CN219468995U - Modularized workbin grabbing mechanism - Google Patents

Abstract

The utility model discloses a modularized bin grabbing mechanism which comprises a lifting gripper platform, an electric module and a mechanical module, wherein the electric module and the mechanical module are arranged on the gripper platform, and the mechanical module is electrically connected with the electric module, so that the electric module can control and drive the mechanical module to perform corresponding movement so as to grab or release a bin. The electric elements on the gripper platform are orderly changed into electric modules, the mechanical elements are orderly changed into mechanical modules, and the structural layout on the gripper platform is clear through modularized design, so that the gripper platform is convenient to maintain and manage. Wherein, electrical component can assemble in advance and form electric module, and during the installation directly with electric module whole fixed mounting on the tongs platform, optimized the installation technology, electric module can directly be dismantled from the tongs platform when need maintenance, convenient and fast. And the electrical control parts are integrated together, and can be subjected to signal separation so as to realize electrical safety optimization.

Description

Modularized workbin grabbing mechanism

Technical Field

The utility model relates to an automatic warehouse device, in particular to a modularized workbin grabbing mechanism.

Background

In order to improve the space utilization rate of a warehouse, the existing automatic dense warehouse device needs to divide the bins into multiple layers and stack the bins, and the motion of taking and placing the bins is realized by using a box taking robot. Since a plurality of bins are stacked directly in the vertical direction, it is necessary to keep the upper and lower bins aligned in the vertical direction in order for the pick-and-place robot to pick and place the bins. However, the electrical and mechanical components of the box taking robot are independent, and the box taking robot is required to be installed on the platform one by one during installation, so that time and labor are wasted, the whole appearance is messy, the winding of the wire body is easy to occur, and the quick assembly disassembly and maintenance are not facilitated.

Disclosure of Invention

In view of this, this application proposes a modularization workbin snatchs mechanism for the platform structure overall arrangement of tongs is clear, the standardization is clean and tidy through with electrical component and mechanical component modular design respectively.

The utility model provides a pair of modularization workbin snatchs mechanism, including liftable tongs platform and install in electric module and the mechanical module on the tongs platform, mechanical module with the electric module electricity is connected, makes electric module controllable and drive mechanical module is corresponding motion in order to snatch or release the workbin.

In an embodiment, the electrical module is disposed in a middle area of the gripper platform, and the mechanical module is distributed in a corner area of the gripper platform.

In an embodiment, the gripper platform is provided with a wire slot, and the wires connected between the mechanical module and the electrical module are accommodated in the wire slot.

In one embodiment, the electrical module includes a base plate and a number of electrical components mounted on the base plate.

In an embodiment, a fixing structure is arranged on the gripper platform corresponding to the electric module, and the bottom plate is detachably and fixedly matched with the fixing structure.

In an embodiment, the fixing structure is a plurality of first screw holes formed in the gripper platform, a plurality of second screw holes are formed in the bottom plate, and the first screw holes and the second screw holes are fixedly matched through screws, so that the bottom plate is fixedly installed in a preset area on the gripper platform.

In an embodiment, the mechanical module comprises a gripping mechanism for gripping or releasing the bin from the underside of the gripper platform.

In an embodiment, the grabbing mechanism comprises a gripper and first driving mechanisms for driving the gripper to move relative to the gripper platform, wherein two grippers and the first driving mechanisms are respectively arranged, the two first driving mechanisms are respectively and fixedly installed on two opposite sides of the gripper platform, and the two grippers are respectively and movably connected to the corresponding first driving mechanisms.

In an embodiment, the mechanical module further comprises an alignment mechanism for aligning the bin to be gripped.

In an embodiment, the alignment mechanism includes a plurality of alignment members disposed at the corner positions of the gripper platform and second driving mechanisms configured corresponding to each of the alignment members, where each second driving mechanism is configured to drive the corresponding alignment member to move relative to the corner of the gripper platform.

To sum up, the application provides a modularization workbin snatchs mechanism, and electrical component on the tongs platform is regular to electrical module, mechanical component is regular to mechanical module, makes the structural layout on the tongs platform clear through modularized design, is convenient for maintain the management. Wherein, electrical component can assemble in advance and form electric module, and during the installation directly with electric module whole fixed mounting on the tongs platform, optimized the installation technology, electric module can directly be dismantled from the tongs platform when need maintenance, convenient and fast. And the electrical control parts are integrated together, and can be subjected to signal separation so as to realize electrical safety optimization.

Drawings

Fig. 1 is a schematic perspective view of a bin gripping mechanism of the present application mated with a bin.

Fig. 2 is a schematic perspective view of the bin gripping mechanism of fig. 1.

Fig. 3 is an exploded view of the electrical module portion of fig. 2 separated from the main body.

Detailed Description

Before the embodiments are explained in detail, it is to be understood that the utility model is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the drawings. The utility model is capable of other embodiments and of being practiced or of being carried out in various ways. Also, it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. The use of the terms "comprising," "including," "having," and the like are intended to encompass the items listed thereafter and equivalents thereof as well as additional items. In particular, when "a certain element" is described, the present utility model is not limited to the number of the element as one, but may include a plurality of the elements.

The application discloses a modularization workbin snatchs mechanism 10, this workbin snatchs mechanism 10 can be used to warehouse system, and this warehouse system includes: the system comprises a plurality of bins 12, a track assembly, a bin picking robot and a picking robot, wherein the bins 12 are located in a storage area, each bin 12 is used for containing commodities, and the track assembly is installed above the bin 12. A bin picking robot is slidably mounted on the track assembly above the bin 12 for transporting the bin in which the ordered merchandise is located from the warehouse area to the out-of-warehouse station. The picking robot is used to pick order items from a bin 12 located on the deposit deck.

Specifically, the bins 12 are densely arranged in the three-dimensional direction to form a stereoscopic warehouse, no shelf is needed, the bins 12 are directly stacked on each other, and the bin density is further improved. Specifically, the warehouse area has a plurality of bin positions defined in two-dimensional coordinates on a horizontal plane, and a plurality of bins 12 are stacked in a vertical direction at each bin position. Thus, each bin 12 can be identified in terms of three-dimensional coordinates (lateral coordinates, lengthwise coordinates, height coordinates). More specifically, the bins 12 are divided into three columns in the lateral direction and four rows in the longitudinal direction, while four layers are provided in the height direction, so that they can be identified according to the number of columns, rows, and layers in which the bins 12 are located.

The bin 12 includes four side walls and a bottom wall that define a receiving space for receiving the articles, and an opening is formed in the upper end of the bin 12 that is opposite the bottom wall. The bottom surface of the bottom wall forms a boss having a shape conforming to the shape of the opening, and when a plurality of bins 12 are stacked vertically, the boss of the previous bin 12 is received in the opening of the next bin 12. Since the bosses conform to the shape of the opening, once the bosses are received in the opening, the stacked bins 12 do not move relative to each other in the horizontal plane, ensuring a very clean stacking in the vertical direction. The bin 12 is shown as a rectangular parallelepiped with four corners, seen from above, and the opening and boss are rectangular. It should be understood that the shape shown is merely an example and that other suitable shapes may be employed.

Two opposite side walls of the bin 12 are respectively provided with a gripping position 14 for gripping by a gripper of the bin picking robot. In the embodiment shown, the bin 12 is provided with grooves 16 on each of two opposite short side walls, the top wall of the grooves 16 forming the gripping locations 14.

In order to enable the bin picking robot to accurately pick up the bin 12 or place the bin 12 in an accurate position, a bin positioning mechanism is provided on the discharge position, the bin positioning mechanism being used to position the bin 12 in the discharge position in the lateral and longitudinal directions, respectively.

The box taking robot comprises a travelling mechanism and a box grabbing mechanism 10 which is suspended below the travelling mechanism and can be lifted relative to the travelling mechanism. The travelling mechanism is slidably mounted on the track assembly for horizontal movement along the track assembly to drive the bin catch mechanism 10 horizontally. The walking mechanism is provided with walking rollers and guide wheels at two sides, and a driving device for driving the walking rollers to roll is arranged inside the walking mechanism. The four walking rollers are respectively arranged at two sides of the walking mechanism, and two rollers are respectively arranged at each side. Two walking rollers on one side walk on the bottom edge of one guide rail of the track unit, and two walking rollers on the other side walk on the bottom edge of the other guide rail of the track unit. And the guide wheels on the two sides walk on the side walls of the two guide rails. The running roller is driven by the internal driving device, and the running mechanism can move along the guide rail in the longitudinal direction.

Under the drive of the driving device, the 4 walking rollers synchronously obtain power to move in the track, and the load of the box taking robot is uniformly dispersed to the 4 walking rollers. Because the walking roller moves in the track, contact between the roller and the side wall of the guide rail may occur, and therefore, the guide wheel can solve the problem, the walking roller and the side wall of the guide rail keep a stable distance under the action of the guide wheel, and shake of the vehicle body can be reduced and controlled, stability of the vehicle body is increased, and adverse shake of the bin 12 under the bin taking robot is avoided.

As shown in fig. 1-3, the bin gripping mechanism 10 includes a gripper platform 18, and an electrical module 20 and a mechanical module 22 mounted on the gripper platform 18, wherein the electrical module 20 is formed by an electrical control element, and the mechanical module 22 is formed by a mechanical power element, and the mechanical module 22 is electrically connected with the electrical module 20, so that the electrical module 20 can control and drive the mechanical module 22 to perform corresponding movement to grip or release the bin 12. The structural layout on the gripper platform 18 is clear through the modularized design, and maintenance and management are convenient.

In this embodiment, the electrical module 20 is disposed in the central region of the gripper platform 18, and the mechanical modules 22 are distributed in the corner regions of the gripper platform 18. By such design, the wires between the mechanical module 22 and the electrical module 20 can be connected by the shortest thread, and the wire body can be prevented from being wound, so that the wires are tidy.

Further, a plurality of wire slots can be formed in the gripper platform 18 corresponding to each wire, and wires connected between the mechanical module 22 and the electrical module 20 are accommodated in the wire slots, so that the effect of optimizing the wires is achieved, for example, regular wire slots are added between the sensor arranged on the gripper platform 18 and the control system and the terminal strip, the wires can be protected better, the wires are more standard and tidy, and the safety is improved.

In the illustrated embodiment, the electrical module 20 includes a base plate 24 and a plurality of electrical components that are integrated together and mounted on the base plate 24 to integrally form the electrical module 20 for optimum mounting process, the electrical components being mounted on the base plate 24 in advance for linear connection of the control system to the terminals. And simultaneously, the electrical safety can be optimized, the electrical control part is integrated on the bottom plate 24, the electrical control part can be used for separating signals, and the wire laying can be used for intensively adding wire slots so as to prevent the wire body from being pulled or damaged due to other reasons.

More specifically, the gripper platform 18 is provided with a fixing structure corresponding to the electrical module 20, and the bottom plate 24 is detachably and fixedly matched with the fixing structure, so that the electrical module 20 can be conveniently disassembled, maintained and managed. For example, the fixing structure is a plurality of first screw holes 26 formed on the gripper platform 18, and a plurality of second screw holes are formed on the bottom plate 24, and the first screw holes 26 and the second screw holes are fixedly matched through screws, so that the bottom plate 24 can be installed and fixed in a preset area on the gripper platform 18 according to actual design requirements.

It should be understood that in other embodiments, the base plate 24 and the fixing structure may be detachably fixed by other detachable fixing manners, such as a buckle, which is not specifically limited in this application.

A lifting mechanism is arranged between the gripper platform 18 and the travelling mechanism and is used for lifting the gripper platform 18. The lifting mechanism may comprise, for example, a lifting bar and a lifting drive. The upper ends of the lifting bars are connected with a lifting driving device, and the lower ends of the lifting bars are fixed on the gripper platform 18. Lifting of the gripper platform 18 may be achieved by lifting the lifting bar up or down by a lifting drive. The lifting driving device can be arranged in the travelling mechanism and comprises a driving motor and a winder connected with the driving motor, the upper end of the lifting bar is wound on the winder, and the winder performs winding action under the driving of the driving motor, so that the lifting and lowering actions of the lifting bar are realized. The lifting bar may be a flexible steel bar or rope or the like.

In this embodiment, each mechanical element of the mechanical module 22 may be fixed to the gripper platform 18 by a screw. Specifically, the machine module 22 includes a gripping mechanism for gripping or releasing the bin 12 from the underside of the gripper platform 18 and an alignment mechanism for aligning the bin 12 to be gripped by the gripping mechanism.

The grabbing mechanism comprises a gripper 28 and first driving mechanisms 30 for driving the gripper 28 to move relative to the gripper platform 18, wherein the gripper 28 and the first driving mechanisms 30 are two, the two first driving mechanisms 30 are respectively and fixedly installed on two opposite sides of the gripper platform 18 in the length direction, and the two grippers 28 are respectively and movably connected to the corresponding first driving mechanisms 30. A gripper 28 is provided on the side of the gripper platform 18 for gripping the gripping location 14 of the magazine 12. In the illustrated embodiment, two grippers 28 are located on opposite sides of the gripper deck 18 for gripping the two gripping locations 14 of the bin 12, respectively. The first drive mechanism 30 is for driving the gripper 28 to rotate about the rotational axis between the gripping position and the release position.

The alignment mechanism comprises a plurality of alignment members 32 arranged at the corner positions of the gripper platform 18, each alignment member 32 is provided with a second driving mechanism 34, and the second driving mechanism 34 is used for driving the corresponding alignment member 32 to move along the direction of the angular bisector of the corner where the alignment member is positioned. In the embodiment shown, the number of alignments 32 is four, corresponding to the four corners of the bin 12, respectively. Correspondingly, four second drive mechanisms 34 are provided, each second drive mechanism 34 being disposed at a corner location on the gripper platform 18.

When the bin 12 is misaligned or tilted, the one or more alignment members 32 may be controlled by the second drive mechanism 34 to expand outwardly and then converge inwardly to align the bin 12. Alternatively, when different sized bins 12 need to be grasped, all of the alignment members 32 can be simultaneously controlled to be splayed and tucked inwardly by the second drive mechanism 34 to achieve the appropriate alignment size to accommodate different sized bins 12.

Each alignment member 32 includes a vertically extending portion 58 extending vertically downward relative to the gripper platform 18, an alignment ramp 60 extending downward and outward from the bottom end of the vertically extending portion 58, and a securing portion 62 attached to the outside of the vertically extending portion 58. When the bin gripping mechanism 10 grips one bin 12, the vertical extensions 58 of all of the alignments 32 are in abutment with the outer surface of the side walls of the bin 12, and the length of the vertical extensions 58 extending downwardly is such that the alignment ramps 60 are all located below the bottom of the gripped bin 12. During stacking of the gripped bin 12 on a lower bin 12, if the gripped bin 12 and the lower bin 12 are not facing each other, the bosses 22 of the gripped bin 12 will be misaligned with the openings 20 of the lower bin 12 and normal stacking will not be achieved. At this time, the alignment slope 60 is in sliding contact with the upper edge of the sidewall of the lower bin 12, so as to fine-tune the position of the upper bin 12 on the horizontal plane, thereby aligning the gripped bin 12 with the lower bin 12, and further improving the alignment effect of the bin gripping mechanism 10.

In the illustrated embodiment, the vertical extension 58 of each alignment member 32 includes a first alignment plate 38 and a second alignment plate 40. The first alignment plate 38 and the second alignment plate 40 are perpendicular to each other such that the alignment member 32 has an L-shaped cross section parallel to the horizontal plane. The first and second alignment plates 38, 40 are adapted to abut against the outer surfaces of the two adjacent side walls of the gripped bin 12, i.e. the outer surfaces of the two adjacent side walls forming one of the corners. Accordingly, the alignment ramp 60 includes a first alignment ramp 42 extending downwardly and outwardly from the bottom end of the first alignment plate 38 and a second alignment ramp 44 extending downwardly and outwardly from the bottom end of the second alignment plate 40.

The first and second alignment ramps 42, 44 of each alignment member 32 intersect or there is a small gap therebetween (which may be considered an intersection). For each alignment member 32, the first and second alignment plates 38, 40 have a first intersection line and the first and second alignment slopes 42, 44 have a second intersection line, which lie in the same vertical plane. Thus, the relative positions of the upper and lower bins 12 can be successfully corrected by the first and second alignment slopes 42, 44.

In the illustrated embodiment, the fixing portion 62 is fixedly connected to the gripper platform 18, for example, by fixing with a screw, a sliding strip 64 is further disposed between the second alignment plate 40 and the fixing portion 62, a sliding rail is disposed on the sliding strip 64, the sliding rail may be implemented as a sliding slot 66, a plurality of pulleys 68 are disposed on the fixing portion 62 along a vertical direction, and the plurality of pulleys 68 may be rotatably disposed in the sliding slot 66, so that the fixing portion 62 is slidably engaged with the vertical extending portion 58, and further, the alignment member 32 may slide upwards under the action of the platform or ground reaction force, so that the bin 12 slowly falls to the ground.

To sum up, the application provides a modularization workbin snatchs mechanism, and electrical component on the tongs platform is regular to electrical module, mechanical component is regular to mechanical module, makes the structural layout on the tongs platform clear through modularized design, is convenient for maintain the management. Wherein, electrical component can assemble in advance and form electric module, and during the installation directly with electric module whole fixed mounting on the tongs platform, optimized the installation technology, electric module can directly be dismantled from the tongs platform when need maintenance, convenient and fast. And the electrical control parts are integrated together, and can be subjected to signal separation so as to realize electrical safety optimization.

The concepts described herein may be embodied in other forms without departing from the spirit or characteristics thereof. The particular embodiments disclosed are illustrative and not restrictive. The scope of the utility model is, therefore, indicated by the appended claims rather than by the foregoing description. Any changes which come within the meaning and range of equivalency of the claims are to be embraced within their scope.

Claims (10)

1. The utility model provides a modularization workbin snatchs mechanism which characterized in that, including liftable tongs platform and install in electric module and the mechanical module on the tongs platform, mechanical module with electric module electricity is connected, makes electric module controllable and drive mechanical module is corresponding motion in order to snatch or release the workbin.

2. The modular bin gripping mechanism according to claim 1, wherein the electrical modules are located in a central region of the gripper platform and the mechanical modules are distributed in corner regions of the gripper platform.

3. The modular bin gripping mechanism according to claim 1, wherein the gripper platform is provided with a wire slot in which wires connected between the mechanical module and the electrical module are received.

4. The modular bin gripping mechanism according to claim 1, wherein the electrical module includes a base plate and a number of electrical components mounted on the base plate.

5. The modular bin gripping mechanism according to claim 4, wherein said gripper platform has a securing structure corresponding to said electrical module, said base plate being removably secured to said securing structure.

6. The modular bin gripping mechanism according to claim 5, wherein the fixing structure is a plurality of first screw holes formed in the gripper platform, a plurality of second screw holes are formed in the base plate, and the first screw holes and the second screw holes are fixedly matched through screws, so that the base plate is mounted and fixed in a preset area on the gripper platform.

7. The modular bin gripping mechanism according to any of claims 1-6, wherein the mechanical module comprises a gripping mechanism for gripping or releasing the bin from the underside of the gripper platform.

8. The modular bin gripping mechanism according to claim 7, wherein the gripping mechanism comprises a gripper and first driving mechanisms for driving the gripper to move relative to the gripper platform, two grippers and two first driving mechanisms are respectively and fixedly arranged on two opposite sides of the gripper platform, and the two grippers are respectively and movably connected to the corresponding first driving mechanisms.

9. The modular bin gripping mechanism according to claim 7, wherein said mechanical module further comprises an alignment mechanism for aligning said bin to be gripped.

10. The modular bin gripping mechanism according to claim 9, wherein said alignment mechanism includes a plurality of alignment members disposed at the angular positions of said gripper platform and a second drive mechanism disposed in correspondence of each of said alignment members, each of said second drive mechanisms being adapted to drive a corresponding one of said alignment members to move relative to a corner of said gripper platform.