CN219077762U

CN219077762U - Tray assembly and automatic transfer robot

Info

Publication number: CN219077762U
Application number: CN202223520590.XU
Authority: CN
Inventors: 王帅
Original assignee: Hangzhou Hikrobot Co Ltd
Current assignee: Hangzhou Hikrobot Co Ltd
Priority date: 2022-12-27
Filing date: 2022-12-27
Publication date: 2023-05-26
Anticipated expiration: 2032-12-27

Abstract

The application discloses tray subassembly and automatic handling robot. The assembly comprises: the tray is provided with a goods taking and placing port at one end along the first direction; a set of runners, the set of runners including at least one runner disposed on the tray along a second direction, the second direction being perpendicular to the first direction; the first clamping plate and the second clamping plate are arranged on the front surface of the tray along the first direction and can slide along corresponding sliding grooves in the sliding groove group; and the reset mechanism is used for accumulating force under the condition that the clamping plate moves back to reset the clamping plate.

Description

Tray assembly and automatic transfer robot

Technical Field

The application relates to the field of warehouse logistics, in particular to a tray assembly and an automatic transfer robot.

Background

With the development of warehouse logistics, the degree of mechanical automation in the storage and transportation of goods is continuously improved. The automatic carrying robot can automatically carry and store cargoes according to the signal instruction. The robot realizes carrying and storing the goods, and a tray assembly for storing the goods is not separated.

In the related art, to fixed goods size, the tray subassembly can be with goods size assorted, accomplishes the centre gripping to the goods in order to make things convenient for transport, storage, however, when the goods size that needs to carry changes, the unable in time adjustment of tray subassembly of this fixed knot structure is in order to adapt to the goods size for can't accomplish the centre gripping to the goods of equidimension not.

Disclosure of Invention

An object of the present application is to provide a pallet assembly and an automatic transfer robot.

In a first aspect of the present application, there is provided a tray assembly comprising:

the tray is provided with a goods taking and placing port at one end along the first direction;

a set of runners, the set of runners including at least one runner disposed on the tray along a second direction, the second direction being perpendicular to the first direction;

the first clamping plate and the second clamping plate are arranged on the front surface of the tray along the first direction and can slide along corresponding sliding grooves in the sliding groove group;

and the reset mechanism is used for accumulating force under the condition that the clamping plate moves back to reset the clamping plate.

Optionally, the reset mechanism includes: a first reset portion corresponding to the first clamping plate and a second reset portion corresponding to the second clamping plate; any reset portion that any grip block corresponds includes:

the guide rod is arranged on the back surface of the tray along the second direction, and two ends of the guide rod are fixed on the tray;

the elastic piece and the sliding block are sleeved on the guide rod; one end of the elastic piece is connected with the tray, and the other end of the elastic piece is connected with the corresponding sliding block; the sliding block is connected with any clamping plate through the sliding groove and can synchronously slide on the guide rod with any clamping plate.

Optionally, a first chute corresponding to the first clamping plate and a second chute corresponding to the second clamping plate are arranged along the second direction, and the first chute corresponds to the first reset portion and the second chute corresponds to the second reset portion;

the first reset part and the second reset part share one guide rod.

Optionally, the first clamping plate and the second clamping plate correspond to the same chute.

Optionally, the method further comprises:

and the synchronous structure is respectively connected with the two clamping plates and is used for driving the other clamping plate to synchronously slide under the condition that any clamping plate slides.

Optionally, the synchronization structure set up in the spout position at tray back, the synchronization structure includes:

the first synchronous seat is connected with the first clamping plate, and the second synchronous seat is connected with the second clamping plate, and the connection position of the first synchronous seat and the first clamping plate is opposite to the connection position of the second synchronous seat and the second clamping plate;

the synchronous main rod is fixed on the tray, so that the synchronous main rod can rotate around a fixed point;

one end of a first synchronous connecting rod is rotationally connected with one end of the synchronous main rod, and the other end of the first synchronous connecting rod is rotationally connected with the first synchronous seat; one end of the second synchronous connecting rod is in rotary connection with the other end of the synchronous main rod, and the other end of the second synchronous connecting rod is in rotary connection with the second synchronous seat.

Optionally, the synchronization structure includes:

the center position of the synchronous main rod is fixed on the tray and is positioned in the middle of the two clamping plates;

the length of the synchronous connecting rods is consistent.

Optionally, the tray assembly includes a plurality of the sets of parallel slide grooves and a plurality of the return mechanisms parallel to each other.

Optionally, the two clamping plates are bent at one end close to the pick-and-place port in directions away from each other.

Optionally, one end of the tray along the first direction is provided with a pick-and-place port, and the other end is provided with a baffle.

In a second aspect of the present application, there is provided an automatic transfer robot having a pallet assembly according to the first aspect of the present application mounted thereon.

The technical scheme provided by the embodiment of the application can comprise the following beneficial effects:

this application can change the distance between two grip blocks through canceling release mechanical system and spout to make the grip block produce the power of centre gripping, can adapt to the goods of different specification sizes, and carry out the centre gripping along the both sides of second direction to the goods, make this tray subassembly under the circumstances of facing different specification size goods, can be better form the centre gripping effect, in order to accomplish the transport, the storage demand to the goods of different specification sizes.

Drawings

Fig. 1 is a schematic front view of a tray assembly of the present application.

Fig. 2 is a schematic view of the back structure of the tray assembly of the present application.

Fig. 3 is a schematic front view of the pallet assembly of the present application with larger format cargo.

Fig. 4 is a schematic rear view of the pallet assembly of the present application with larger size cargo.

Fig. 5 is a schematic front view of the pallet assembly of the present application with smaller gauge cargo.

Fig. 6 is a schematic rear view of the pallet assembly of the present application with smaller gauge cargo.

Description of the reference numerals

Tray 1

Slide groove group 2

First clamping plate 3

Second clamping plate 4

Reset mechanism 5

First reset portion 51

Second reset portion 52

Guide bar 511

Elastic element 512

Slider 513

Synchronous structure 6

Synchronous main lever 61

Synchronous connecting

rods

62, 63

Synchronizing

seats

64, 65

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The manner described in the following exemplary embodiments does not represent all manners consistent with the present application. Rather, they are merely examples of apparatus consistent with some aspects of the present application as detailed in the accompanying claims.

The terminology used in the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs. The terms "first," "second," and the like in the description and in the claims, are not used for any order, quantity, or importance, but are used for distinguishing between different elements. Also, the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one, and the terms "a" and "an" are used individually. "plurality" or "plurality" means two or more. Unless otherwise indicated, the terms "front," "rear," "lower," and/or "upper" and the like are merely for convenience of description and are not limited to one location or one spatial orientation. The word "comprising" or "comprises", and the like, means that elements or items appearing before "comprising" or "comprising" are encompassed by the element or item recited after "comprising" or "comprising" and equivalents thereof, and that other elements or items are not excluded. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.

The application discloses a tray assembly. The tray assembly can be used for clamping an automatic carrying robot, and can also be used for storage, logistics and other application scenes in which goods need to be stored and taken. The pallet assembly can be used for clamping and storing cargoes, and is provided with a reset mechanism, so that the storage requirements of cargoes with different specifications can be met.

As shown in fig. 1 and 2, the tray assembly may include a tray 1, a chute assembly 2, a first clamping plate 3, a second clamping plate 4, and a reset mechanism 5, where the specific connection mode and function of each assembly include:

the tray 1, tray 1 is equipped with the getting and putting goods mouth along the one end of first direction. The first direction can be any direction, and goods can be stored and taken on the tray through the taking and placing port arranged in the first direction. Although the tray in the drawings is rectangular, the shape of the tray is not limited in practice, for example, the shape of the tray may be circular, triangular, etc., and the specific material of the tray is not limited in this application.

A set of runners 2, said set of runners 2 comprising at least one runner arranged on said tray 1 in a second direction, said second direction being perpendicular to said first direction. The chute assembly 2 is perpendicular to the first direction of loading and unloading of the goods, and in some embodiments, the chute assembly may comprise one chute or a plurality of chutes, and in the embodiment of fig. 1, the chute assembly 2 actually comprises two chutes. In some embodiments, the chute sets provided on the tray may include a plurality of chute sets parallel to each other, as shown in fig. 1, and in the embodiment of fig. 1, the tray 1 includes 3 chute sets 2.

The first clamping plate 3 and the second clamping plate 4 are arranged on the front face of the tray 1 along the first direction, and can slide along corresponding sliding grooves in the sliding groove set 2, and the first clamping plate 3 and the second clamping plate 4 can respectively correspond to different sliding grooves in the sliding groove set 2 and also can correspond to the same sliding groove in one sliding groove set. As shown in fig. 1, when the goods are stored, the goods will push the first clamping plate 3 and the second clamping plate 4 away towards two sides along the second direction, so that the first clamping plate 3 and the second clamping plate 4 slide along the corresponding sliding grooves to adapt to the goods with different specifications.

And the resetting mechanism 5 is used for accumulating force when the

clamping plates

3 and 4 move back to reset the

clamping plates

3 and 4. When the goods are stored, the goods push away the first clamping plate 3 and the second clamping plate 4, and the reset mechanism 5 can store force so as to reset the clamping plates. The reset mechanism 5 can also cause the two clamping plates to generate opposite clamping forces while the goods are stored in the tray assembly, so as to ensure the stability of the goods in the tray assembly. It should be noted that, for the sake of structural stability and simplicity and convenience, the reset mechanism 5 in the embodiment of fig. 2 is located at the back of the tray, but the position of the reset mechanism 5 is not limited in essence, and the reset mechanism 5 may be disposed on the front of the tray, between two clamping plates, or outside two clamping plates.

The above-mentioned tray subassembly of this application can realize the centre gripping to the goods of depositing along first direction in the second direction to through the centre gripping of the goods of slide group and slidable grip block, realize different specification size, and then realize the transport, the storage demand to the goods of different specification size.

For example, fig. 3 and 4 show that fig. 3 shows a state where the front surface of the tray assembly is in a state where a large-sized cargo is stored in the tray assembly of the present application, and the dotted line portion in fig. 4 is a position where the reset mechanism on the back surface of the tray is in a state where the large-sized cargo is stored in the tray assembly of the present application.

For example, fig. 5 and 6 show that fig. 5 shows a state where the front surface of the tray assembly is in a state where the smaller-sized cargo is stored in the tray assembly of the present application, and the dotted line portion in fig. 6 is the position where the reset mechanism on the back surface of the tray is in a state where the smaller-sized cargo is stored in the tray assembly of the present application.

The reset mechanism 5 in the tray assembly shown in the above embodiment may reset by an electromotive force, or may realize a reset function by a mechanical structure. In one embodiment, as shown in fig. 2, the reset mechanism 5 may include: a first reset portion 51 corresponding to the first clamping plate, and a second reset portion 52 corresponding to the second clamping plate; any reset portion corresponding to any clamping plate, illustrated as a first reset portion 51 in fig. 2, includes:

the guide rods 511 are arranged on the back surface of the tray 1 along the second direction, and two ends of the guide rods 511 are fixed on the tray 1. In an embodiment, the guide 511 may be disposed directly below the projection of the chute assembly 2.

An elastic member 512 and a sliding block 513, wherein the elastic member 512 and the sliding block 513 are sleeved on the guide rod 511; one end of the elastic member 512 is connected to the tray 1, and the other end is connected to the corresponding slider 513; the sliding block 513 is connected with any clamping plate through the sliding groove in the sliding groove group 2 and can be connected with any clamping plate

A clamping plate slides synchronously over the guide rods 511. Wherein, the elastic piece can be arranged at the outer side of the corresponding clamping 5 plate, and can be used for clamping goods by providing thrust to the clamping plate

The clamping of cargo between the two clamping plates is achieved by providing tension to the clamping plates, and the illustration of fig. 4 is only one specific embodiment and should not be taken as a specific limitation of the present application.

By using the reset portion 51 composed of the guide rod 511, the elastic member 512 and the slider 513, no extra is consumed

Under the condition of energy, can be simple and convenient provide the power that resets to the grip block, realize resetting through succinct mechanical device 0, have equipment, dismantle comparatively convenient, the cost is lower and easy advantage of changing, maintenance.

In an embodiment, as shown in fig. 2, corresponding to the embodiment of the first reset portion and the second reset portion, the first sliding grooves corresponding to the first clamping plates and the second sliding grooves corresponding to the second clamping plates are arranged along the second direction, that is, the sliding groove group includes two sliding grooves, and the first sliding grooves correspond to the first reset portion and the second sliding grooves correspond to the second reset portion;

5, the first reset portion 51 and the second reset portion 52 share one guide bar 511.

According to the embodiment, the sliding groove group is arranged to be two corresponding sliding grooves, the two resetting parts share the same guide rod, the complexity of the resetting mechanism 5 is further reduced, the clamping plate and the corresponding sliding block are more stable in the operation process, the clamping plate can slide in the sliding grooves smoothly, and clamping is not easy to occur.

0 of course, as previously mentioned in the detailed description of the chute assembly 2, the chute assembly 2 may comprise, in addition to two chutes corresponding to different clamping plates, in an embodiment the chute assembly 2 may comprise only one chute, wherein the first clamping plate 3 and the second clamping plate 4 correspond to the same chute, i.e. the same chute.

Because the first clamping plate 3 and the second clamping plate 4 slide along the chute assembly 2 independently without interfering with each other, if the goods are not placed in the middle in the process of storing the goods, the clamping plate on one side may be pushed away to a greater extent by the clamping plate 5, and the corresponding reset mechanism 5 is used more frequently and worn more seriously, resulting in greater mechanical fatigue. To solve the foregoing problem, the present application may further add a synchronization structure 6 in the embodiment shown in fig. 2 on the basis of the tray assembly shown in fig. 1, which is specifically as follows:

in an embodiment, the tray assembly further includes a synchronization structure 6, where the synchronization structure 6 is respectively connected to the two clamping plates, and is used to drive the other clamping plate to slide synchronously under the condition that any one clamping plate slides.

The synchronizing structure 6 allows a correlation of the sliding between the two clamping plates.

Specifically, in an embodiment, the above-mentioned synchronization structure 6 may be disposed at a chute position on the back of the tray, as shown in fig. 6, where the synchronization structure may include a synchronization main rod 61, two

synchronization links

62, 63, two

synchronization seats

64, 65, specifically:

a first synchronizing seat 64 connected with the first clamping plate, and a second synchronizing seat 65 connected with the second clamping plate, wherein the connection position of the first synchronizing seat 64 and the first clamping plate is opposite to the connection position of the second synchronizing seat 65 and the second clamping plate;

a synchronous main lever 61, said synchronous main lever 61 being fixed to said tray 1 such that said synchronous main lever 61 can rotate around a fixed point;

two synchronous connecting

rods

62, 63, wherein one end of a first synchronous connecting rod 62 is in rotary connection with one end of the synchronous main rod 61, and the other end of the first synchronous connecting rod 62 is in rotary connection with the first synchronous seat 64; one end of the second synchronizing link 63 is rotatably connected to the other end of the synchronizing main rod 61, and the other end of the second synchronizing link 63 is rotatably connected to the second synchronizing seat 65.

By means of the rotational connection between simple mechanical structures, the formed synchronization structure has: the friction block is smaller, the generation cost is lower, the stability is better, the damage is not easy, and the assembly and the replacement are easy.

In an embodiment, in order to enable the first clamping plate 3 and the second clamping plate 4 to perform centering clamping on the goods through the synchronization structure 6, that is, when the goods are clamped, the central axis of the goods coincides with the central axis of the tray, the synchronization structure 6 includes:

the center position of the synchronous main rod 61 is fixed on the tray 1 and is positioned at the middle position of the two

clamping plates

3 and 4;

the synchronization links 62, 63 are of uniform length.

Therefore, through the improved synchronous structure, the outward sliding degree of the two clamping plates is the same, and the goods are centered.

To further increase the stability of the clamping plate sliding along the chute assembly and to reduce jamming, in one embodiment the tray assembly comprises a plurality of mutually parallel chute assemblies 2 and a plurality of mutually parallel return mechanisms 5.

In the practical application process, the tray assembly of this application can be applied to automatic transfer robot's goods storage, and automatic transfer robot can be after confirming tray assembly under this scene, directly pushes the goods from the central position of tray, probably has the mismatch condition because of the goods size and getting the interval of two grip blocks of putting the goods mouth, probably takes place the card when advancing the tray assembly with the goods.

In an embodiment, the two clamping plates of the tray assembly are bent towards the direction away from each other at the end close to the pick-and-place port, and as can be seen in fig. 1, 2 and 3, the two clamping plates are bent to a certain extent at one section of the pick-and-place port, so that the cargos of different specifications are pushed into the tray assembly.

In an embodiment, one end of the tray along the first direction is provided with a pick-and-place port, and the other end of the tray is provided with a baffle plate, so that goods are prevented from falling from the rear due to excessive pushing or jolting in the transportation process.

In addition to the embodiment of the tray assembly, the application also discloses an automatic carrying robot, wherein the robot is provided with the tray assembly in the embodiment so as to realize the automatic carrying and storage functions of cargoes with any specification and size.

The foregoing description of the preferred embodiments of the present utility model is not intended to limit the utility model to the precise form disclosed, and any modifications, equivalents, improvements and alternatives falling within the spirit and principles of the present utility model are intended to be included within the scope of the present utility model.

Claims

1. A tray assembly, the assembly comprising:

2. The tray assembly of claim 1, wherein the reset mechanism comprises: a first reset portion corresponding to the first clamping plate and a second reset portion corresponding to the second clamping plate; any reset portion that any grip block corresponds includes:

3. The tray assembly of claim 2, wherein the tray assembly comprises,

a first chute corresponding to the first clamping plate and a second chute corresponding to the second clamping plate are arranged along the second direction, and the first chute corresponds to the first reset part and the second chute corresponds to the second reset part;

the first reset part and the second reset part share one guide rod.

4. The tray assembly of claim 1, wherein the first clamping plate and the second clamping plate correspond to the same chute.

5. The tray assembly of claim 1, further comprising:

6. The tray assembly of claim 5, wherein the synchronization structure is disposed at a chute location on the back of the tray, the synchronization structure comprising:

7. The tray assembly of claim 6, wherein the synchronization structure comprises:

the length of the synchronous connecting rods is consistent.

8. The tray assembly of claim 1, wherein the tray assembly includes a plurality of the sets of parallel slide slots and a plurality of the return mechanisms parallel to each other.

9. The tray assembly of claim 1, wherein the two clamping plates are curved in directions away from each other at an end proximate the pick and place port.

10. The tray assembly of claim 1, wherein the tray has a pick-and-place port at one end and a baffle at the other end in the first direction.

11. An automated handling robot, wherein the robot carries a pallet assembly according to any one of claims 1-10.