the grudging post, the fork subassembly was located on the grudging post and can be slided from top to bottom on the grudging post. The transfer robot can pick up goods from above the container when the space in the width direction is limited.

The solution of the present application has been described in detail hereinabove with reference to the drawings. In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments. Those skilled in the art should also appreciate that the acts and modules referred to in the specification are not necessarily required for the application. In addition, it can be understood that the steps in the method of the embodiment of the present application may be sequentially adjusted, combined, and deleted according to actual needs, and the modules in the device of the embodiment of the present application may be combined, divided, and deleted according to actual needs.

Having described embodiments of the present application, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims (10)

1. A finger structure is characterized by comprising a base, a finger body, a crank mechanism and a driving piece;

the finger body is pivotally connected to the base and can rotate around an axis in the horizontal direction, and a sliding groove is formed in the finger body;

one end of the crank mechanism is pivotally connected to the base, and the driving piece is used for driving the crank mechanism to rotate; the other end of the crank mechanism is provided with a sliding piece connected with the sliding groove, and when the crank mechanism rotates, the sliding piece can slide back and forth along the sliding groove to drive the finger body to rotate;

the sliding groove is provided with a first end and a second end, when the finger body is in a horizontal state or a vertical state, the sliding piece is located at the first end of the sliding groove, and the crank mechanism enables the finger body to be locked in the horizontal state or the vertical state through the sliding piece.

2. The finger structure of claim 1, wherein:

the spout is followed the length direction of pointing the body extends, first end does the spout is close to the one end of base, the second end does the spout is kept away from the one end of base.

3. The finger structure of claim 2, characterized in that:

when the sliding piece is positioned at the first end of the sliding groove, the sliding piece, the pivot connection part of the crank mechanism and the base and the pivot connection part of the finger body and the base form an obtuse triangle, and the vertex of an obtuse angle of the obtuse triangle is positioned on the sliding piece.

4. The finger structure of claim 1, wherein:

still include first pivot and second pivot, the finger body pass through first pivot pivoted joint in the base, crank mechanism passes through second pivot pivoted joint in the base.

5. The finger structure of claim 4, wherein:

one end of the second rotating shaft is fixedly connected with the crank mechanism, the other end of the second rotating shaft is connected with the driving piece, and the second rotating shaft is rotatably connected with the base.

6. The finger structure of claim 5, wherein:

the driving piece comprises a motor, a speed reducer connected with the motor and a coupler connected with the speed reducer, and the coupler is connected with the second rotating shaft.

7. The finger structure of claim 1, wherein:

the crank mechanism comprises two crank arms which are oppositely arranged on two sides of the finger body, the sliding piece is connected between the two crank arms, and the sliding piece penetrates through the sliding groove.

8. The finger structure of claim 1, wherein:

the finger fixing device further comprises a push plate, and the push plate is connected with one end, far away from the base, of the finger body.

9. A pallet fork assembly comprising a fork body, a telescopic arm extendable and retractable relative to the fork body, and a finger arrangement as claimed in any one of claims 1 to 8 provided at the end of the telescopic arm.

10. A transfer robot comprising a base, a stand provided on the base, and a fork assembly according to claim 9 provided on the stand and capable of sliding up and down on the stand.

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