CN218752810U

CN218752810U - Container taking and returning device, carrying robot and warehouse logistics system

Info

Publication number: CN218752810U
Application number: CN202222915118.XU
Authority: CN
Inventors: 袁李
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2022-11-02
Filing date: 2022-11-02
Publication date: 2023-03-28
Anticipated expiration: 2032-11-02

Abstract

The utility model discloses a container is got and is returned device, transfer robot and storage logistics system relates to intelligent storage technical field. The container taking and returning device comprises a bearing component, a taking and placing mechanism and a driving mechanism, wherein the taking and placing mechanism and the driving mechanism are both arranged on the bearing component, the taking and placing mechanism is provided with an opening and closing component, and the opening and closing component is used for taking and placing a container through opening and closing; the driving mechanism is connected with the pick-and-place mechanism and is used for driving the pick-and-place mechanism to push or pull the container to move along the first direction so as to pick and return the container. The opening and closing assembly can only act on one end, facing the carrying robot, of the container, the taking and placing mechanism does not need to stretch into the gap between the two containers to clamp the container, mutual interference between the taking and placing mechanism and the container beside the target container is avoided, and safety and convenience in the box taking and returning process are improved.

Description

Container taking and returning device, carrying robot and warehouse logistics system

Technical Field

The utility model relates to an intelligent storage technical field especially relates to a container is got and is returned device, transfer robot and storage logistics system.

Background

This section provides background information related to the present invention only and is not necessarily prior art.

The transfer robot is an important component of the intelligent storage and can perform operations such as feeding, blanking and transferring of the material box.

The transfer robot takes the material box on the goods shelf out to the transfer robot by the container taking-back device or returns the material box on the transfer robot to the goods shelf. At present, the container taking and returning device generally comprises two fork arms which are arranged in bilateral symmetry, and the two fork arms complete clamping or pushing of the material box by extending out of two sides of the material box. Due to the fact that the two fork arms need to extend into the side portions of the material box respectively, the fork arms are prone to interfering with the material box beside a target material box in the extending or retracting process, the material box beside the target material box is inclined to influence subsequent goods taking operation, and even the material box falls down to cause potential safety hazards or goods damage.

SUMMERY OF THE UTILITY MODEL

The utility model aims at least solving the problem that the container taking and returning device of the transfer robot is easy to interfere with the material box beside the target material box. The purpose is realized by the following technical scheme:

the utility model discloses a first aspect provides a container is got and is returned device, include:

a carrier assembly;

the picking and placing mechanism is arranged on the bearing component and is provided with an opening and closing component, and the opening and closing component picks and places the container through opening and closing;

the driving mechanism is arranged on the bearing assembly and connected with the pick-and-place mechanism and used for driving the pick-and-place mechanism to push or pull the container to move along a first direction so as to pick and return the container.

According to the utility model discloses the container is got and is still put the device, gets to put the mechanism and is connected with the container through opening the subassembly, makes to get to put the mechanism can with container synchronous motion, and when actuating mechanism drive was got to put the mechanism and was removed along the first direction, got to put the mechanism and promoted or stimulate container synchronous motion to the completion was got and is still the case process. Because the container is put through opening and closing of the opening and closing assembly of the taking and placing mechanism, the opening and closing assembly can only act on one end, facing the carrying robot, of the container, the taking and placing mechanism does not need to stretch into a gap between the two containers to clamp the container, mutual interference between the taking and placing mechanism and the container beside a target container is avoided, and safety and convenience in the box taking and returning process are improved.

In addition, according to the utility model discloses a container is got and is returned device still can have following additional technical characterstic:

in some embodiments of the present invention, the pick and place mechanism further has a driving component, and the driving component is connected to the opening and closing component for driving the opening and closing component to open or close.

The utility model discloses an in some embodiments, it is electronic clamping jaw to get and put mechanism, drive assembly does electronic clamping jaw's driver, open and close the subassembly and do electronic clamping jaw's clamping jaw.

In some embodiments of the present invention, the opening and closing assembly has an opening posture and a closing posture, the opening and closing assembly is in the opening posture and one of the closing postures clamps the one end of the container, and releases the container in the other posture.

In some embodiments of the present invention, the opening and closing assembly comprises two opposing jaws configured to grip an end of the container from an outside of the container;

in the process of taking the container, the two clamping jaws clamp one end of the container, and the driving mechanism drives the taking and placing mechanism to pull the container; in the process of returning the container, the two clamping jaws clamp one end of the container, and the driving mechanism drives the taking and placing mechanism to push the container.

In some embodiments of the present invention, the opening and closing assembly includes two oppositely disposed clamping jaws, each of the two clamping jaws includes a hooking portion, a main body portion and a pushing portion, the main body portion extends along the first direction, the first end of the main body portion is connected to the driving assembly, the hooking portion is connected to the second end of the main body portion, the pushing portion and the hooking portion are disposed at an interval along the first direction, and the pushing portion is located on one side of the hooking portion close to the first end;

the hooking part is configured to be capable of extending into the inner side of one end of the container when the opening and closing assembly is in the closed posture;

in the process of taking the container, the hooking part is abutted against the inner side of one end of the container in the opening posture at the inner side of the container, and the driving mechanism drives the taking and placing mechanism to pull the container; in the process of returning the container, the pushing part is abutted with the outer side of one end of the container in the opening posture at the outer side of the container, and the driving mechanism drives the picking and placing mechanism to push the container.

In some embodiments of the present invention, the container retrieving and returning device further includes a mounting rack, the mounting rack is slidably disposed on the supporting component, the retrieving and placing mechanism is disposed on the mounting rack, the driving mechanism is connected to the mounting rack to drive the retrieving and placing mechanism to move along the first direction.

In some embodiments of the present invention, the number of the pick and place mechanisms is a plurality of, and a plurality of the pick and place mechanisms are sequentially arranged on the mounting frame along a direction perpendicular to the first direction.

In some embodiments of the present invention, a guide rail extending along the first direction is disposed on the bearing component, and the mounting rack is slidably disposed on the guide rail.

In some embodiments of the present invention, the drive mechanism comprises a power member, a synchronous belt, a drive pulley, and a driven pulley;

the power member with the drive pulley is connected, drive pulley with driven pulley sets up respectively bearing assembly's edge the both ends of first direction, the synchronous belt is around establishing drive pulley with between the driven pulley, the mounting bracket with the hold-in range is connected.

A second aspect of the present invention provides a transfer robot, including:

a chassis;

the lifting device is arranged on the chassis;

the container is got and is returned the device, with elevating gear connects, and can go up and down under elevating gear's the effect, the container is got and is returned the device and do the utility model discloses the first aspect provides a container is got and is returned the device.

The utility model discloses a third aspect provides a warehouse logistics system, include:

a container;

the utility model discloses a transfer robot that the second aspect provided or the utility model discloses a device is got back to container that the first aspect provided.

In some embodiments of the present invention, one side of the container is provided with a fitting portion which deviates from the center of the container and protrudes outwards, and the opening and closing component is fitted with the fitting portion to take and place the container.

In some embodiments of the present invention, an opening is provided on a side wall of the container, one end of the opening and closing component can pass through the opening, and cooperates with the side wall provided with the opening to take and place the container.

The handling robot and the warehouse logistics system provided by the embodiment both comprise the container taking and returning device provided by the embodiment, and accordingly, the container taking and returning device provided by the embodiment has at least the same beneficial effects.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like parts are designated by like reference numerals throughout the drawings. In the drawings:

fig. 1 is a schematic view of a container retrieving and returning device according to an embodiment of the present invention, corresponding to a container;

FIG. 2 is a schematic view of the container retrieval apparatus shown in FIG. 1;

FIG. 3 is a schematic view of the container shown in FIG. 1;

fig. 4 is a schematic view of another container retrieving and returning device according to an embodiment of the present invention, corresponding to a container;

FIG. 5 is a schematic view of the container retrieval device shown in FIG. 4;

FIG. 6 is an enlarged view of a portion of FIG. 5;

fig. 7 is a schematic view of the container shown in fig. 4.

The reference numbers are as follows:

100-a carrier assembly; 110-a guide rail; 120-a motor mount; 130-driven wheel seat; 200-a pick and place mechanism; 210-a drive assembly; 220-opening and closing the assembly; 221-a body portion; 222-a hooking portion; 223-a pushing portion; 230-a mounting frame; 231-a slider; 300-a drive mechanism; 310-a power member; 320-a synchronous belt; 330-a drive pulley; 340-a driven pulley; 400-a container; 410-a mating portion; 420-opening the hole;

x-a first direction; y-horizontal direction; z-vertical direction.

Detailed Description

Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can 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 invention to those skilled in the art.

It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" may be intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order described or illustrated, unless specifically identified as an order of performance. It should also be understood that additional or alternative steps may be used.

Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.

For convenience of description, spatially relative terms, such as "inner", "outer", "lower", "below", "upper", "above", and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. This spatially relative term is intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the example term "below … …" may include both an up and down orientation. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

As shown in fig. 1 to 7, the present embodiment provides a container retrieving device, which includes a carrier assembly 100, a retrieving and placing mechanism 200, and a driving mechanism 300. The pick-and-place mechanism 200 is arranged on the bearing component, the pick-and-place mechanism 200 is provided with an opening and closing component 220, and the opening and closing component 220 is used for taking and placing the container 400 through opening and closing. The driving mechanism 300 is connected to the pick and place mechanism 200, and is used for driving the pick and place mechanism 200 to push or pull the container to move along the first direction X, so as to pick and place the container 400.

The opening and closing assembly 220 can be opened and closed, i.e., has an opening posture and a closing posture, and can be switched between the opening posture and the closing posture. In order to realize the opening and closing of the opening and closing assembly 220, the pick and place mechanism is further provided with a driving assembly 210, and the driving assembly 210 is connected with the opening and closing assembly 220 and used for driving the opening and closing assembly 220 to open or close. The opening and closing assembly 220 is used for taking and placing the container 400, which can be specifically understood as that when the opening and closing assembly 220 is connected with the container 400, the opening and closing assembly 220 is used for taking the container, namely picking the container; when the opening and closing assembly 220 is disconnected from the container 400, the opening and closing assembly 220 releases the container, i.e., releases the container.

In one implementation, the opening and closing component 220 has an open position and a closed position, and the opening and closing component 220 grips one end of the container in one of the open position and the closed position and releases the container in the other position.

The driving mechanism 300 drives the pick-and-place mechanism 200 to move in the first direction, which is a process that causes the pick-and-place mechanism 200 to pull the container 400 into or push the container out of the carrier assembly 100.

The container retrieving device of the embodiment is generally applied to a transfer robot, and the container retrieving device can move along with the transfer robot and can be lifted and lowered under the action of a lifting device of the transfer robot. In actual arrangement, the end of the container 400 used for connection with the pick and place mechanism 200 generally faces the transfer robot, in other words, the end refers to the front side of the container 400, and the side of the container 400 refers to the end of the container 400 facing the transfer robot when the container 400 is placed on a storage device such as a shelf. That is, in the embodiment, the pick-and-place mechanism 200 generally acts on the side of the container 400 facing toward the transfer robot.

The carrying assembly 100 may temporarily carry the container 400, and the carrying assembly 100 may specifically be a tray, or a rack body formed by combining a tray and other box structures.

The pick and place mechanism 200 is a mechanism for connecting with the container 400, which directly acts on the container 400, and can push or pull the container 400 under the action of the driving mechanism 300. The driving component 210 of the pick-and-place mechanism 200 is used for driving the opening and closing component 220 to open and close so as to realize the connection and separation of the opening and closing component 220 and the container 400, and the driving component 210 may be specifically a component formed by matching corresponding transmission components with an air cylinder, a hydraulic cylinder, a motor and the like. The number of the opening and closing assemblies 220 may be one or more (a plurality refers to at least two), the opening and closing assemblies 220 may be cooperatively connected with one side of the container 400 in a hooking manner, for example, in one implementation manner, one side of the container 400 is provided with an opening 420, the front end of one or more opening and closing assemblies 220 may extend into the container 400 through the opening 420, after the opening and closing assemblies 220 extend into the opening 420, the driving assembly 210 drives the opening and closing assemblies 220 to move towards the circumferential edge of the opening 420, so that the front end of the opening and closing assemblies 220 hooks the container 400; for another example, a hooking portion 222 is disposed on an outer side wall of one side of the container 400, a hooking limiting groove is disposed in the hooking portion 222, and the driving component 210 can drive the opening and closing component 220 to be inserted into the hooking limiting groove, so that the connection between the pick-and-place mechanism 200 and the container 400 is realized. When the number of the opening and closing assemblies 220 is two or more, the pick and place mechanism 200 can also pick up the container 400 through the matching of the plurality of opening and closing assemblies 220 to achieve the connection between the pick and place mechanism 200 and the container 400, for example, a matching part 410 protrudes outwards from the center of the container 400 on one side of the container 400, and the plurality of opening and closing assemblies 220 can be close to each other to pick up the matching part 410 under the action of the driving assembly 210 to achieve the connection between the pick and place mechanism 200 and the container 400.

The driving mechanism 300 is a member for driving the pick-and-place mechanism 200 to move along the first direction X, and may be a member formed by a pneumatic cylinder, a hydraulic cylinder, or a motor, etc. in cooperation with a corresponding transmission assembly. The first direction X is such that the pick and place mechanism 200 can push the container 400 out of the carrier assembly 100 or pull the container 400 to the carrier assembly 100 when moving in the first direction X. When the container 400 is returned to the rack, the first direction X corresponds to a direction between the transfer robot and the deck on which the target container 400 is located when the transfer robot moves to the pickup position corresponding to the target container 400.

It should be noted that, generally, the pick-and-place mechanism 200 normally performs reciprocating movement along the first direction X under the action of the driving mechanism 300, that is, the first direction X is bidirectional, for example, during box taking, the pick-and-place mechanism 200 moves forward to a box waiting position along the first direction X under the action of the driving mechanism 300, and after the pick-and-place mechanism 200 is connected with the container 400, the pick-and-place mechanism 200 moves backward to reset along the first direction X under the action of the driving mechanism 300, and pulls the container 400 onto the carrier assembly 100.

When the container 400 is returned, the transfer robot moves to the corresponding position, and then adjusts the container returning device to the to-be-returned position or the to-be-returned position. The pick-and-place mechanism 200 of the container pick-and-place device at the to-be-picked box position or the to-be-returned box position is connected with one side of the container 400, so that the pick-and-place mechanism 200 and the container 400 can move synchronously, and when the driving mechanism 300 drives the pick-and-place mechanism 200 to move along the first direction X, the pick-and-place mechanism 200 drives the container 400 to move synchronously, so that the container 400 is pulled onto the bearing assembly 100, or the container 400 is pushed out of the bearing assembly 100, and the box pick-and-place process is completed. Because the driving component 210 of the pick-and-place mechanism 200 can drive the opening and closing component 220 to be connected with one side of the container 400, when the container pick-and-place device picks and places the container 400, the container pick-and-place mechanism can only act on one end of the container 400 facing the carrying robot, and the pick-and-place mechanism 200 does not need to extend into a gap between the two containers 400 to clamp the container 400, so that the mutual interference between the pick-and-place mechanism 200 and the container 400 beside the target container 400 is avoided, and the safety and the convenience of the box pick-and-place process are improved.

Generally, the container retrieving device of the present embodiment needs to be disconnected from the container 400 after the container 400 is transported to a proper position, for example, when the container retrieving device places the container 400 on a shelf during the process of returning the container to the shelf, the container retrieving device should be disconnected from the container 400 so that the container retrieving device can complete the transportation of different containers 400. Specifically, the opening and closing assembly 220 of the container retrieving and returning device can be urged to be disconnected from the container 400 by an additional member. In this embodiment, in order to simplify the apparatus, the container retrieving device is configured to drive the opening and closing component 220 to open and close through the driving component 210, so as to realize the disconnection between the opening and closing component 220 and one side of the container 400.

In some embodiments of the utility model, open and close subassembly 220 includes two clamping jaws, and two clamping jaws set up relatively, and drive assembly 210 is connected with two clamping jaws respectively, and drive assembly 210 can drive two clamping jaws and open and close to make two close one side that subassembly 220 and container 400 be connected or remove to be connected.

The two clamping jaws can be oppositely arranged at intervals along any direction, the driving assembly 210 can drive the two clamping jaws to approach each other, namely, to close, so that the opening and closing assembly 220 is connected with the container 400, or can drive the two clamping jaws to move away from each other, namely, to open, so that the opening and closing assembly 220 is connected with the container 400.

To facilitate the connection of the opening and closing assembly 220 and the container 400, the two jaws may be spaced in sequence along a second direction, which is perpendicular to the first direction X.

The first direction X is typically some direction that is horizontal. In general, the first direction X corresponds to a length direction of the container 400, the first direction X may be understood with reference to fig. 1, and the corresponding second direction may be a direction parallel to a width direction of the container 400 (may be understood with reference to a horizontal direction Y shown in fig. 1) or a direction parallel to a height direction of the container 400 (may be understood with reference to a vertical direction Z shown in fig. 1). When the two combining components 220 are sequentially arranged along the second direction, the second direction is also the relative moving direction of the two combining components 220.

Two cloth arrangement modes of the opening and closing assembly 220 are specifically given in the following embodiment.

In a first implementation, and as illustrated with reference to fig. 1 and 2, the two jaws of the opening and closing assembly 220 are configured to: when the container is closed under the driving of the driving assembly 210, the container is connected with a matching part 410 arranged at one side of the container 400, namely, the container 400 is clamped when the opening and closing assembly 220 is in a closed posture; when the driving assembly 210 is driven to open, the connection part 410 is disconnected, namely, the opening and closing assembly 220 releases the container 400 when in the opening posture.

As shown in fig. 1 and 3, in the first implementation, the container 400 is provided with a fitting portion 410 protruding outward away from the center of the container 400, and the fitting portion 410 may be provided only on the front side of the container 400, that is, the side facing the transfer robot, or may be provided on the entire container 400. Referring to fig. 3, the fitting portion 410 may be a flange of an upper edge of the container 400. The fitting portion 410 may be a bump or the like additionally provided on the container 400.

Specifically, when the two jaws are closed close to each other, the two jaws can cooperate to clamp the fitting portion 410, that is, the two jaws cooperate to directly clamp the fitting portion 410, so as to connect the opening and closing assembly 220 with the fitting portion 410.

The driving assembly 210 includes a motor and a transmission member, and the motor is connected with the opening and closing assembly 220 through the transmission member. The specific transmission members can be two groups, the motor is respectively connected with the two groups of transmission members, and the two transmission members are arranged in one-to-one correspondence with the two clamping jaws. The pick and place mechanism 200 formed by the combination of the motor, the transmission member and the opening and closing assembly 220 can be an electric clamping jaw, the corresponding driving assembly 210 is a driver of the electric clamping jaw, and the opening and closing assembly 220 is a clamping jaw of the electric clamping jaw. In the present embodiment, the two jaws of the pick and place mechanism 200 are arranged to be spaced apart in the vertical direction Z to pick up the mating part 410 of the container 400 in the vertical direction Z.

When the two clamping jaws of the container taking and returning device of the embodiment are closed to be close to each other, the matching part 410 of the container 400 can be grabbed; when the jaws are opened away from each other, the container 400 may be released, i.e., disconnected, from the container 400.

The box taking process of the container taking and returning device in the embodiment comprises the following steps: in the initial state where the two jaws are separated and far apart, the driving mechanism 300 drives the pick-and-place mechanism 200 to move forward along the first direction X to the front position of the container 400, and at this time, the two jaws are respectively located above and below the matching portion 410 at one end of the container 400; then, the driving component 210 drives the opening and closing component 220 to move close to each other, and the matching part 410 is clamped; after the pick-and-place mechanism 200 clamps the engaging portion 410, the driving mechanism 300 drives the pick-and-place mechanism 200 to return backward along the first direction X, and the container 400 is pulled onto the bearing assembly 100 by the pulling action of the pick-and-place mechanism 200.

The box returning process of the container taking and returning device in the embodiment is as follows: the engaging portion 410 of the two-jaw clamping container 400 of the pick and place mechanism 200 or the lower jaw of the pick and place mechanism 200 abuts against the front side of the container 400, the driving mechanism 300 drives the connecting structure to move along the first direction X, and the pick and place mechanism 200 pushes the container 400 to move out of the bearing assembly 100, so as to place the container 400 on a corresponding storage device such as a shelf.

It should be noted that, in the first implementation manner, the arrangement form of the two clamping jaws is not limited to the vertical sequential arrangement form. For example, the two jaws may also be arranged in a horizontal direction perpendicular to the first direction X, i.e. arranged in the horizontal direction Y shown in fig. 1. The front side of the container 400 to be engaged therewith may be provided with an engaging portion 410 in the form of a projection block, and the two jaws correspond to the left and right sides of the projection block in the horizontal direction Y. Thus, when the two jaws approach each other in the horizontal direction Y, the engaging portion 410 of the container 400 can be engaged, so as to connect the pick-and-place mechanism 200 with the container 400; when the jaws are moved away from each other in the horizontal direction Y, the pick and place mechanism 200 is disconnected from the container 400.

In a second implementation, illustrated with reference to fig. 4, 5, 6 and 7, the two jaws are configured: when the driving assemblies 210 are driven to move away from each other, the driving assemblies are connected with the matching parts 410 arranged on one side of the container 400, namely, the opening and closing assemblies 220 are connected with the container 400 when in an opening posture; when the driving components 210 are driven to approach each other, the connection with the matching part 410 is released, namely, the connection with the container 400 is released when the opening and closing components 220 are in the closed posture.

In the second implementation manner, the matching portion 410 may be a matching element disposed outside the front side surface of the container 400, for example, the matching portion 410 is disposed on the front side surface of the container 400 corresponding to the two clamping jaws, the two matching portions 410 are disposed at opposite intervals, the two clamping jaws may enter between the two matching portions 410, and after the two matching portions 410 enter, when the driving assembly 210 can drive the opening and closing assembly 220 to be away from each other, the opening and closing assembly 220 can be connected with the corresponding matching portion 410, and the connection between the specific matching portion 410 and the opening and closing assembly 220 may be in a hook connection manner. The engaging portion 410 may be formed by the structure of the container 400 itself, and the second implementation of the present embodiment is mainly described by taking the structure of the container 400 itself as an example to form the engaging portion 410. Specifically, referring to fig. 4 and 7, an opening 420 is formed in one side of the container 400, that is, a side wall of a front side of the container 400, the opening 420 penetrates through the side wall of the front side of the container 400, one end of the opening and closing assembly 220 can extend into the container 400 through the opening 420, the driving assembly 210 can drive the two clamping jaws to move away from each other in the opening 420, so that the clamping jaws are connected with the side wall of the container 400 around the opening 420, thereby realizing the connection between the opening and closing assembly 220 and the container 400, and the corresponding side wall of the container 400 provided with the opening 420 forms the matching portion 410.

Wherein, one end of the clamping jaw is generally the front end of the clamping jaw, that is, the side of the opening and closing component 220 facing the container 400. The specific shape of the opening 420 on the container 400 can be any shape, such as square, circle, oval, etc., and the size of the opening 420 should be enough to allow one end of the opening and closing assembly 220 to pass through.

In a second implementation, the drive assembly 210 may be in the same form as the first implementation, also in the form of a motorized jaw. The two clamping jaws can be arranged in sequence along a horizontal direction Y perpendicular to the first direction X.

Optionally, in order to facilitate the connection between the opening and closing assembly 220 and the container 400, each of the two jaws of the opening and closing assembly 220 includes a hooking portion 222 and a body portion 221, the body portion 221 extends along the first direction X, a first end of the body portion 221 is connected to the driving assembly 210, and the hooking portion 222 is connected to a second end of the body portion 221; the hooking portion 222 is configured to pass through the opening 420 of one side wall of the container 400 and hook the inner side of the side wall of the container 400 where the opening 420 is disposed when the driving assembly 210 drives the two jaws away from each other.

Referring to fig. 4 and 5, first ends, that is, rear ends, of the two jaws are connected to the driving assembly 210, second ends, that is, front ends, of the two jaws are provided with hooking portions 222, the hooking portions 222 of the two jaws are respectively arranged on sides of the two body portions 221, which face away from each other, and the hooking portions 222 protrude out of a plane where the body portions 221 are located. In the initial state, the two jaws are in contact or in close proximity to each other, and the catch 222 is now inserted through the opening 420 of the container 400. After the hooking part 222 passes through the opening 420 of the container 400, the two jaws are opened away from each other by the driving of the driving assembly 210, and the two hooking parts 222 move along the radial direction of the opening 420, so that the hooking parts 222 are hooked on the inner side of the sidewall of the periphery of the opening 420. When the driving mechanism 300 drives the pick-and-place mechanism 200 to return back along the first direction X, the hooking portion 222 can be stopped at the inner side of the sidewall of the container 400, so that the opening and closing assembly 220 is connected to the container 400, and the pick-and-place mechanism 200 can pull the container 400 to move synchronously.

With continued reference to fig. 4 and 5, the side of the hooking portion 222 facing the first end is defined as a rear end surface, i.e., the side of the hooking portion 222 for hooking with the side wall of the container 400, and the rear end surface is substantially flat to improve the stability of the hooking portion 222 contacting the container 400. The side of portion 222 of getting hooked towards the second end is defined as preceding terminal surface, and preceding terminal surface sets up with the rear end face is relative, and preceding terminal surface sets up to first end slope gradually along the direction that two clamping jaws deviate from each other, and the preceding terminal surface that the slope set up is favorable to forming the spigot surface, conveniently opens and closes in subassembly 220 inserts the trompil 420 of container 400.

Further, in order to facilitate the opening and closing assembly 220 to push the container 400 in the box returning process, the clamping jaws of the opening and closing assembly 220 further comprise pushing portions 223, the pushing portions 223 are connected with the main body portion 221, the pushing portions 223 and the hooking portions 222 are arranged at intervals along the first direction X, and the pushing portions 223 are located on one side, close to the first end, of the hooking portions 222; the pushing portion 223 is disposed so as to be capable of abutting against an outer side wall of the container 400 provided with the opening 420.

Referring to fig. 4 and 5, the pushing portions 223 of the jaws of the opening and closing assembly 220 are located on the sides of the two body portions 221 facing away from each other, that is, the pushing portion 223 and the hooking portion 222 of the same jaw are disposed on the same side of the body portion 221, and the pushing portion 223 protrudes out of the plane where the body portion 221 is located. The end surface of the pushing portion 223 facing the hooking portion 222 is disposed in a plane to improve stability when the pushing portion 223 contacts the sidewall of the container 400.

It should be noted that the pushing portion 223 cannot pass through the opening 420 of the container 400 at least when the jaws are moved away from each other, so that the pushing portion 223 can act on the outside of the sidewall of the container 400 to push the container 400.

In a second implementation manner, the container taking and returning process of the container taking and returning device is as follows: in the closed position where the two jaws are in contact or close to each other, the driving mechanism 300 drives the pick-and-place mechanism 200 to move forward along the first direction X, so that the hook portions 222 of the jaws of the opening and closing assembly 220 pass through the openings 420 of the container 400; then, the driving assembly 210 drives the two jaws to move away from each other, so that the hooking portion 222 is stopped at the inner side of the sidewall of the container 400; after the hooking portion 222 is stopped at the inner side of the sidewall of the container 400, the driving mechanism 300 drives the pick-and-place mechanism 200 to return backward in the first direction X, and the container 400 is pulled into the carrier assembly 100 by the pulling action of the pick-and-place mechanism 200. The box returning process is as follows: the jaws of the opening and closing assembly 220 of the pick and place mechanism 200 extend into the openings 420 of the containers 400, the driving assembly 210 adjusts the distance between the two closing assemblies 220, the pushing portions 223 of the jaws abut against the outer sides of the side walls of the containers 400, the driving mechanism 300 drives the pick and place mechanism 200 to move forward along the first direction X, and the pick and place mechanism 200 pushes the containers 400 to move out of the bearing assembly 100, so that the containers 400 are placed on corresponding storage devices such as a shelf.

It should be noted that, in the second implementation manner, the arrangement form of the two clamping jaws of the opening and closing assembly 220 is not limited to the arrangement form sequentially along the horizontal direction Y. For example, two clamping jaws can also be arranged one after the other in the vertical direction Z. The jaws may also be provided without the pushing portion 223, for example, by appropriately controlling the position of the hooking portion 222 during returning the container 400 by the hooking portion 222.

It should be noted that the structure of the opening and closing assembly 220 in the second implementation mode is not limited to the mode of connecting with the container 400 when the two clamping jaws are opened away from each other, but can also be applied to the mode of connecting with the container 400 when the clamping jaws are closed close to each other after being modified.

According to some embodiments of the present invention, optionally, the container retrieving device further includes a mounting frame 230, the mounting frame 230 is slidably disposed on the bearing assembly 100 along the first direction X, the retrieving and placing mechanism 200 is disposed on the mounting frame 230, and the driving mechanism 300 is connected to the mounting frame 230 to drive the retrieving and placing mechanism 200 to move along the first direction X.

Referring to fig. 1, 2, 4 and 5, the carriage assembly 100 is provided with a guide rail 110, the guide rail 110 extends along a first direction X, and the bottom of the mounting frame 230 is provided with a slider 231, and the slider 231 is slidably disposed on the guide rail 110. The number of the guide rails 110 may be one or multiple guide rails arranged in parallel, and when the number of the guide rails 110 is multiple, the mounting frame 230 is provided with a slider 231 corresponding to each guide rail 110.

The pick and place mechanism 200 may be one or a plurality of pick and place mechanisms 200, and when the pick and place mechanism 200 is one, the pick and place mechanism 200 is disposed corresponding to the middle of the width direction of the container 400. When there are a plurality of pick and place mechanisms 200, the plurality of pick and place mechanisms 200 are sequentially mounted on the mounting frame 230. Specifically, the plurality of pick and place mechanisms 200 are sequentially disposed on the mounting frame 230 in a direction perpendicular to the first direction X.

Generally, a plurality of pick-and-place mechanisms 200 are sequentially installed on the mounting frame 230 in the horizontal direction Y, so that the plurality of pick-and-place mechanisms 200 can be coupled to different positions in the width direction of the container 400, thereby improving the stability of the container 400 during the picking or returning of the box.

Referring to fig. 1, 2, 4 and 5, in one specific implementation, the number of the pick-and-place mechanisms 200 is two, two pick-and-place mechanisms 200 are respectively disposed on two ends of the mounting frame 230, and two ends of the mounting frame 230 correspond to two ends of one end of the container 400 connected with the pick-and-place mechanisms 200.

According to some embodiments of the present invention, in one specific implementation, the driving mechanism 300 includes a power member 310, a timing belt 320, a driving pulley 330, and a driven pulley 340. The power member 310 is connected to the driving pulley 330, the driving pulley 330 and the driven pulley 340 are respectively disposed at two ends of the bearing assembly 100 along the first direction X, the timing belt 320 is wound between the driving pulley 330 and the driven pulley 340, and the mounting bracket 230 is connected to the timing belt 320.

Specifically, as shown in fig. 1, 2, 4, 5 and 6, the power member 310 may be a motor, the motor bracket 120 is disposed at the rear end of the carrying assembly 100, the motor is disposed on the motor bracket 120, and an output shaft of the motor is connected to the driving pulley 330. The rear end of the bearing assembly 100 is provided with a driving wheel seat, the front end is provided with a driven wheel seat 130, the driving pulley 330 is arranged on the driving wheel seat, the driving pulley 330 can rotate relative to the driving wheel seat, the driven pulley 340 is arranged on the driven wheel seat 130, and the driven pulley 340 can rotate relative to the driven wheel seat 130. The timing belt 320 is wound between the driving pulley 330 and the driven pulley 340 to transmit power. The mounting bracket 230 is located between the driving pulley 330 and the driven pulley 340, and is fixedly clamped to one side of the timing belt 320.

When the motor rotates, the driving pulley 330 is driven to rotate, so as to drive the synchronous belt 320 to rotate, and the mounting rack 230 moves horizontally under the action of the synchronous belt 320. Through the forward rotation and the reverse rotation of the motor, the mounting bracket 230 can reciprocate along the first direction X between the driving pulley 330 and the driven pulley 340 under the driving action of the timing belt 320.

Referring to fig. 1, 2, 4 and 5, the driving mechanism 300 and the pick-and-place mechanism 200 of the container pick-and-place device of the present embodiment are both installed on the bottom surface of the bearing assembly 100, the middle portion of the bearing assembly 100 is recessed downward to form an installation groove, the driving pulley 330, the driven pulley 340, the timing belt 320 and the guide rail 110 of the driving mechanism 300 are all installed in the installation groove, and both sides of the installation groove are used for supporting the container 400. The arrangement is simple in structure, and the driving mechanism 300 and the container can be prevented from interfering with each other.

In summary, the container taking and returning device of the present embodiment can realize taking the box from the front side of the container 400, and has a simple and reliable structure, thereby improving the stability of taking the box and having low cost.

The embodiment also provides a transfer robot, which comprises the container taking and returning device in any form provided by the embodiment.

The transfer robot further comprises a chassis, a lifting device, a detection device, a controller and the like. The chassis comprises a chassis frame, wheel sets arranged on the chassis frame, a driving component and the like, and is used for realizing the walking operation of the transfer robot on the ground. The lifting device comprises an upright post (namely a gantry) and a lifting driving assembly, wherein the upright post is arranged on the chassis, the lifting driving assembly is arranged on the upright post, and the specific lifting driving assembly can be in the form of a motor matched with a belt wheel, a belt and other transmission members, and can also be in the form of an electric cylinder, an air cylinder or a hydraulic cylinder and the like. The container taking and returning device is installed on the lifting driving assembly, and can lift in the vertical direction Z under the action of the lifting driving assembly, so that containers 400 of different heights can be taken and returned. The detection device is used for completing various detection operations of the transfer robot, including but not limited to obstacle detection for performing a box taking or returning process, obstacle detection for a chassis walking process and the like. The controller is used for controlling the transfer robot to execute corresponding actions according to a set program, information detected by the detection device and the like.

When the container taking and returning device takes and returns the container, generally, the carrying robot firstly moves to a target position, then the height of the container taking and returning device is adjusted through the lifting device, and after the container taking and returning device reaches the corresponding target height, the container taking and returning device carries out the box taking and returning action. The specific action of the container taking and returning device can be controlled by the controller.

The carrying robot in this embodiment includes the container retrieving device in this embodiment, and accordingly, at least has the beneficial effects of the container retrieving device in this embodiment.

The present embodiment further provides a warehouse logistics system, which includes a container 400, and the transfer robot provided in the present embodiment or the container retrieving device provided in the present embodiment, wherein the retrieving and placing mechanism 200 can be connected to or disconnected from one side of the container 400.

Wherein, the warehouse logistics system can also comprise related components such as a shelf and the like. The container 400 is generally provided in a plurality, and may be provided on a shelf for storing materials.

Referring to fig. 3, in one implementation, one side of the container 400 is provided with a mating portion 410 that protrudes outward away from the center of the container 400, the mating portion 410 being used to connect with the pick and place mechanism 200.

In particular, the form of the engaging portion 410 of the container 400 and the connection manner between the engaging portion 410 and the pick-and-place mechanism 200 can be referred to the description of the container pick-and-place device of the present embodiment.

Referring to fig. 7, in another implementation, an opening 420 is formed on a sidewall of the container 400, and the pick-and-place mechanism 200 can pass through the opening 420 and can be hooked to an inner side of the sidewall where the opening 420 is formed.

In particular, the opening 420 of the container 400 and the cooperation between the container 400 and the pick-and-place mechanism 200 can be referred to the description of the container pick-and-place device of the embodiment.

The warehouse logistics system of the embodiment comprises the container taking and returning device or the carrying robot, and the same beneficial effects as those of the container taking and returning device or the carrying robot provided by the embodiment are achieved.

The above description is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A container retrieval and retrieval device, comprising:

a carrier assembly;

2. The container retrieval device of claim 1, wherein the retrieval mechanism further comprises a driving assembly, the driving assembly is connected with the opening and closing assembly and is used for driving the opening and closing assembly to open or close.

3. The container retrieval device of claim 2, wherein the retrieval mechanism is a motorized gripper, the drive assembly is a driver for the motorized gripper, and the opening and closing assembly is a gripper of the motorized gripper.

4. The container retrieval and retrieval device according to claim 2 or 3, wherein the opening and closing member has an open posture and a closed posture, and the opening and closing member grips one end of the container in one of the open posture and the closed posture and releases the container in the other posture.

5. The container retrieval apparatus of claim 4, wherein the opening and closing assembly includes two opposing jaws configured to grip an end of the container from an outside of the container;

6. The container retrieving device according to claim 4, wherein the opening and closing assembly comprises two opposing jaws, each of the two jaws comprises a hooking portion, a main body portion and a pushing portion, the main body portion extends along the first direction, a first end of the main body portion is connected to the driving assembly, the hooking portion is connected to a second end of the main body portion, the pushing portion and the hooking portion are spaced along the first direction, and the pushing portion is located on a side of the hooking portion close to the first end;

in the process of taking the container, the hooking part is abutted against the inner side of one end of the container in the opening posture at the inner side of the container, and the driving mechanism drives the taking and placing mechanism to pull the container; in the process of returning the container, the pushing part is abutted against the outer side of one end of the container in the opening posture at the outer side of the container, and the driving mechanism drives the taking and placing mechanism to push the container.

7. The container retrieval device according to any one of claims 1 to 3, further comprising a mounting bracket slidably disposed on the carrier assembly, wherein the retrieval mechanism is disposed on the mounting bracket, and wherein the drive mechanism is coupled to the mounting bracket for driving the retrieval mechanism to move in the first direction.

8. The container pick and place device as claimed in claim 7, wherein the pick and place mechanism is provided in plurality, and the plurality of pick and place mechanisms are sequentially provided on the mounting frame in a direction perpendicular to the first direction.

9. The container retrieval device of claim 8, wherein the carrier assembly is provided with a guide rail extending in the first direction, and the mounting bracket is slidably disposed on the guide rail.

10. The container retrieving device according to claim 9, wherein the driving mechanism comprises a power member, a timing belt, a driving pulley and a driven pulley;

11. A transfer robot, characterized by comprising:

a chassis;

the lifting device is arranged on the chassis;

the container taking and returning device is connected with the lifting device and can lift and fall under the action of the lifting device, and the container taking and returning device is the container taking and returning device as claimed in any one of claims 1 to 10.

12. A warehouse logistics system, comprising:

a container;

the transfer robot of claim 11 or the container retrieval apparatus of any one of claims 1 to 10.

13. The warehouse logistics system of claim 12 wherein one side of the container is provided with an engagement portion projecting outwardly away from a center of the container, the opening and closing assembly engaging with the engagement portion to access the container.

14. The warehouse logistics system of claim 12, wherein a sidewall of the container is provided with an opening, and one end of the opening and closing assembly can pass through the opening and cooperate with the sidewall provided with the opening to pick and place the container.