TW202413233A - Goods picking and placing device and carrying robot - Google Patents
Goods picking and placing device and carrying robot Download PDFInfo
- Publication number
- TW202413233A TW202413233A TW112117539A TW112117539A TW202413233A TW 202413233 A TW202413233 A TW 202413233A TW 112117539 A TW112117539 A TW 112117539A TW 112117539 A TW112117539 A TW 112117539A TW 202413233 A TW202413233 A TW 202413233A
- Authority
- TW
- Taiwan
- Prior art keywords
- telescopic
- transmission
- drive
- clamping
- picking
- Prior art date
Links
- 239000000463 material Substances 0.000 claims abstract description 165
- 230000007246 mechanism Effects 0.000 claims abstract description 78
- 238000003860 storage Methods 0.000 claims abstract description 73
- 230000005540 biological transmission Effects 0.000 claims description 279
- 238000001514 detection method Methods 0.000 claims description 36
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 230000001960 triggered effect Effects 0.000 claims description 3
- 238000012546 transfer Methods 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 61
- 238000000034 method Methods 0.000 description 31
- 238000010586 diagram Methods 0.000 description 28
- 230000008569 process Effects 0.000 description 20
- 239000000758 substrate Substances 0.000 description 14
- 230000001360 synchronised effect Effects 0.000 description 10
- 230000009471 action Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 5
- 238000003032 molecular docking Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 101001121408 Homo sapiens L-amino-acid oxidase Proteins 0.000 description 1
- 102100026388 L-amino-acid oxidase Human genes 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
Description
本申請涉及倉儲物流技術領域,特別涉及一種取放貨裝置及搬運機器人。This application relates to the field of warehousing and logistics technology, and in particular to a cargo picking and placing device and a handling robot.
隨著人工智慧和自動化技術的發展,搬運機器人被廣泛應用在倉儲物流領域中,用於運送貨物。物流系統中,通常以貨架來存放貨物,搬運機器人通過與貨架或輸送線等對接來取放貨物,並完成貨物運送任務。With the development of artificial intelligence and automation technology, handling robots are widely used in the field of warehousing and logistics to transport goods. In the logistics system, goods are usually stored on shelves. Handling robots pick up and place goods by docking with shelves or conveyor lines, and complete the task of transporting goods.
相關技術中,搬運機器人上通常設置有取放貨物的貨叉,貨叉通常包括可進行多段伸縮的伸縮臂,伸縮臂上設置有托起或夾持物料箱的取貨機構,當貨叉在貨架上進行取放貨時,多段伸縮臂需要伸縮進入貨架的庫位內部,並且伸縮臂的末端或側方的取貨機構需要設置可移動或伸縮的末端關節,用於和物料箱的裡側端面抵接,或者抱持住物料箱的側壁,從而將物料箱從庫位中拖出或夾出。In the related technology, a handling robot is usually provided with a fork for picking up and placing goods. The fork usually includes a telescopic arm that can be extended and retracted in multiple sections. A picking mechanism for lifting or clamping a material box is provided on the telescopic arm. When the fork is picking up and placing goods on the shelf, the multi-section telescopic arm needs to be extended and retracted to enter the storage space of the shelf, and the picking mechanism at the end or side of the telescopic arm needs to be provided with a movable or retractable end joint for abutting against the inner end surface of the material box, or holding the side wall of the material box, so as to drag or clamp the material box out of the storage space.
然而,搬運機器人的伸縮臂以及取貨機構進入貨架的庫位中取放貨,會佔用庫位內的空間,導致物料箱存放時需要預留足夠的箱間距或者層高,降低存儲的空間利用率。However, the retractable arm of the handling robot and the picking mechanism entering the shelf to pick up and place goods will occupy space in the warehouse, resulting in the need to reserve sufficient box spacing or layer height when storing material boxes, reducing storage space utilization.
本申請提供一種取放貨裝置及搬運機器人,以解決搬運機器人取放貨時佔用貨架庫位元的內部空間導致存儲空間利用率低的問題。The present application provides a cargo picking and placing device and a handling robot to solve the problem that the handling robot occupies the internal space of the shelf location when picking and placing cargo, resulting in low storage space utilization.
第一方面,本申請提供一種取放貨裝置,用於取放物料箱,該取放貨裝置包括伸縮元件和推拉元件,伸縮元件包括固定件和可相對於固定件沿第一方向伸縮的伸縮件,推拉元件設置於伸縮件上,從而伸縮件可以帶動推拉元件進行移動,而推拉元件則可以帶動物料箱進行移動,以實現取放貨操作。In a first aspect, the present application provides a cargo picking and placing device for picking and placing a material box, the cargo picking and placing device comprising a telescopic element and a push-pull element, the telescopic element comprising a fixed member and a telescopic member that can be extended and retracted along a first direction relative to the fixed member, the push-pull element being arranged on the telescopic member, so that the telescopic member can drive the push-pull element to move, and the push-pull element can drive the material box to move, so as to realize the cargo picking and placing operation.
其中,推拉元件包括基座、拉動件和第一驅動機構,基座與伸縮件連接,第一驅動機構設置於基座上,拉動件與第一驅動機構連接,物料箱的外壁具有插槽,第一驅動機構用於驅動拉動件沿第二方向移動,以使拉動件與插槽插接或脫離。The push-pull element includes a base, a pulling member and a first driving mechanism. The base is connected to the telescopic member. The first driving mechanism is arranged on the base. The pulling member is connected to the first driving mechanism. The outer wall of the material box has a slot. The first driving mechanism is used to drive the pulling member to move along the second direction so that the pulling member is plugged into or disengaged from the slot.
本申請提供的取放貨裝置對物料箱在貨架上進行取放時,推拉元件可以通過拉動件與物料箱的外側壁進行插接配合,從而在推拉元件帶動物料箱移動時,推拉組件和伸縮件都不需要進入存放物料箱的庫位內部,因此,取放貨裝置在取放物料箱時不會佔用庫位的內部空間,在貨架的庫位存放物料箱時可以實現小間距或者無間距存放,進而提高了倉儲的空間利用率。When the picking and placing device provided in the present application picks and places material boxes on the shelf, the push-pull element can be plugged into and matched with the outer side wall of the material box through the pulling piece, so that when the push-pull element drives the material box to move, the push-pull assembly and the telescopic part do not need to enter the storage space where the material box is stored. Therefore, the picking and placing device does not occupy the internal space of the storage space when picking and placing the material box, and the material boxes can be stored in the storage space of the shelf with small spacing or no spacing, thereby improving the space utilization rate of the warehouse.
作為一種可選的實施方式,第一方向沿水準方向,且第二方向沿豎直方向。As an optional implementation, the first direction is along a horizontal direction, and the second direction is along a vertical direction.
作為一種可選的實施方式,拉動件凸出於基座的頂部。As an optional implementation, the pull member protrudes from the top of the base.
作為一種可選的實施方式,推拉元件還包括推板,推板連接於基座,且推板朝向物料箱,以推動物料箱移動。As an optional implementation, the push-pull element further includes a push plate, which is connected to the base and faces the material box to push the material box to move.
作為一種可選的實施方式,第一驅動機構可以包括第一驅動單元、第一傳動件、第二傳動件和連接件,第一驅動單元設置在基座上,第一傳動件與第一驅動單元的輸出端連接,且第一傳動件可以在第一驅動單元的驅動下轉動,而第二傳動件與第一傳動件配合,且第二傳動件可以在第一傳動件的驅動下沿第二方向移動,連接件的第一端與第一傳動件連接,連接件的第二端與拉動件連接,以使拉動件隨第二傳動件移動。如此設置,可以有效地將第一驅動單元輸出的旋轉運動轉化為拉動件的移動。As an optional implementation, the first driving mechanism may include a first driving unit, a first transmission member, a second transmission member and a connecting member, wherein the first driving unit is arranged on a base, the first transmission member is connected to an output end of the first driving unit, and the first transmission member can rotate under the drive of the first driving unit, and the second transmission member cooperates with the first transmission member, and the second transmission member can move along a second direction under the drive of the first transmission member, the first end of the connecting member is connected to the first transmission member, and the second end of the connecting member is connected to the pulling member, so that the pulling member moves with the second transmission member. Such an arrangement can effectively convert the rotational motion output by the first driving unit into the movement of the pulling member.
作為一種可選的實施方式,第一驅動機構還可以包括導向件,導向件可以設置在基座上,導向件上設有導向孔,導向孔沿第二方向延伸,連接件穿設過導向孔,且連接件可以在第二傳動件的帶動下沿導向孔移動。如此設置,可以保證拉動件沿第二方向移動時的順暢性和穩定性。As an optional implementation, the first driving mechanism may further include a guide member, which may be disposed on the base, and a guide hole is disposed on the guide member, the guide hole extends along the second direction, the connecting member passes through the guide hole, and the connecting member can move along the guide hole under the drive of the second transmission member. Such an arrangement can ensure the smoothness and stability of the pulling member when moving along the second direction.
作為一種可選的實施方式,第一傳動件可以為絲杆,第二傳動件可以為絲杆螺母,第一驅動單元可以為電機,絲杆可以沿第二方向延伸,絲杆的第一端與電機的輸出軸連接,絲杆的第二端與導向件轉動連接,絲杆螺母套設於絲杆上,且在絲杆轉動時,絲杆螺母沿絲杆的延伸方向移動,連接件與絲杆螺母連接。如此設置,可以通過絲杆的旋轉控制拉動件的移動行程和位置。As an optional implementation, the first transmission member can be a screw rod, the second transmission member can be a screw rod nut, the first driving unit can be a motor, the screw rod can extend along the second direction, the first end of the screw rod is connected to the output shaft of the motor, the second end of the screw rod is rotatably connected to the guide member, the screw rod nut is sleeved on the screw rod, and when the screw rod rotates, the screw rod nut moves along the extension direction of the screw rod, and the connecting member is connected to the screw rod nut. In this way, the movement stroke and position of the pulling member can be controlled by the rotation of the screw rod.
作為一種可選的實施方式,連接件可以為兩個,而導向孔也可以為兩個,兩個連接件分別穿過兩個導向孔;兩個連接件平行設置,且兩個連接件對稱分佈於第一傳動件的兩側。如此設置,可以實現第二傳動件帶動拉動件移動時受力的平衡性,以保證移動過程的平穩。As an optional implementation, there can be two connecting members and two guide holes, and the two connecting members pass through the two guide holes respectively; the two connecting members are arranged in parallel and symmetrically distributed on both sides of the first transmission member. In this way, the force balance when the second transmission member drives the pulling member to move can be achieved to ensure the smoothness of the moving process.
作為一種可選的實施方式,推拉元件還可以包括第一檢測單元和感應件,第一檢測單元設置在基座上,感應件與第二傳動件連接,第一檢測單元用於檢測感應件,以檢測第二傳動件沿第二方向移動時的相對位置。如此設置,可以保證拉動件與插槽的插接動作的準確性。As an optional implementation, the push-pull element may further include a first detection unit and a sensing member, wherein the first detection unit is disposed on the base, the sensing member is connected to the second transmission member, and the first detection unit is used to detect the sensing member to detect the relative position of the second transmission member when it moves along the second direction. This arrangement can ensure the accuracy of the plugging action of the pulling member and the slot.
作為一種可選的實施方式,第一檢測單元可以為兩個,兩個第一檢測單元分別位於第二傳動件沿第二方向的移動行程的兩端。如此設置,可以對拉動件相對於插槽的插接和脫離進行檢測,準確控制拉動件的行程。As an optional implementation, there can be two first detection units, which are respectively located at two ends of the movement stroke of the second transmission member along the second direction. In this way, the insertion and disengagement of the pulling member relative to the slot can be detected, and the stroke of the pulling member can be accurately controlled.
作為一種可選的實施方式,推拉元件還可以包括調節板,調節板與基座連接,第一驅動機構與調節板連接;基座上可以設有多個調節孔,多個調節孔可以沿第二方向排布,調節板可與不同的調節孔配合,以調節調節板與基座沿所述第二方向的相對位置。如此設置,可以適應不同規格和尺寸的物料箱的取放需求。As an optional implementation, the push-pull element may further include an adjustment plate, the adjustment plate is connected to the base, and the first driving mechanism is connected to the adjustment plate; the base may be provided with a plurality of adjustment holes, the plurality of adjustment holes may be arranged along the second direction, and the adjustment plate may cooperate with different adjustment holes to adjust the relative position of the adjustment plate and the base along the second direction. This arrangement can meet the requirements of picking up and placing material boxes of different specifications and sizes.
作為一種可選的實施方式,伸縮元件還可以包括第二驅動機構,第二驅動機構可以包括第二驅動單元、柔性傳動件和傳動輪組,傳動輪組包括多個平行設置的傳動輪,多個傳動輪分別位於固定件和伸縮件上,柔性傳動件繞設於多個傳動輪上。As an optional implementation, the telescopic element may further include a second driving mechanism, which may include a second driving unit, a flexible transmission member and a transmission wheel set, wherein the transmission wheel set includes a plurality of parallelly arranged transmission wheels, the plurality of transmission wheels are respectively located on the fixed member and the telescopic member, and the flexible transmission member is wound around the plurality of transmission wheels.
推拉元件與伸縮件移動連接,基座與柔性傳動件連接並隨柔性傳動件而移動,第二驅動單元連接於傳動輪,並用於驅動傳動輪轉動,以使柔性傳動件在傳動輪驅動下繞多個傳動輪傳動,並帶動伸縮件和推拉組件中的至少一者沿第一方向移動。The push-pull element is movably connected to the telescopic member, the base is connected to the flexible transmission member and moves with the flexible transmission member, and the second driving unit is connected to the driving wheel and is used to drive the driving wheel to rotate, so that the flexible transmission member is driven by the driving wheel to rotate around multiple driving wheels and drive at least one of the telescopic member and the push-pull assembly to move along the first direction.
作為一種可選的實施方式,取放貨裝置還可以包括鎖止聯動元件,鎖止聯動元件設置於伸縮元件上,鎖止聯動元件的至少部分結構可隨伸縮件移動並與固定件卡接或分離,以將伸縮件與固定件之間鎖定或解鎖。As an optional implementation, the cargo picking and placing device may further include a locking linkage element, which is arranged on the telescopic element. At least a portion of the structure of the locking linkage element can move with the telescopic element and be engaged or separated from the fixed element to lock or unlock the telescopic element and the fixed element.
其中,伸縮件和固定件之間解鎖時,傳動輪組可以被構造為在柔性傳動件傳動時帶動伸縮件沿第一方向伸縮;而伸縮件和固定件之間鎖定時,傳動輪組中的各傳動輪的相對位置均不變,此時柔性傳動件的傳動可以帶動推拉元件相對於伸縮件進行移動。Among them, when the telescopic member and the fixed member are unlocked, the transmission wheel assembly can be constructed to drive the telescopic member to extend and retract along the first direction when the flexible transmission member is transmitting; when the telescopic member and the fixed member are locked, the relative positions of the transmission wheels in the transmission wheel assembly remain unchanged, and at this time, the transmission of the flexible transmission member can drive the push-pull element to move relative to the telescopic member.
作為一種可選的實施方式,伸縮件的兩端分別設有第一限位部和第二限位部,伸縮件與固定件解鎖時,推拉元件與第一限位元部或第二限位部抵接,以使伸縮件沿第一方向伸出或者縮回。As an optional implementation, the two ends of the telescopic member are respectively provided with a first limiting portion and a second limiting portion. When the telescopic member and the fixing member are unlocked, the push-pull element abuts against the first limiting portion or the second limiting portion to make the telescopic member extend or retract along the first direction.
作為一種可選的實施方式,多個傳動輪可以包括多個內傳動輪和至少一個外傳動輪,柔性傳動件繞設在多個內傳動輪外側,外傳動輪抵接於柔性傳動件的外周面,從而保持柔性傳動件的張緊狀態;外傳動輪和部分內傳動輪連接於伸縮件,伸縮件和固定件之間解鎖且柔性傳動件傳動時,連接於伸縮件的傳動輪相對于連接於固定件的傳動輪沿第一方向移動,以帶動伸縮件伸縮。As an optional implementation, the multiple drive wheels may include multiple inner drive wheels and at least one outer drive wheel, the flexible drive member is wound around the outer sides of the multiple inner drive wheels, and the outer drive wheel abuts against the outer peripheral surface of the flexible drive member, thereby maintaining the tension of the flexible drive member; the outer drive wheel and part of the inner drive wheel are connected to the telescopic member, and when the telescopic member and the fixed member are unlocked and the flexible drive member is transmitted, the drive wheel connected to the telescopic member moves along the first direction relative to the drive wheel connected to the fixed member to drive the telescopic member to extend and retract.
作為一種可選的實施方式,多個內傳動輪可以包括由柔性傳動件的傳動方向依次排布的第一傳動輪、第二傳動輪和第四傳動輪,外傳動輪可以包括第三傳動輪,第三傳動輪可以設置於第二傳動輪和第四傳動輪之間,第一傳動輪和第一驅動單元均設置於固定件的第一端,且第一驅動單元可以驅動第一傳動輪轉動,第二傳動輪設置於固定件的第二端,第三傳動輪設置於伸縮件的第一端,第四傳動輪設置於伸縮件的第二端;基座與第一傳動輪和第四傳動輪之間的柔性傳動件連接。如此設置,可以保證推拉元件和伸縮臂均可以具有足夠的移動行程。As an optional implementation, the plurality of inner drive wheels may include a first drive wheel, a second drive wheel and a fourth drive wheel arranged in sequence in the transmission direction of the flexible drive member, the outer drive wheel may include a third drive wheel, the third drive wheel may be arranged between the second drive wheel and the fourth drive wheel, the first drive wheel and the first drive unit are both arranged at the first end of the fixed member, and the first drive unit may drive the first drive wheel to rotate, the second drive wheel is arranged at the second end of the fixed member, the third drive wheel is arranged at the first end of the telescopic member, and the fourth drive wheel is arranged at the second end of the telescopic member; the base is connected to the flexible drive member between the first drive wheel and the fourth drive wheel. Such an arrangement can ensure that the push-pull element and the telescopic arm can have sufficient movement stroke.
作為一種可選的實施方式,伸縮件上可以設置有第一導軌,第一導軌沿第一方向延伸,基座朝向伸縮件的一側設置有滑塊,第一導軌與滑塊配合並支撐基座。如此設置,既可以對推拉元件形成支撐,又可以保證推拉元件移動的順暢性。As an optional implementation, the telescopic member may be provided with a first guide rail extending in a first direction, a slider is provided on one side of the base facing the telescopic member, and the first guide rail cooperates with the slider and supports the base. This arrangement can support the push-pull element and ensure smooth movement of the push-pull element.
作為一種可選的實施方式,鎖止聯動元件可以包括連杆機構和卡接件,連杆機構包括固定杆和多個活動杆,固定杆與多個活動杆依次連接,且固定杆與伸縮件固定連接,活動杆可相對於伸縮件擺動。As an optional implementation, the locking linkage element may include a connecting rod mechanism and a clamping member, the connecting rod mechanism includes a fixed rod and multiple movable rods, the fixed rod is connected to the multiple movable rods in sequence, and the fixed rod is fixedly connected to the telescopic member, and the movable rod can swing relative to the telescopic member.
其中,卡接件的第一端可以與固定杆轉動連接,卡接件的第二端則可以與多個活動杆中的任一者轉動連接,且卡接件在活動杆的帶動下轉動,以使卡接件可以與固定件卡接或分離,進而可以實現伸縮件與固定件之間鎖定或解鎖。Among them, the first end of the clamping member can be rotatably connected to the fixed rod, and the second end of the clamping member can be rotatably connected to any one of the multiple movable rods, and the clamping member rotates under the drive of the movable rod, so that the clamping member can be engaged or separated from the fixed member, thereby realizing the locking or unlocking between the telescopic member and the fixed member.
作為一種可選的實施方式,多個活動杆中的至少一者上可以設置有觸發件,滑塊上設置有推力件,滑塊移動至第一導軌延伸方向的不同位置時,推力件可與觸發件抵接或分離。如此設置,通過觸發件可以實現推拉元件移動至特定位置時,伸縮件與固定件的鎖定或解鎖。As an optional implementation, at least one of the plurality of movable rods may be provided with a trigger, and the slider may be provided with a thrust member, and when the slider moves to different positions in the extension direction of the first guide rail, the thrust member may abut against or separate from the trigger. In this way, when the push-pull element moves to a specific position, the telescopic member and the fixed member may be locked or unlocked by the trigger.
作為一種可選的實施方式,推力件與觸發件抵接時,推力件驅動活動杆擺動,以使卡接件與固定件脫離;鎖止聯動元件還包括彈性件,彈性件的第一端與固定杆連接,彈性件的第二端與卡接件連接,推力件與觸發件分離時,彈性件拉動卡接件轉動,以使卡接件與固定件卡接。As an optional implementation, when the thrust member abuts against the trigger member, the thrust member drives the movable rod to swing so that the clamping member is disengaged from the fixing member; the locking linkage element also includes an elastic member, a first end of the elastic member is connected to the fixing rod, and a second end of the elastic member is connected to the clamping member. When the thrust member is separated from the trigger member, the elastic member pulls the clamping member to rotate so that the clamping member is clamped with the fixing member.
作為一種可選的實施方式,固定杆可以沿第一方向延伸,固定杆的長度與第一導軌的長度相匹配;多個活動杆可以包括第一活動杆、第二活動杆和第三活動杆,第一活動杆和第二活動杆分別與固定杆的兩端轉動連接,第三活動杆的兩端分別與第一活動杆和第二活動杆轉動連接,從而形成四連杆結構,保證連杆擺動的穩定性。As an optional implementation, the fixed rod can extend along the first direction, and the length of the fixed rod matches the length of the first guide rail; the multiple movable rods can include a first movable rod, a second movable rod and a third movable rod, the first movable rod and the second movable rod are respectively rotatably connected to the two ends of the fixed rod, and the two ends of the third movable rod are respectively rotatably connected to the first movable rod and the second movable rod, thereby forming a four-bar structure to ensure the stability of the connecting rod swing.
其中,卡接件的第二端可以與第三活動杆轉動連接,第一活動杆上設置有第一觸發件,第二活動杆上設置有第二觸發件,以在滑塊移動至第一導軌的行程兩端時,分別觸發第一觸發件和第二觸發件,從而實現卡接件與固定件的解鎖。Among them, the second end of the clamping member can be rotatably connected to the third movable rod, the first movable rod is provided with a first triggering member, and the second movable rod is provided with a second triggering member, so that when the slider moves to the two ends of the travel of the first guide rail, the first triggering member and the second triggering member are triggered respectively, thereby realizing the unlocking of the clamping member and the fixing member.
作為一種可選的實施方式,第一觸發件位於固定杆與第三活動杆之間,第二觸發件位於固定杆背離第三活動杆的一側。As an optional implementation, the first trigger is located between the fixed rod and the third movable rod, and the second trigger is located on a side of the fixed rod away from the third movable rod.
作為一種可選的實施方式,卡接件的第一端設置有卡接部和拉力部,固定件上設置有沿第一方向排布的卡接槽,卡接件與固定件卡接時,卡接部卡入卡接槽內,保證卡接的可靠性以及結構強度;拉力部與彈性件連接,且拉力部與卡接部分別位於卡接件與固定件連接位置的相對兩側,如此設置,觸發件與彈性件對卡接件的帶動轉動方向相反,從而實現鎖定和解鎖的功能。As an optional implementation, a clamping portion and a tension portion are provided at the first end of the clamping member, and a clamping groove arranged along a first direction is provided on the fixing member. When the clamping member is clamped with the fixing member, the clamping portion is clamped into the clamping groove to ensure the reliability of the clamping and the structural strength; the tension portion is connected to the elastic member, and the tension portion and the clamping portion are respectively located on opposite sides of the connection position between the clamping member and the fixing member. In this arrangement, the trigger member and the elastic member drive the clamping member to rotate in opposite directions, thereby realizing the locking and unlocking functions.
作為一種可選的實施方式,傳動輪組和柔性傳動件均為兩個,且傳動輪組和柔性傳動件成對設置於伸縮組件的兩側;兩個傳動輪組的第一傳動輪通過驅動軸連接,第一驅動單元的輸出端與驅動軸連接。如此設置,可以保證伸縮元件整體伸縮結構運行的平衡和穩定性。As an optional implementation, there are two drive wheel sets and two flexible drive members, and the drive wheel sets and the flexible drive members are arranged in pairs on both sides of the telescopic assembly; the first drive wheels of the two drive wheel sets are connected through a drive shaft, and the output end of the first drive unit is connected to the drive shaft. Such an arrangement can ensure the balance and stability of the operation of the telescopic structure of the telescopic element as a whole.
作為一種可選的實施方式,伸縮件可以包括託盤和分別設置於託盤兩側的側板,側板上設置有至少一個支撐件,託盤與支撐件連接,託盤用於承載物料箱,鎖止聯動組件位於託盤背離承載物料箱的一側,固定件的兩側分別設置有第二導軌,側板分別與第二導軌滑動連接。如此設置,通過設置側板和託盤既可以為第二驅動機構提供安裝空間,用可以保證物料箱可以具有可靠有效的承載。As an optional implementation, the retractable member may include a pallet and side plates respectively arranged on both sides of the pallet, at least one supporting member is arranged on the side plate, the pallet is connected to the supporting member, the pallet is used to carry the material box, the locking linkage assembly is located on the side of the pallet away from the carrying material box, the second guide rails are respectively arranged on both sides of the fixing member, and the side plates are respectively slidably connected to the second guide rails. In this way, by arranging the side plates and the pallet, it is possible to provide an installation space for the second drive mechanism, and to ensure that the material box can have reliable and effective carrying.
作為一種可選的實施方式,鎖止聯動元件還可以包括第三觸發件,第三觸發件與固定杆轉動連接,託盤上設置有開口,第三觸發件至少部分從該開口伸出,並延伸至伸縮件承載物料箱的一側;第三觸發件與卡接件抵接,且在物料箱與第三觸發件抵接時,第三觸發件帶動卡接件轉動,以使伸縮件與固定件分離。如此設置,可以在託盤上承載有物料箱時,保持伸縮件與固定件的相對可滑移狀態。As an optional implementation, the locking linkage element may further include a third trigger, which is rotatably connected to the fixed rod, and an opening is provided on the pallet, and the third trigger at least partially extends from the opening and extends to the side of the telescopic member carrying the material box; the third trigger abuts against the clamping member, and when the material box abuts against the third trigger, the third trigger drives the clamping member to rotate so that the telescopic member is separated from the fixed member. In this way, when the material box is carried on the pallet, the telescopic member and the fixed member can be kept in a relatively slidable state.
作為一種可選的實施方式,取放貨裝置還可以包括第二檢測單元,第二檢測單元與固定件連接,且第二檢測單元用於檢測物料箱的姿態和物料箱的電子標識中的至少一者。如此設置,可以準確判斷在取放物料箱時取放貨裝置的初始位置,以及可以識別物料箱的資訊,從而準確執行對應的貨物取放運送任務。As an optional implementation, the cargo picking and placing device may further include a second detection unit, which is connected to the fixing member and is used to detect at least one of the posture of the material box and the electronic identification of the material box. With such a configuration, the initial position of the cargo picking and placing device when picking and placing the material box can be accurately determined, and the information of the material box can be identified, so as to accurately perform the corresponding cargo picking and placing transportation task.
作為一種可選的實施方式,取放貨裝置還可以包括旋轉元件,旋轉元件可以包括固定支架、第三驅動單元和旋轉平臺,第三驅動單元用於驅動旋轉平臺相對於固定支架轉動,伸縮組件設置在旋轉平臺上。如此設置,在應用至搬運機器人上時,可以實現在搬運機器人的不同側進行取放貨操作。As an optional implementation, the cargo pick-up and placement device may further include a rotating element, which may include a fixed bracket, a third driving unit and a rotating platform, wherein the third driving unit is used to drive the rotating platform to rotate relative to the fixed bracket, and the telescopic assembly is arranged on the rotating platform. When such an arrangement is applied to a handling robot, cargo pick-up and placement operations can be performed on different sides of the handling robot.
第二方面,本申請提供一種搬運機器人,包括機器人主體、升降裝置和上述技術方案中的取放貨裝置,升降裝置設置于機器人主體上,並可沿機器人主體的高度方向移動,取放貨裝置設置於升降裝置上,從而實現對貨架上不同高度庫位的取放貨操作。On the second aspect, the present application provides a transport robot, including a robot body, a lifting device and a picking and placing device in the above-mentioned technical solution. The lifting device is arranged on the robot body and can move along the height direction of the robot body. The picking and placing device is arranged on the lifting device, thereby realizing the picking and placing operations of goods at different height locations on the shelf.
作為一種可選的實施方式,機器人主體可以包括底座和儲物架,儲物架安裝於底座上,升降裝置設置于儲物架上,且可沿儲物架的高度方向移動,儲物架上可以設置有多個儲物槽,多個儲物槽沿儲物架的高度方向間隔分佈,以保證搬運機器人運送效率。As an optional implementation, the robot body may include a base and a storage rack, the storage rack is installed on the base, the lifting device is arranged on the storage rack and can move along the height direction of the storage rack, and a plurality of storage slots may be arranged on the storage rack, and the plurality of storage slots are spaced apart along the height direction of the storage rack to ensure the transport efficiency of the handling robot.
除了上面所描述的本申請實施例解決的技術問題、構成技術方案的技術特徵以及由這些技術方案的技術特徵所帶來的有益效果外,本申請提供的取放貨裝置及搬運機器人所能解決的其他技術問題、技術方案中包含的其他技術特徵以及這些技術特徵帶來的有益效果,將在具體實施方式中作出進一步詳細的說明。In addition to the technical problems solved by the embodiments of the present application described above, the technical features that constitute the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions, other technical problems that can be solved by the cargo picking and placing device and the handling robot provided by the present application, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail in the specific implementation methods.
為使本申請實施例的目的、技術方案和優點更加清楚,下面將結合本申請實施例中的附圖,對本申請實施例中的技術方案進行清楚、完整地描述,顯然,所描述的實施例是本申請一部分實施例,而不是全部的實施例。基於本申請中的實施例,本領域普通技術人員在沒有作出創造性勞動前提下所獲得的所有其他實施例,都屬於本申請保護的範圍。In order to make the purpose, technical solution and advantages of the embodiments of this application clearer, the technical solution in the embodiments of this application will be described clearly and completely in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative labor are within the scope of protection of this application.
首先,本領域技術人員應當理解的是,這些實施方式僅僅用於解釋本申請的技術原理,並非旨在限制本申請的保護範圍。本領域技術人員可以根據需要對其作出調整,以便適應具體的應用場合。First of all, those skilled in the art should understand that these implementations are only used to explain the technical principles of this application and are not intended to limit the scope of protection of this application. Those skilled in the art can adjust them as needed to adapt to specific application scenarios.
其次,需要說明的是,在本申請的描述中,術語“上”、“下”、“左”、“右”、“前”、“後”、“內”、“外”等指示的方向或位置關係的術語是基於附圖所示的方向或位置關係,這僅僅是為了便於描述,而不是指示或暗示裝置或構件必須具有特定的方位、以特定的方位構造和操作,因此不能理解為對本申請的限制。Secondly, it should be noted that in the description of this application, the terms "up", "down", "left", "right", "front", "back", "inside", "outside", etc., which indicate directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description, and does not indicate or imply that the device or component must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on this application.
在本說明書的描述中,參考術語“一個實施例”、“一些實施例”、“示意性實施例”、“示例”、“具體示例”、或“一些示例”等的描述意指結合該實施例或示例描述的具體特徵、結構、材料或者特點包含於本公開的至少一個實施例或示例中。在本說明書中,對上述術語的示意性表述不一定指的是相同的實施例或示例。而且,描述的具體特徵、結構、材料或者特點可以在任何的一個或多個實施例或示例中以合適的方式結合。In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in an appropriate manner.
各類機器人被廣泛應用在工業、生活等各個領域內,而搬運機器人在運輸、物流等行業發揮著重要的作用,物流系統中,通常以貨架來存放貨物,搬運機器人通過與貨架或輸送線對接來取放貨物,並對貨物進行運送。搬運機器人上通常設置有取放貨物的貨叉,貨叉通常包括可進行多段伸縮的伸縮臂,伸縮臂上設置有托起或夾持物料箱的取貨機構,當貨叉在貨架上進行取放貨時,多段伸縮臂需要伸縮進入貨架的庫位內部,並且伸縮臂的末端或側方的取貨機構需要設置可移動或伸縮的末端關節,用於和物料箱的裡側端面抵接,或者抱持住物料箱的側壁,從而將物料箱從庫位中拖出或夾出。Various types of robots are widely used in various fields such as industry and life, and handling robots play an important role in transportation, logistics and other industries. In the logistics system, goods are usually stored on shelves. Handling robots pick up and place goods by docking with shelves or conveyor lines and transport the goods. A handling robot is usually equipped with a fork for picking up and placing goods. The fork usually includes a telescopic arm that can be extended and retracted in multiple sections. A picking mechanism for lifting or clamping a material box is provided on the telescopic arm. When the fork is picking up and placing goods on the shelf, the multi-section telescopic arm needs to be extended and retracted to enter the storage space of the shelf, and the picking mechanism at the end or side of the telescopic arm needs to be provided with a movable or retractable end joint for abutting against the inner end surface of the material box, or holding the side wall of the material box, so as to drag or clamp the material box out of the storage space.
然而,伸縮臂從物料箱的側方抱持或夾持物料箱,需要在物料箱的存放庫位的側方預留操作空間,導致存儲時箱間距增大,而如果從物料箱的裡側推拉,伸縮臂除了要佔用物料箱側方空間,還要佔用物料箱的庫位裡側的空間,導致庫位縱深增大,此外,如果採用從物料箱上方伸入伸縮臂對物料箱進行取放操作,又會導致貨架存儲庫位元的層間距增大,因此上述方式均會佔用庫位元內的空間,導致物料箱存放時需要預留足夠的箱間距、庫位縱深或者層高,降低存儲的空間利用率。However, when the telescopic arm holds or clamps the material box from the side of the material box, it is necessary to reserve operating space on the side of the storage location of the material box, resulting in an increase in the box spacing during storage. If the material box is pushed or pulled from the inside, the telescopic arm will not only occupy the space on the side of the material box, but also occupy the space inside the storage location of the material box, resulting in an increase in the depth of the storage location. In addition, if the telescopic arm is extended from the top of the material box to take and place the material box, the layer spacing of the shelf storage location will increase. Therefore, the above methods will occupy the space in the storage location, resulting in the need to reserve sufficient box spacing, storage location depth or layer height when storing the material boxes, thereby reducing the storage space utilization rate.
針對上述問題,本申請實施例提供一種取放貨裝置及搬運機器人,通過對其取放貨的方式進行優化設計,改進了取放貨物的結構,在取放貨物過程中,取放貨裝置的各個部件均不需要進入貨架的庫位元內部,從而可以減小或消除物料箱存放時的箱間距以及各個方向的間隙,提高存儲時的空間利用率。In response to the above problems, the embodiment of the present application provides a cargo picking and placing device and a handling robot, which improves the cargo picking and placing structure by optimizing the design of the cargo picking and placing method. During the cargo picking and placing process, all components of the cargo picking and placing device do not need to enter the storage unit of the shelf, thereby reducing or eliminating the box spacing and gaps in various directions when material boxes are stored, thereby improving space utilization during storage.
為了便於理解,首先對本申請實施例的應用場景進行說明。To facilitate understanding, the application scenarios of the embodiments of the present application are first described.
本申請實施例提供的取放貨裝置主要用於對貨架上的物料箱進行取放操作,即將物料箱放入貨架的庫位元內存儲,或者將貨架的庫位內的物料箱取出,而取放貨裝置可以安裝應用的設備包括但不限於搬運機器人、物流輸送線等可以與貨架進行對接的設備,下面以搬運機器人為例進行說明。The picking and placing device provided in the embodiment of the present application is mainly used for picking and placing material boxes on the shelves, that is, placing the material boxes into the storage location of the shelf for storage, or taking out the material boxes from the storage location of the shelf. The equipment that can be installed and applied in the picking and placing device includes but is not limited to handling robots, logistics conveyor lines and other equipment that can be connected to the shelves. The following explanation takes the handling robot as an example.
如圖1所示,當本申請實施例提供的取放貨裝置100應用至搬運機器人上時,搬運機器人可以從貨架500的取下物料箱400,並對物料箱400執行運送任務,或者將其他物流工序的物料箱400轉運至貨架500並放入存儲,其中,該搬運機器人可以應用于工業生產線的物流配送、製造業庫存產品的出入庫、零售業產品的出入庫,也可以應用于電商物流的快遞出入庫等不同領域,且涉及運輸的產品或貨物可以是工業零部件、電子配件或產品、藥物、服裝飾品、食品、書籍等,本申請實施例對此不作具體限定,且上述的貨物都可以放置在物料箱400中進行轉運或者存放,下面將都以“物料箱400”來指代搬運機器人的搬運對象,不再具體舉例。As shown in FIG1 , when the pick-up and place device 100 provided in the embodiment of the present application is applied to a transport robot, the transport robot can take the material box 400 from the shelf 500 and perform a transport task on the material box 400, or transfer the material box 400 of other logistics processes to the shelf 500 and store it. The transport robot can be applied to the logistics distribution of industrial production lines, the warehousing and unwarehousing of inventory products in the manufacturing industry, and the delivery and unloading of products in the retail industry. In and out of the warehouse, it can also be applied to different fields such as express in and out of the warehouse of e-commerce logistics, and the products or goods involved in the transportation can be industrial parts, electronic accessories or products, medicines, clothing accessories, food, books, etc. The embodiment of the present application does not make specific limitations on this, and the above-mentioned goods can be placed in the material box 400 for transshipment or storage. The "material box 400" will be used below to refer to the handling object of the handling robot, and no specific examples will be given.
請參照圖2並結合圖1,本實施例提供的取放貨裝置100包括伸縮元件110和夾取元件120,伸縮元件110包括固定件111和可相對於固定件111沿第一方向伸縮的伸縮件112,夾取組件120設置於伸縮件112上,從而伸縮件112可以帶動夾取元件120進行移動,而夾取元件120則可以帶動物料箱400進行移動,以實現取放貨操作。Please refer to Figure 2 in combination with Figure 1. The cargo picking and placing device 100 provided in this embodiment includes a telescopic element 110 and a clamping element 120. The telescopic element 110 includes a fixing member 111 and a telescopic member 112 that can be extended along a first direction relative to the fixing member 111. The clamping assembly 120 is arranged on the telescopic member 112, so that the telescopic member 112 can drive the clamping element 120 to move, and the clamping element 120 can drive the material box 400 to move to realize the cargo picking and placing operation.
其中,夾取元件120包括基座121、第一驅動機構122和兩個夾持件123,基座121與伸縮件112連接,兩個夾持件123滑動設置在基座121上,物料箱400的外壁具有水準插槽410,第一驅動機構122設置於基座121上,且第一驅動機構122用於驅動兩個夾持件123沿伸縮組件110的寬度方向開合,以使兩個夾持件123均與水準插槽410插接或脫離。Among them, the clamping element 120 includes a base 121, a first driving mechanism 122 and two clamping members 123. The base 121 is connected to the telescopic member 112. The two clamping members 123 are slidably arranged on the base 121. The outer wall of the material box 400 has a horizontal slot 410. The first driving mechanism 122 is arranged on the base 121, and the first driving mechanism 122 is used to drive the two clamping members 123 to open and close along the width direction of the telescopic assembly 110, so that the two clamping members 123 are both plugged in or disengaged from the horizontal slot 410.
為了便於說明,以固定件111為參照,定義固定件111的長度方向為X方向,即第一方向為X方向,伸縮件112可以沿X方向進行伸縮,定義固定件111的寬度方向為Y方向,即伸縮組件110的寬度方向為Y方向,基座121沿伸縮組件110的寬度方向延伸,兩個夾持件123可以沿Y方向進行相向移動或者相互背離。由於伸縮件112與夾持件123都可以進行往復移動,因此X方向的移動包括固定件111長度方向的前後移動,Y方向的移動包括伸縮組件110寬度方向的左右移動。For the sake of convenience, the fixing member 111 is used as a reference, and the length direction of the fixing member 111 is defined as the X direction, that is, the first direction is the X direction, and the telescopic member 112 can be telescopic along the X direction, and the width direction of the fixing member 111 is defined as the Y direction, that is, the width direction of the telescopic assembly 110 is the Y direction, and the base 121 extends along the width direction of the telescopic assembly 110, and the two clamping members 123 can move toward each other or away from each other along the Y direction. Since the telescopic member 112 and the clamping member 123 can both move back and forth, the movement in the X direction includes the forward and backward movement of the fixing member 111 in the length direction, and the movement in the Y direction includes the left and right movement of the telescopic assembly 110 in the width direction.
請參照圖3,當夾取組件120移動至與物料箱400靠近或抵接的位置時,通過兩個夾持件123的相向移動可以實現夾持件123與物料箱400的配合,其中,物料箱400的外壁可以設置有水準插槽410,其中,水準插槽410可以為一個,即兩個夾持件123分別插接于水準插槽410的相對兩側,水準插槽410也可以為兩個,即兩個夾持件123分別與兩個水準插槽410一一對應完成對接。Please refer to Figure 3. When the clamping assembly 120 moves to a position close to or abutting the material box 400, the two clamping members 123 can move toward each other to achieve the cooperation between the clamping members 123 and the material box 400, wherein the outer wall of the material box 400 can be provided with a horizontal slot 410, wherein there can be one horizontal slot 410, that is, the two clamping members 123 are respectively inserted into the opposite sides of the horizontal slot 410, and there can also be two horizontal slots 410, that is, the two clamping members 123 respectively correspond to the two horizontal slots 410 one by one to complete the docking.
以兩個水準插槽410為例,夾持件123的端部截面尺寸可以等於或小於水準插槽410的槽口尺寸,當兩個夾持件123相互靠近時,兩個夾持件123均可以分別插入水準插槽410內,當夾持件123相互遠離時,兩個夾持件123均可以分別從水準插槽410內脫離,而當夾持件123進入水準插槽410內時,隨著夾取組件120整體的移動,夾持件123便可以帶動物料箱400移動,從而實現物料箱400的取放操作。此外,夾持件123相對於基座121可以彎折設置,且夾持件123末端與基座121的長度方向可以平行設置。Taking two horizontal slots 410 as an example, the end cross-sectional size of the clamping member 123 can be equal to or smaller than the slot size of the horizontal slot 410. When the two clamping members 123 are close to each other, the two clamping members 123 can be inserted into the horizontal slot 410 respectively. When the clamping members 123 are away from each other, the two clamping members 123 can be detached from the horizontal slot 410 respectively. When the clamping members 123 enter the horizontal slot 410, along with the overall movement of the clamping assembly 120, the clamping member 123 can drive the material box 400 to move, thereby realizing the pick-up and placement operation of the material box 400. In addition, the clamping member 123 can be bent relative to the base 121, and the end of the clamping member 123 can be parallel to the length direction of the base 121.
需要說明的是,作為被取放的物件,物料箱400的設置有水準插槽410的外壁可以朝向貨架500的庫位的出入口,本申請實施例提供的取放貨裝置100對物料箱400在貨架500上進行取放時,夾取元件120可以通過夾持件123與物料箱400的外側壁上凸出設置的水準插槽410進行插接配合,從而在夾取元件120帶動物料箱400移動時,夾取組件120和伸縮件112都不需要進入存放物料箱400的庫位內部,因此,取放貨裝置100在取放物料箱400時不會佔用庫位的內部空間,在貨架500的庫位存放物料箱400時可以實現小間距或者無間距存放,進而提高了倉儲的空間利用率。It should be noted that, as the object to be placed, the outer wall of the material box 400 provided with the horizontal slot 410 can face the entrance and exit of the storage location of the shelf 500. When the material box 400 is placed on the shelf 500 by the device 100 provided in the embodiment of the present application, the clamping element 120 can be plugged and matched with the horizontal slot 410 protruding from the outer wall of the material box 400 through the clamping member 123. Therefore, when the clamping element 120 drives the material box 400 to move, the clamping assembly 120 and the telescopic member 112 do not need to enter the storage space where the material box 400 is stored. Therefore, the picking and placing device 100 will not occupy the internal space of the storage space when picking and placing the material box 400. When the material box 400 is stored in the storage space of the shelf 500, small spacing or no spacing storage can be achieved, thereby improving the space utilization rate of the warehouse.
下面對第一驅動機構122對兩個夾持件123的驅動方式進行詳細說明。The following is a detailed description of the driving method of the first driving mechanism 122 on the two clamping members 123.
如圖4和圖5所示,在一種可能的實現方式中,第一驅動機構122可以包括第一驅動單元1221、第一傳動件1222和兩個第二傳動件1223,第一驅動單元1221設置在基座121上,第一傳動件1222可以沿基座121的長度方向延伸,兩個第二傳動件1223均與第一傳動件1222配合,且兩個第二傳動件1223在第一傳動件1222的驅動下沿基座121的長度方向相互靠近或遠離,兩個夾持件123分別與兩個第二傳動件1223連接,從而可以通過控制兩個夾持件123之間的距離控制夾取元件120與物料箱400的夾持和分離。As shown in Figures 4 and 5, in a possible implementation, the first driving mechanism 122 may include a first driving unit 1221, a first transmission member 1222 and two second transmission members 1223. The first driving unit 1221 is arranged on the base 121, the first transmission member 1222 can extend along the length direction of the base 121, the two second transmission members 1223 are both matched with the first transmission member 1222, and the two second transmission members 1223 are driven by the first transmission member 1222 to approach or move away from each other along the length direction of the base 121. The two clamping members 123 are respectively connected to the two second transmission members 1223, so that the clamping and separation of the clamping element 120 and the material box 400 can be controlled by controlling the distance between the two clamping members 123.
可以理解的是,兩個第二傳動件1223相互靠近對應兩個夾持件123相互靠近,而兩個傳動件相互遠離對應兩個夾持件123相互遠離。第一驅動單元1221可以為電機,電機的輸出軸的轉動可以傳遞給第一傳動件1222,帶動第一傳動件1222轉動,而第一傳動件1222與第二傳動件1223之間的配合,可以將第一驅動單元1221輸出的旋轉運動轉換為夾持件123沿Y方向的移動。本領域技術人員可以理解的是,第一傳動件1222與第二傳動件1223之間的配合可以採用絲杠傳動、齒輪齒條傳動、連杆傳動等不同的方式,下面以絲杠傳動為例,進行詳細說明。It can be understood that when two second transmission members 1223 are close to each other, the two clamping members 123 are close to each other, and when two second transmission members are far from each other, the two clamping members 123 are far from each other. The first drive unit 1221 can be a motor, and the rotation of the output shaft of the motor can be transmitted to the first transmission member 1222, driving the first transmission member 1222 to rotate, and the cooperation between the first transmission member 1222 and the second transmission member 1223 can convert the rotational motion output by the first drive unit 1221 into the movement of the clamping member 123 along the Y direction. It is understandable to those skilled in the art that the cooperation between the first transmission member 1222 and the second transmission member 1223 can be achieved by different methods such as screw transmission, gear and rack transmission, connecting rod transmission, etc. The following takes screw transmission as an example for detailed description.
請繼續參照圖4和圖5,在一些實施例中,第一傳動件1222可以為絲杆,兩個第二傳動件1223均可以為絲杆螺母,絲杆可以包括兩個同軸連接的螺紋段,且兩個螺紋段的螺紋旋向相反,兩個絲杆螺母分別套設在兩個螺紋段,從而通過絲杆的轉動便可以實現兩個第二傳動件1223具有相反的移動方向。Please continue to refer to Figures 4 and 5. In some embodiments, the first transmission member 1222 can be a screw, and the two second transmission members 1223 can both be screw nuts. The screw can include two coaxially connected threaded segments, and the thread rotation directions of the two threaded segments are opposite. The two screw nuts are respectively sleeved on the two threaded segments, so that the two second transmission members 1223 can have opposite movement directions through the rotation of the screw.
示例性的,絲杆的兩個螺紋段可以為等長和等螺距,且兩個螺紋段可以為一體成型,也可以是通過焊接或聯軸器的方式進行連接,本申請實施例對此不做具體限定。For example, the two threaded segments of the screw rod may be of equal length and equal pitch, and the two threaded segments may be integrally formed, or may be connected by welding or a coupling, and this embodiment of the application does not specifically limit this.
此外,第一驅動機構122還可以包括第一帶輪1224、第二帶輪1225和傳動帶1226,第一帶輪1224與第一驅動單元1221的輸出端連接,第二帶輪1225同軸連接於絲杆的端部,傳動帶1226繞設在第一帶輪1224和第二帶輪1225上,當第一驅動單元1221的輸出端轉動時,帶動第一帶輪1224轉動,即第一帶輪1224為主動輪,第一帶輪1224驅動傳動帶1226傳動,從而帶動第二帶輪1225轉動,即第二帶輪1225為從動輪,第二帶輪1225與第一傳動件1222可以同軸連接,因此可以驅動第一傳動件1222轉動。In addition, the first driving mechanism 122 may also include a first pulley 1224, a second pulley 1225 and a transmission belt 1226. The first pulley 1224 is connected to the output end of the first driving unit 1221, and the second pulley 1225 is coaxially connected to the end of the screw. The transmission belt 1226 is wound around the first pulley 1224 and the second pulley 1225. When the output end of the first driving unit 1221 rotates, the first pulley 1224 is driven to rotate, that is, the first pulley 1224 is a driving wheel, and the first pulley 1224 drives the transmission belt 1226 to transmit, thereby driving the second pulley 1225 to rotate, that is, the second pulley 1225 is a driven wheel. The second pulley 1225 can be coaxially connected to the first transmission member 1222, so that the first transmission member 1222 can be driven to rotate.
可以理解的是,第一驅動單元1221與第一傳動件1222可以沿基座121的高度方向上下錯位佈置,從而充分利用基座121上下的空間,避免第一驅動單元1221與第一傳動件1222同軸佈置佔用基座121長度方向的空間,使得基座121長度方向的尺寸可以儘量與夾持件123的移動行程相匹配,提高空間佈局的合理性。It can be understood that the first drive unit 1221 and the first transmission member 1222 can be staggered up and down along the height direction of the base 121, so as to make full use of the space above and below the base 121 and avoid the first drive unit 1221 and the first transmission member 1222 being coaxially arranged to occupy the space in the length direction of the base 121, so that the size of the length direction of the base 121 can match the moving stroke of the clamping member 123 as much as possible, thereby improving the rationality of the space layout.
為了給絲杆提供可靠的支撐,保證夾持件123移動過程的穩定性,基座121沿自身長度方向的兩端可以分別設置有安裝座124,絲杆的兩端分別與安裝座124轉動連接。示例性的,絲杆的兩端可以分別通過軸承與安裝座124進行配合,即軸承的外圈與安裝座124固定配合,軸承內圈則與套設在絲杆的端部。In order to provide reliable support for the screw rod and ensure the stability of the clamping member 123 during movement, the base 121 may be provided with mounting seats 124 at both ends along its length direction, and the two ends of the screw rod are rotatably connected to the mounting seats 124. For example, the two ends of the screw rod may be matched with the mounting seats 124 through bearings, that is, the outer ring of the bearing is fixedly matched with the mounting seat 124, and the inner ring of the bearing is sleeved on the end of the screw rod.
由於所有的夾持件123與第一驅動機構122整體均需要安裝在基座121上,因此,為了保證基座121整體尺寸合理,可以將夾持件123與第一驅動機構122設置在基座121的不同側,其中,夾持件123可以位於基座121朝向取貨方向的一側,而第一驅動機構122可以安裝在基座121背離取貨方向的一側。Since all the clamping members 123 and the first driving mechanism 122 need to be installed on the base 121 as a whole, in order to ensure that the overall size of the base 121 is reasonable, the clamping members 123 and the first driving mechanism 122 can be arranged on different sides of the base 121, wherein the clamping members 123 can be located on the side of the base 121 facing the direction of picking up goods, and the first driving mechanism 122 can be installed on the side of the base 121 away from the direction of picking up goods.
請繼續參照圖4和圖5,在一種可能的實現方式中,第一驅動機構122與兩個夾持件123可以分別位於基座121的相對兩側,基座121上開設有避讓槽1211,避讓槽1211沿基座121的長度方向延伸,夾取元件120還可以包括兩個連接件125,兩個連接件125分別穿過避讓槽1211將兩個夾持件123與兩個第二傳動件1223相連接,從而可以充分利用基座121兩側的佈局空間,減小第一驅動機構122的佔用空間,進而減小夾取元件120的整體尺寸。Please continue to refer to Figures 4 and 5. In a possible implementation, the first driving mechanism 122 and the two clamping members 123 can be respectively located on opposite sides of the base 121. An avoidance groove 1211 is provided on the base 121. The avoidance groove 1211 extends along the length direction of the base 121. The clamping element 120 can also include two connecting members 125. The two connecting members 125 pass through the avoidance groove 1211 to connect the two clamping members 123 with the two second transmission members 1223, so that the layout space on both sides of the base 121 can be fully utilized, the space occupied by the first driving mechanism 122 can be reduced, and the overall size of the clamping element 120 can be reduced.
可以理解的是,避讓槽1211可以呈長條形,且避讓槽1211的長度可以與第一傳動件1222的長度相匹配,即避讓槽1211的長度可以近似為兩個夾取件相向開合移動的行程大小。此外,第一傳動件1222與避讓槽1211相對設置,兩個安裝座124可以分別設置在避讓槽1211的兩端。示例性的,基座121可以為鈑金件,避讓槽1211可以通過一體成型或者機加工的方式形成,而第一驅動單元1221、安裝座124與機座的裝配均可以通過緊固件、卡扣或焊接連接等方式實現,本申請實施例對此不做具體限定。It is understandable that the avoidance groove 1211 can be in the shape of an elongated strip, and the length of the avoidance groove 1211 can match the length of the first transmission member 1222, that is, the length of the avoidance groove 1211 can be approximately equal to the stroke size of the two clamping members moving toward each other. In addition, the first transmission member 1222 is arranged opposite to the avoidance groove 1211, and the two mounting seats 124 can be respectively arranged at the two ends of the avoidance groove 1211. Exemplarily, the base 121 can be a sheet metal part, the avoidance groove 1211 can be formed by integral molding or machining, and the assembly of the first drive unit 1221, the mounting seat 124 and the machine base can be achieved by fasteners, snaps or welding connections, etc., and this application embodiment does not specifically limit this.
在一些實施例中,基座121上可以設置有第一導軌1212,第一導軌1212可以沿基座121的長度方向延伸,兩個夾持件123上分別連接有第一滑塊1231,兩個第一滑塊1231均與第一導軌1212滑動連接,從而第一導軌1212可以為兩個夾持件123的移動提供導向作用。In some embodiments, a first guide rail 1212 may be provided on the base 121, and the first guide rail 1212 may extend along the length direction of the base 121. The two clamping members 123 are respectively connected to first sliders 1231, and the two first sliders 1231 are both slidably connected to the first guide rail 1212, so that the first guide rail 1212 can provide a guiding effect for the movement of the two clamping members 123.
示例性的,第一導軌1212可以通過緊固件的方式安裝在基座121上,且第一導軌1212可以沿避讓槽1211的長度方向的邊緣設置,第一導軌1212與第一滑塊1231的配合還可以為夾持件123提供支撐作用,避免第一傳動件1222收到壓力或徑向剪切力,保證移動夾取過程的順暢性。Exemplarily, the first guide rail 1212 can be installed on the base 121 by means of fasteners, and the first guide rail 1212 can be arranged along the edge of the length direction of the avoidance groove 1211. The cooperation between the first guide rail 1212 and the first slider 1231 can also provide support for the clamping member 123, thereby preventing the first transmission member 1222 from receiving pressure or radial shear force, thereby ensuring the smoothness of the moving clamping process.
需要說明的是,由於夾持件123沿X方向的移動可以由第一驅動單元1221作為動力源,並且有第一傳動件1222與第二傳動件1223作為力與運動的傳遞單元,因此,夾持件123的移動速度和行程一方面取決於第一驅動單元1221的輸出轉速以及轉動的周數,另一方面取決於第一傳動件1222和第二傳動件1223的參數,例如,採用絲杆和絲杆螺母配合時,取決與絲杆的直徑以及螺距。對於選定類型和參數的第一傳動件1222和第二傳動件1223而言,夾持件123的移動行程和速度可以通過對第一驅動單元1221的輸出控制進行調節,而對第一驅動單元1221的控制可以利用外部信號進行參照,下面將對此進行說明。It should be noted that, since the movement of the clamping member 123 along the X direction can be driven by the first drive unit 1221 as a power source, and the first transmission member 1222 and the second transmission member 1223 are used as force and motion transmission units, the movement speed and stroke of the clamping member 123 depend on the output speed and the number of rotations of the first drive unit 1221 on the one hand, and on the parameters of the first transmission member 1222 and the second transmission member 1223 on the other hand, for example, when a screw and a screw nut are used, it depends on the diameter and pitch of the screw. For the first transmission member 1222 and the second transmission member 1223 of the selected type and parameters, the moving stroke and speed of the clamping member 123 can be adjusted by controlling the output of the first drive unit 1221, and the control of the first drive unit 1221 can be referenced by an external signal, which will be explained below.
在一種可能的實現方式中,夾取元件120還可以包括第一檢測單元(未示出),第一檢測單元可以安裝在基座121上,且第一檢測單元可以與兩個夾持件123中的任一者對應設置,以檢測夾持件123的夾持狀態,從而可以準確判斷夾取元件120相對於物料箱400的夾持狀態,保證夾取操作的準確性,提高操作效率。In one possible implementation, the clamping element 120 may further include a first detection unit (not shown), which may be mounted on the base 121, and the first detection unit may be arranged corresponding to any one of the two clamping members 123 to detect the clamping state of the clamping members 123, thereby accurately judging the clamping state of the clamping element 120 relative to the material box 400, ensuring the accuracy of the clamping operation, and improving the operating efficiency.
可以理解的是,當夾持件123需要與水準插槽410進行插接配合或者需要脫離時,第一檢測單元可以判斷出夾持件123的行程位置,從而可以保證夾持件123與水準插槽410的插接動作的準確性,並且由於兩個夾持件123的移動過程相對於基座121對稱,因此可以檢測兩個夾持件123中的一者,即可判斷出兩個夾持件123的夾持狀態。It can be understood that when the clamping member 123 needs to be plugged into or detached from the horizontal slot 410, the first detection unit can determine the travel position of the clamping member 123, thereby ensuring the accuracy of the plugging action between the clamping member 123 and the horizontal slot 410, and because the movement process of the two clamping members 123 is symmetrical relative to the base 121, one of the two clamping members 123 can be detected, and the clamping state of the two clamping members 123 can be determined.
示例性的,第一檢測單元可以採用的類型包括但不限於光電感測器、觸點開關等,本申請實施例對此不做具體限定。Exemplarily, the types that can be used by the first detection unit include but are not limited to photoelectric sensors, contact switches, etc., and the embodiments of the present application do not make specific limitations on this.
需要說明的是,由於夾持件123與物料箱400配合時,兩個夾持件123是左右相向移動進行插接配合,物料箱400上的水準插槽410的槽口需要朝向夾持件123。如圖6所示,水準插槽410可以位於物料箱400的端部外壁的兩側,且兩個水準插槽410可以由兩個把手形成。It should be noted that, when the clamping member 123 is mated with the material box 400, the two clamping members 123 move left and right to be plugged in, and the notch of the horizontal slot 410 on the material box 400 needs to face the clamping member 123. As shown in FIG6, the horizontal slot 410 can be located on both sides of the end outer wall of the material box 400, and the two horizontal slots 410 can be formed by two handles.
夾取組件120沿X方向的移動由伸縮組件110帶動來實現,下面對伸縮元件110進行伸縮的方式以及與夾取元件120的配合方式進行詳細說明。The movement of the clamping assembly 120 along the X direction is achieved by the telescopic assembly 110. The telescopic method of the telescopic element 110 and the matching method with the clamping element 120 are described in detail below.
請繼續參照圖2,在一種可能的實現方式中,伸縮元件110可以包括固定件111、伸縮件112以及第二驅動機構130,第二驅動機構130可以設置在固定件111與伸縮件112之間,第二驅動機構130既可以實現驅動伸縮件112相對於固定件111沿X方向進行伸縮移動,又可以實現夾取元件120相對於伸縮件112的移動。Please continue to refer to Figure 2. In a possible implementation, the telescopic element 110 may include a fixed member 111, a telescopic member 112 and a second driving mechanism 130. The second driving mechanism 130 may be arranged between the fixed member 111 and the telescopic member 112. The second driving mechanism 130 can not only drive the telescopic member 112 to telescope relative to the fixed member 111 along the X direction, but also realize the movement of the clamping element 120 relative to the telescopic member 112.
其中,第二驅動機構130包括第二驅動單元131、柔性傳動件132和傳動輪組133,傳動輪組133可以包括多個平行設置的傳動輪,多個傳動輪分別位於固定件111和伸縮件112上,柔性傳動件132繞設於多個傳動輪上,第二驅動單元131連接於傳動輪中的至少一者,並用於驅動該傳動輪轉動,以使柔性傳動件132在傳動輪驅動下繞多個傳動輪傳動。Among them, the second driving mechanism 130 includes a second driving unit 131, a flexible transmission member 132 and a transmission wheel set 133. The transmission wheel set 133 may include a plurality of parallelly arranged transmission wheels, and the plurality of transmission wheels are respectively located on the fixed member 111 and the telescopic member 112. The flexible transmission member 132 is wound around the plurality of transmission wheels. The second driving unit 131 is connected to at least one of the transmission wheels and is used to drive the transmission wheel to rotate, so that the flexible transmission member 132 is driven by the transmission wheel to rotate around the plurality of transmission wheels.
可以理解的是,夾取元件120與伸縮件112移動連接,夾取元件120設置於柔性傳動件132上且基座121與柔性傳動件132固定連接,即在柔性傳動件132傳動時,基座121可以隨柔性傳動件132而移動,在這一過程中,夾取組件120相對於伸縮件112移動,即夾取元件120沿第一方向移動,這一狀態下傳動輪組133的各個傳動輪的相對位置可以保持不變,而在伸縮件112與固定件111進行相對移動時,設置在伸縮件112和固定件111上的傳動輪的相對位置會產生變化。It can be understood that the clamping element 120 is movably connected to the telescopic member 112, the clamping element 120 is arranged on the flexible transmission member 132 and the base 121 is fixedly connected to the flexible transmission member 132, that is, when the flexible transmission member 132 is transmitted, the base 121 can move with the flexible transmission member 132. In this process, the clamping assembly 120 moves relative to the telescopic member 112, that is, the clamping element 120 moves along the first direction. In this state, the relative positions of the various driving wheels of the driving wheel assembly 133 can remain unchanged, and when the telescopic member 112 and the fixed member 111 move relative to each other, the relative positions of the driving wheels arranged on the telescopic member 112 and the fixed member 111 will change.
本申請實施例提供的取放貨裝置100通過多個傳動輪的配合,既可以實現伸縮件112相對於固定件111的移動,也可以實現夾取元件120相對於伸縮臂的移動,簡化了取貨裝置在夾取物料箱400時的多級驅動結構,減少伸縮元件110側方的空間佔用,使得整體結構更加緊湊。The cargo picking and placing device 100 provided in the embodiment of the present application can realize the movement of the telescopic member 112 relative to the fixed member 111 and the movement of the clamping element 120 relative to the telescopic arm through the cooperation of multiple transmission wheels, thereby simplifying the multi-stage driving structure of the cargo picking device when clamping the material box 400, reducing the space occupied by the side of the telescopic element 110, and making the overall structure more compact.
需要說明的是,伸縮件112沿X方向的長度可以近似看作為夾取元件120的移動行程,即夾取元件120可以在伸縮件112的兩端之間移動,而伸縮件112相對於固定件111的移動,可以看作時伸縮件112與移動件之間沿豎直方向的重疊狀態的變化,其中,伸縮件112和固定件111在豎直方向處於重疊狀態時,可以看作伸縮件112的收縮狀態,而伸縮件112相對於固定件111從其一端伸出時,即部分重疊時,可以看做伸縮件112的伸出狀態,第二驅動單元131在驅動傳動輪轉動時,可以帶動伸縮件112和夾取元件120中的至少一者沿第一方向移動,例如,取放貨的部分行程中,只帶動夾取元件120移動,或者,在部分行程中,同時帶動伸縮件112和夾取元件120移動。It should be noted that the length of the telescopic member 112 along the X direction can be approximately regarded as the moving stroke of the clamping element 120, that is, the clamping element 120 can move between the two ends of the telescopic member 112, and the movement of the telescopic member 112 relative to the fixed member 111 can be regarded as the change of the overlapping state between the telescopic member 112 and the moving member along the vertical direction, wherein, when the telescopic member 112 and the fixed member 111 are in an overlapping state in the vertical direction, it can be regarded as the contraction of the telescopic member 112. state, and when the telescopic member 112 extends from one end relative to the fixed member 111, that is, when they are partially overlapped, it can be regarded as the extended state of the telescopic member 112. When the second driving unit 131 drives the transmission wheel to rotate, it can drive at least one of the telescopic member 112 and the clamping element 120 to move along the first direction. For example, in part of the stroke of picking up and placing goods, only the clamping element 120 is driven to move, or, in part of the stroke, the telescopic member 112 and the clamping element 120 are driven to move at the same time.
本申請提供的取放貨裝置100在進行取放貨操作時,其首先可以與取放貨的目標進行對接,以貨架500的庫位取貨過程為例,先將夾取組件120移動至伸縮件112的前端,再通過伸縮件112的伸縮移動,可以將伸縮件112的端部與庫位的庫口下沿抵接,從而在取放貨裝置100與庫位元之間建立一個供物料箱400移動的通道,其後通過夾取元件120相對於伸縮件112的移動,利用夾取組件120將物料箱400從庫位中脫出至伸縮件112上,再將伸縮件112縮回,完成取貨。When the cargo picking and placing device 100 provided in the present application performs the cargo picking and placing operation, it can first dock with the cargo picking and placing target. Taking the cargo picking process of the storage location of the shelf 500 as an example, the clamping component 120 is first moved to the front end of the telescopic component 112, and then through the telescopic movement of the telescopic component 112, the end of the telescopic component 112 can be abutted against the lower edge of the storage location, thereby establishing a channel for the movement of the material box 400 between the cargo picking and placing device 100 and the storage location. Thereafter, through the movement of the clamping component 120 relative to the telescopic component 112, the material box 400 is removed from the storage location to the telescopic component 112 by using the clamping component 120, and then the telescopic component 112 is retracted to complete the cargo picking.
由此可見,在取放貨裝置100的取貨或者放貨的步驟中,伸縮件112相對於固定件111的移動,以及夾取元件120相對於伸縮件112的移動需要進行控制,即第二驅動單元131在驅動傳動輪組133轉動以及柔性傳動件132組傳動時,需要在部分情況下保持伸縮件112與固定件111相對於不動,而夾取組件120相對於伸縮件112移動,在另一部分情況下保持夾取元件120與伸縮件112相對不動,而伸縮件112相對於固定件111移動。It can be seen that in the picking or placing step of the cargo picking and placing device 100, the movement of the telescopic member 112 relative to the fixed member 111 and the movement of the clamping element 120 relative to the telescopic member 112 need to be controlled, that is, when the second driving unit 131 drives the transmission wheel assembly 133 to rotate and the flexible transmission member 132 to transmit, it is necessary to keep the telescopic member 112 and the fixed member 111 relatively stationary in some cases, and the clamping assembly 120 moves relative to the telescopic member 112, and keep the clamping element 120 and the telescopic member 112 relatively stationary in other cases, and the telescopic member 112 moves relative to the fixed member 111.
如圖7和圖8所示,為了實現上述取放貨過程中的各關節部件的移動需求,本申請實施例中的取貨裝置還可以包括鎖止聯動元件140,鎖止聯動元件140可以設置在伸縮元件110上,鎖止聯動元件140的至少部分結構可相對於伸縮件112移動,且不同的移動位置可以使鎖止聯動元件140的至少部分結構並與固定件111卡接或分離,從而將伸縮件112與固定件111之間鎖定或解鎖。As shown in Figures 7 and 8, in order to realize the movement requirements of various joint components in the above-mentioned picking and placing process, the picking device in the embodiment of the present application may also include a locking linkage element 140. The locking linkage element 140 can be arranged on the telescopic element 110. At least part of the structure of the locking linkage element 140 can move relative to the telescopic member 112, and different moving positions can make at least part of the structure of the locking linkage element 140 engage or separate with the fixing member 111, thereby locking or unlocking the telescopic member 112 and the fixing member 111.
可以理解的是,當伸縮件112和固定件111之間解鎖時,傳動輪組133可以在柔性傳動件132傳動時帶動伸縮件112沿第一方向伸縮,而傳動輪組133的部分傳動輪在第一方向上具有可變的相對位置,即固定件111上的傳動與伸縮件112上的傳動輪的相對位置可以產生變化,相應的部分傳動輪之間的柔性傳動件132的長度也產生變化。It can be understood that when the telescopic member 112 and the fixed member 111 are unlocked, the transmission wheel assembly 133 can drive the telescopic member 112 to extend and retract along the first direction when the flexible transmission member 132 is transmitted, and some transmission wheels of the transmission wheel assembly 133 have a variable relative position in the first direction, that is, the relative position of the transmission wheel on the fixed member 111 and the transmission wheel on the telescopic member 112 can change, and the length of the flexible transmission member 132 between the corresponding parts of the transmission wheels also changes.
當伸縮件112和固定件111之間鎖定時,傳動輪組133中的各傳動輪的相對位置均不變,此時第二驅動單元131驅動傳動輪轉動,柔性傳動件132形成一個形狀相對固定的封閉迴圈,從而在柔性傳動件132傳動,可以使夾取元件120相對於伸縮件112移動。When the telescopic member 112 and the fixed member 111 are locked, the relative positions of the driving wheels in the driving wheel assembly 133 remain unchanged. At this time, the second driving unit 131 drives the driving wheel to rotate, and the flexible transmission member 132 forms a closed loop with a relatively fixed shape, so that the flexible transmission member 132 is driven to move the clamping element 120 relative to the telescopic member 112.
在一些實施例中,伸縮件112的兩端分別設有第一限位部1126和第二限位部1127,鎖止聯動元件140將伸縮件112與固定件111解鎖時,夾取元件120與第一限位元部1126或第二限位部1127抵接,從而使伸縮件112沿第一方向伸出或者縮回,且此時傳動輪組133的各傳動輪的相對位置如前述方案會產生相對變化;而當鎖止聯動組件140將伸縮件112與固定件111鎖定時,夾取元件120在第一限位元部1126和第二限位部1127之間移動,且此時傳動輪組133的各傳動輪的相對位置也保持不變。In some embodiments, the two ends of the telescopic member 112 are respectively provided with a first limit portion 1126 and a second limit portion 1127. When the locking linkage component 140 unlocks the telescopic member 112 and the fixing member 111, the clamping element 120 abuts against the first limit portion 1126 or the second limit portion 1127, so that the telescopic member 112 extends or retracts along the first direction, and at this time, the relative positions of the various driving wheels of the driving wheel assembly 133 will change relatively as described in the aforementioned scheme; and when the locking linkage assembly 140 locks the telescopic member 112 and the fixing member 111, the clamping element 120 moves between the first limit portion 1126 and the second limit portion 1127, and at this time, the relative positions of the various driving wheels of the driving wheel assembly 133 also remain unchanged.
下面對傳動輪組133的具體結構、設置方式,以及第二驅動機構130實現驅動的具體原理進行詳細說明。The specific structure and arrangement of the transmission wheel set 133 and the specific principle of the second driving mechanism 130 to achieve driving are described in detail below.
如圖9和圖10所示,結合圖2和圖8,在一種可能實現方式中,多個傳動輪可以包括多個內傳動輪和至少一個外傳動輪,柔性傳動件132繞設在多個內傳動輪外側,外傳動輪抵接於柔性傳動件132的外周面。As shown in Figures 9 and 10, combined with Figures 2 and 8, in one possible implementation, the multiple drive wheels may include multiple inner drive wheels and at least one outer drive wheel, the flexible drive member 132 is arranged around the outer sides of the multiple inner drive wheels, and the outer drive wheel abuts against the outer peripheral surface of the flexible drive member 132.
其中,外傳動輪和部分內傳動輪連接於伸縮件112,而其餘的內傳動輪則設置在固定件111上,且柔性傳動件132傳動時,帶動夾取組件120移動,由夾取組件120觸發鎖止聯動組件140解鎖,再帶動伸縮件112移動,從而帶動連接於伸縮件112的傳動輪相對于連接於固定件111的傳動輪沿第一方向移動。Among them, the outer driving wheel and part of the inner driving wheel are connected to the telescopic member 112, and the remaining inner driving wheels are arranged on the fixed member 111. When the flexible driving member 132 is driven, the clamping assembly 120 is driven to move, and the clamping assembly 120 triggers the locking linkage assembly 140 to unlock, and then drives the telescopic member 112 to move, thereby driving the driving wheel connected to the telescopic member 112 to move along the first direction relative to the driving wheel connected to the fixed member 111.
示例性的,柔性傳動件132可以為同步帶,內傳動輪可以為同步輪,且同步輪與同步帶的內側通過同步齒進行嚙合,而外傳動輪可以是平帶輪,其與同步帶的外側抵接,從而作為導向輪起到引導同步帶轉向的作用。Exemplarily, the flexible transmission member 132 can be a synchronous belt, the inner transmission wheel can be a synchronous wheel, and the synchronous wheel is engaged with the inner side of the synchronous belt through a synchronous tooth, and the outer transmission wheel can be a flat belt wheel, which abuts against the outer side of the synchronous belt, thereby acting as a guide wheel to guide the direction of the synchronous belt.
在一些實施例中,多個內傳動輪可以包括由柔性傳動件132的傳動方向依次排布的第一傳動輪1331、第二傳動輪1332和第四傳動輪1334,外傳動輪可以包括第三傳動輪1333,第三傳動輪1333設置於第二傳動輪1332和第四傳動輪1334之間,即柔性傳動件132依次繞過第一傳動輪1331、第二傳動輪1332、第三傳動輪1333和第四傳動輪1334,並且形成封閉的傳動迴圈。In some embodiments, the multiple inner drive wheels may include a first drive wheel 1331, a second drive wheel 1332 and a fourth drive wheel 1334 arranged in sequence in the transmission direction of the flexible transmission member 132, and the outer drive wheel may include a third drive wheel 1333, and the third drive wheel 1333 is arranged between the second drive wheel 1332 and the fourth drive wheel 1334, that is, the flexible transmission member 132 passes around the first drive wheel 1331, the second drive wheel 1332, the third drive wheel 1333 and the fourth drive wheel 1334 in sequence to form a closed transmission loop.
為了充分利用固定件111和伸縮件112的長度,保證夾取元件120具有足夠的取放貨行程,第一傳動輪1331和第二驅動單元131可以均設置在固定件111的第一端,第二傳動輪1332可以設置在固定件111的第二端,而第三傳動輪1333則可以設置在伸縮件112的第一端,第四傳動輪1334可以設置在伸縮件112的第二端,形成的閉環的傳動結構中,柔性傳動件132先從固定件111的第一端延伸至固定件111的第二端,再從固定件111件的第二端延伸至伸縮件112的第一端,其後由伸縮件112的第一端延伸至伸縮件112的第二端,最後再從伸縮件112的第二端回到固定件111的第一端,從而通過柔性傳動件132的傳動既可以實現夾取元件120的移動,也可以實現伸縮件112的移動。In order to make full use of the length of the fixed member 111 and the telescopic member 112 and ensure that the clamping element 120 has a sufficient picking and placing stroke, the first transmission wheel 1331 and the second driving unit 131 can be arranged at the first end of the fixed member 111, the second transmission wheel 1332 can be arranged at the second end of the fixed member 111, and the third transmission wheel 1333 can be arranged at the first end of the telescopic member 112, and the fourth transmission wheel 1334 can be arranged at the second end of the telescopic member 112, forming a closed-loop transmission. In the structure, the flexible transmission member 132 first extends from the first end of the fixed member 111 to the second end of the fixed member 111, then extends from the second end of the fixed member 111 to the first end of the telescopic member 112, then extends from the first end of the telescopic member 112 to the second end of the telescopic member 112, and finally returns from the second end of the telescopic member 112 to the first end of the fixed member 111, so that the movement of the clamping element 120 and the movement of the telescopic member 112 can be realized through the transmission of the flexible transmission member 132.
可以理解的是,為了保證空間佈局的合理性,第二驅動單元131可以設置在固定件111上,並用於驅動第一傳動輪1331轉動,即第一傳動輪1331可以為主動輪,第二傳動輪1332和第四傳動輪1334為從動輪,第三傳動輪1333為導向輪。為了保證沿豎直方向空間佈局的合理性,第一傳動輪1331的直徑可以大於其他傳動輪的直徑,且本申請實施例對所有傳動輪的具體尺寸數值不做限定。It is understandable that, in order to ensure the rationality of the spatial layout, the second drive unit 131 can be arranged on the fixing member 111, and used to drive the first transmission wheel 1331 to rotate, that is, the first transmission wheel 1331 can be the driving wheel, the second transmission wheel 1332 and the fourth transmission wheel 1334 can be the driven wheels, and the third transmission wheel 1333 can be the guide wheel. In order to ensure the rationality of the spatial layout along the vertical direction, the diameter of the first transmission wheel 1331 can be larger than the diameter of other transmission wheels, and the embodiment of the present application does not limit the specific size values of all transmission wheels.
在一些實施例中,基座121可以與第一傳動輪1331和第四傳動輪1334之間的柔性傳動件132相對固定連接,當伸縮件112與固定件111保持相對不動,而柔性傳動件132傳動時,夾取元件120可以在第一傳動輪1331和第四傳動輪1334之間移動。此時,如果夾取元件120抵接在伸縮件112的第一端或者伸縮件112的第二端,則夾取元件120可以在柔性傳動件132的傳動作用下,推動伸縮件112相對於固定件111移動。In some embodiments, the base 121 may be relatively fixedly connected to the flexible transmission member 132 between the first transmission wheel 1331 and the fourth transmission wheel 1334. When the telescopic member 112 and the fixed member 111 remain relatively stationary and the flexible transmission member 132 is driven, the clamping element 120 may move between the first transmission wheel 1331 and the fourth transmission wheel 1334. At this time, if the clamping element 120 abuts against the first end of the telescopic member 112 or the second end of the telescopic member 112, the clamping element 120 may push the telescopic member 112 to move relative to the fixed member 111 under the driving action of the flexible transmission member 132.
其中,當伸縮件112相對於固定件111伸出時,第一傳動輪1331和第四傳動輪1334之間的間距增加,第二傳動輪1332和第三傳動輪1333之間的間距減小,即可以理解為第二傳動輪1332和第三傳動相互靠近,而第一傳動輪1331和第四傳動輪1334相互遠離,第二傳動輪1332和第三傳動輪1333之間的柔性傳動件132的長度可以補償第一傳動輪1331和第四傳動輪1334之間的柔性傳動件132的長度。Among them, when the telescopic member 112 is extended relative to the fixed member 111, the distance between the first transmission wheel 1331 and the fourth transmission wheel 1334 increases, and the distance between the second transmission wheel 1332 and the third transmission wheel 1333 decreases, that is, it can be understood that the second transmission wheel 1332 and the third transmission wheel are close to each other, while the first transmission wheel 1331 and the fourth transmission wheel 1334 are far away from each other, and the length of the flexible transmission member 132 between the second transmission wheel 1332 and the third transmission wheel 1333 can compensate for the length of the flexible transmission member 132 between the first transmission wheel 1331 and the fourth transmission wheel 1334.
當伸縮件112相對於固定件111縮回時,第一傳動輪1331和第四傳動輪1334之間的間距減小,第二傳動輪1332和第三傳動輪1333之間的間距增加,即可以理解為第二傳動輪1332和第三傳動相互遠離,而第一傳動輪1331和第四傳動輪1334相互靠近,第一傳動輪1331和第四傳動輪1334之間的柔性傳動件132的長度可以補償第二傳動輪1332和第三傳動輪1333之間的柔性傳動件132的長度。When the telescopic member 112 is retracted relative to the fixed member 111, the distance between the first transmission wheel 1331 and the fourth transmission wheel 1334 decreases, and the distance between the second transmission wheel 1332 and the third transmission wheel 1333 increases, that is, it can be understood that the second transmission wheel 1332 and the third transmission wheel move away from each other, while the first transmission wheel 1331 and the fourth transmission wheel 1334 move closer to each other, and the length of the flexible transmission member 132 between the first transmission wheel 1331 and the fourth transmission wheel 1334 can compensate for the length of the flexible transmission member 132 between the second transmission wheel 1332 and the third transmission wheel 1333.
需要說明的是,第一傳動輪1331和第四傳動輪1334之間的間距與第二傳動輪1332和第三傳動輪1333之間的間距之和保持不變,從而可以保證伸縮件112和夾取元件120的移動精度,避免柔性傳動的傳動出現張力過大導致的卡死或者張力不足出現鬆弛等現象。It should be noted that the sum of the distance between the first transmission wheel 1331 and the fourth transmission wheel 1334 and the distance between the second transmission wheel 1332 and the third transmission wheel 1333 remains unchanged, thereby ensuring the movement accuracy of the telescopic member 112 and the clamping element 120 and avoiding the flexible transmission from being stuck due to excessive tension or being loose due to insufficient tension.
此外,為了保持柔性傳動件132的張緊狀態,在多個傳動輪的其中一者上可以設置張緊機構(未示出),張緊機構可以調整其對應位置的傳動輪的位置,從而保持柔性傳動件132具有較為合適的張緊狀態,避免過緊導致傳動困難或者過松導致傳動失效。In addition, in order to maintain the tensioned state of the flexible transmission member 132, a tensioning mechanism (not shown) can be provided on one of the multiple transmission wheels. The tensioning mechanism can adjust the position of the transmission wheel at its corresponding position, thereby maintaining the flexible transmission member 132 in a more appropriate tensioned state to avoid transmission difficulties due to being too tight or transmission failure due to being too loose.
本領域技術人員可以理解的是,伸縮件112上可以設置有第二導軌1124,第二導軌1124沿第一方向延伸,基座121朝向伸縮件112的一側設置有第二滑塊1213,第二導軌1124與第二滑塊1213配合並支撐基座121,從而既可以對夾取元件120形成支撐,又可以保證夾取元件120移動的順暢性。It can be understood by those skilled in the art that a second guide rail 1124 can be provided on the telescopic member 112, and the second guide rail 1124 extends along the first direction. A second slider 1213 is provided on the side of the base 121 facing the telescopic member 112, and the second guide rail 1124 cooperates with the second slider 1213 to support the base 121, thereby providing support for the clamping element 120 and ensuring smooth movement of the clamping element 120.
基座121與第二滑塊1213沿第二導軌1124的移動可以通過柔性傳動件132的傳動實現,在基座121與柔性傳動件132連接時,基座121下方可以設置有兩個相互蓋合且分別位於柔性傳動件132兩側的蓋板(未示出),兩個蓋板共同夾緊柔性傳動件132,從而保證柔性傳動件132傳動時,夾取元件120與第一傳動輪1331和第四傳動輪1334之間的柔性傳動件132保持固定的相對位置。此外,兩個蓋板可以通過螺紋緊固件或者卡扣等方式進行連接,本申請實施例對此不做具體限定。The movement of the base 121 and the second slider 1213 along the second guide rail 1124 can be realized by the transmission of the flexible transmission member 132. When the base 121 is connected to the flexible transmission member 132, two cover plates (not shown) that cover each other and are respectively located on both sides of the flexible transmission member 132 can be provided under the base 121. The two cover plates clamp the flexible transmission member 132 together, thereby ensuring that when the flexible transmission member 132 is transmitted, the clamping element 120 and the flexible transmission member 132 between the first transmission wheel 1331 and the fourth transmission wheel 1334 maintain a fixed relative position. In addition, the two cover plates can be connected by means of threaded fasteners or buckles, etc., and this embodiment of the application does not make specific limitations on this.
在一些實施例中,傳動輪組133和柔性傳動件132均可以為兩個,且兩者可以成對設置,且兩對傳動輪組133和柔性傳動件132可以分別設置在伸縮元件110的兩側,即在伸縮件112和固定件111的兩側形成鏡像對稱的傳動結構,以提高驅動機構的穩定性。In some embodiments, there can be two transmission wheel assemblies 133 and two flexible transmission members 132, and the two can be arranged in pairs, and the two pairs of transmission wheel assemblies 133 and flexible transmission members 132 can be respectively arranged on both sides of the telescopic element 110, that is, a mirror-symmetrical transmission structure is formed on both sides of the telescopic member 112 and the fixed member 111 to improve the stability of the driving mechanism.
可以理解的是,兩個傳動輪組133的第一傳動輪1331通過驅動軸134連接,第二驅動單元131的輸出端與驅動軸134連接,從而實現兩側傳動輪組133的同步傳動,並且保證伸縮件112和夾取元件120移動過程的穩定性。It can be understood that the first drive wheels 1331 of the two drive wheel sets 133 are connected through the drive shaft 134, and the output end of the second drive unit 131 is connected to the drive shaft 134, thereby realizing the synchronous transmission of the drive wheel sets 133 on both sides and ensuring the stability of the movement process of the telescopic member 112 and the clamping element 120.
示例性的,驅動軸134的兩端可以通過軸承座和軸承支撐安裝在固定件111的第一端,而第二驅動單元131可以為電機,且該電機的輸出軸可以通過齒輪嚙合的方式與驅動軸134進行配合,或者在電機輸出軸與驅動軸134之間可以設置有減速器,本申請實施例對第二驅動單元131與驅動軸134的具體配合方式不做具體限定。Exemplarily, both ends of the drive shaft 134 can be mounted on the first end of the fixing member 111 through a bearing seat and a bearing support, and the second drive unit 131 can be a motor, and the output shaft of the motor can be matched with the drive shaft 134 by gear engagement, or a reducer can be provided between the motor output shaft and the drive shaft 134. The embodiment of the present application does not specifically limit the specific matching method between the second drive unit 131 and the drive shaft 134.
需要說明的是,驅動元件中的柔性傳動件132除了可以採用同步帶之外,還可以採用的結構類型包括但不限於鏈條164等其他形式,相應的傳動輪可以是鏈輪等與之相匹配的結構,本申請實施例對此不做具體限定,也不再贅述。It should be noted that, in addition to the synchronous belt, the flexible transmission member 132 in the driving element may also adopt other structural types including but not limited to the chain 164 and the like. The corresponding transmission wheel may be a sprocket or the like that matches the same structure. The embodiment of the present application does not specifically limit this and will not be elaborated on.
由於第二驅動機構130在驅動伸縮件112以及夾取元件120移動的取放貨步驟中,需要依靠鎖止聯動組件140在特定的位置將伸縮件112與固定件111鎖定,下面對鎖止聯動元件140的具體結構以及原理進行詳細說明。Since the second driving mechanism 130 needs to rely on the locking linkage assembly 140 to lock the telescopic member 112 and the fixing member 111 at a specific position during the cargo picking and placing step of driving the telescopic member 112 and the clamping element 120 to move, the specific structure and principle of the locking linkage element 140 are described in detail below.
如圖11至圖13所示,結合圖8,在一種可能的實現方式中,鎖止聯動元件140可以包括連杆機構141和卡接件142,連杆機構141包括固定杆1414和多個活動杆,固定杆1414與多個活動杆依次連接,且固定杆1414與伸縮件112連接,活動杆可相對於伸縮件112擺動,卡接件142可以連接在固定杆1414與活動杆之間,在活動杆擺動時,可以實現卡接件142與固定件111的卡接與分離。As shown in Figures 11 to 13, combined with Figure 8, in a possible implementation, the locking linkage element 140 may include a connecting rod mechanism 141 and a clamping member 142, the connecting rod mechanism 141 includes a fixed rod 1414 and a plurality of movable rods, the fixed rod 1414 is connected to the plurality of movable rods in sequence, and the fixed rod 1414 is connected to the telescopic member 112, the movable rod can swing relative to the telescopic member 112, the clamping member 142 can be connected between the fixed rod 1414 and the movable rod, and when the movable rod swings, the clamping member 142 can be connected to and separated from the fixed member 111.
其中,卡接件142的第一端可以與固定杆1414轉動連接,卡接件142的第二端則可以與多個活動杆中的任一者轉動連接,且卡接件142可以在活動杆的帶動下轉動,當卡接件142與固定件111卡接時,卡接件142與固定件111卡接,從而伸縮件112與固定件111處於鎖定狀態,而當卡接件142與固定杆1414件分離時,伸縮件112與固定件111之間解鎖。Among them, the first end of the clamping member 142 can be rotatably connected to the fixed rod 1414, and the second end of the clamping member 142 can be rotatably connected to any one of the multiple movable rods, and the clamping member 142 can rotate under the drive of the movable rod. When the clamping member 142 is clamped with the fixed member 111, the clamping member 142 is clamped with the fixed member 111, so that the telescopic member 112 and the fixed member 111 are in a locked state, and when the clamping member 142 is separated from the fixed rod 1414, the telescopic member 112 and the fixed member 111 are unlocked.
可以理解的是,根據取放貨裝置100的取放貨流程步驟,在夾取元件120移動至X方向的不同位置時,需要實現伸縮件112與固定件111之間鎖定狀態和解鎖狀態的轉換。It is understandable that, according to the steps of the cargo picking and placing process of the cargo picking and placing device 100, when the clamping element 120 moves to different positions in the X direction, it is necessary to realize the conversion between the locking state and the unlocking state between the telescopic member 112 and the fixing member 111.
在一些實施例中,多個活動杆中的至少一者上可以設置有觸發件,第二滑塊1213上可以設置有推力件1214,第二滑塊1213移動至第二導軌1124延伸方向的不同位置時,推力件1214可與觸發件抵接或分離,即夾取元件120沿X方向移動至不同位置時可以觸發推力件1214與觸發件之間配合狀態的變化,從而實現伸縮件112與固定件111的鎖定或解鎖。In some embodiments, a trigger may be provided on at least one of the multiple movable rods, and a thrust piece 1214 may be provided on the second slider 1213. When the second slider 1213 moves to different positions in the extension direction of the second guide rail 1124, the thrust piece 1214 may abut against or separate from the trigger piece, that is, when the clamping element 120 moves to different positions along the X direction, it can trigger the change of the matching state between the thrust piece 1214 and the trigger piece, thereby realizing the locking or unlocking of the telescopic member 112 and the fixing member 111.
當推力件1214與觸發件抵接時,推力件1214驅動活動杆擺動,以使卡接件142與固定件111脫離,此時伸縮件112在推動下可以相對於固定件111移動,並且夾取組件120整體相對於伸縮件112的位置不變。When the thrust piece 1214 abuts against the trigger piece, the thrust piece 1214 drives the movable rod to swing so that the clamping piece 142 is separated from the fixing piece 111. At this time, the telescopic piece 112 can move relative to the fixing piece 111 under the push, and the position of the clamping assembly 120 relative to the telescopic piece 112 remains unchanged.
此外,鎖止聯動元件140還可以包括彈性件145,彈性件145可以為卡接件142與固定件111的卡接提供重定功能,其中,彈性件145的第一端可以與固定杆1414連接,彈性件145的第二端可以與卡接件142連接,推力件1214與觸發件分離時,彈性件145拉動卡接件142轉動,以使卡接件142與固定件111卡接,此時伸縮件112與固定件111保持相對靜止,在柔性傳動件132的傳動下,夾取組件120相對於伸縮件112移動。In addition, the locking linkage element 140 may also include an elastic member 145, which can provide a reset function for the clamping of the clamping member 142 and the fixing member 111, wherein the first end of the elastic member 145 can be connected to the fixing rod 1414, and the second end of the elastic member 145 can be connected to the clamping member 142. When the thrust member 1214 is separated from the trigger member, the elastic member 145 pulls the clamping member 142 to rotate so that the clamping member 142 is clamped with the fixing member 111. At this time, the telescopic member 112 and the fixing member 111 remain relatively stationary, and under the transmission of the flexible transmission member 132, the clamping assembly 120 moves relative to the telescopic member 112.
示例性的,彈性件145可以為拉力彈簧,或者可以是彈力繩、彈力橡膠等其他可以提供拉力的部件,彈性件145的型號、類型以及彈性阻尼係數可以根據安裝空間以及伸縮件112與固定件111的卡接力的大小需求進行設計,本申請實施例對此不做具體限定。Exemplarily, the elastic member 145 may be a tension spring, or may be an elastic rope, elastic rubber or other member that can provide tension. The model, type and elastic damping coefficient of the elastic member 145 may be designed according to the installation space and the size requirements of the clamping force between the telescopic member 112 and the fixing member 111, and the embodiment of the present application does not make specific limitations on this.
本領域技術人員可以理解的是,為了保證連杆機構141擺動的穩定性,連杆機構141可以為四連杆結構,下面對此進行示例說明。It is understandable to those skilled in the art that in order to ensure the stability of the swing of the connecting rod mechanism 141, the connecting rod mechanism 141 can be a four-bar structure, which is illustrated below.
請繼續參照圖8、圖11、圖12和圖13,固定杆1414可以沿第一方向延伸,固定杆1414的長度與第二導軌1124的長度相匹配,多個活動杆可以包括第一活動杆1411、第二活動杆1412和第三活動杆1413,第一活動杆1411和第二活動杆1412分別與固定杆1414的兩端轉動連接,第三活動杆1413的兩端分別與第一活動杆1411和第二活動杆1412轉動連接,從而形成四連杆結構。Please continue to refer to Figures 8, 11, 12 and 13. The fixed rod 1414 can extend along the first direction, and the length of the fixed rod 1414 matches the length of the second guide rail 1124. The multiple movable rods may include a first movable rod 1411, a second movable rod 1412 and a third movable rod 1413. The first movable rod 1411 and the second movable rod 1412 are respectively rotatably connected to the two ends of the fixed rod 1414, and the two ends of the third movable rod 1413 are respectively rotatably connected to the first movable rod 1411 and the second movable rod 1412, thereby forming a four-bar structure.
其中,固定杆1414與第三活動杆1413的長度可以較長,第一活動杆1411和第二活動杆1412的長度可以較短,以減小連杆機構141擺動時的活動範圍,避免產生干涉。卡接件142的第二端可以與第三活動杆1413轉動連接,第一活動杆1411上可以設置有第一觸發件143,第二活動杆1412上可以設置有第二觸發件144,在第二滑塊1213移動至第二導軌1124的行程兩端時,推力件1214可以分別觸發第一觸發件143和第二觸發件144,即分別通過與第一觸發件143或第二觸發件144抵接來帶動第一活動杆1411或第二活動杆1412擺動,以實現連杆機構141的運動,從而實現卡接件142與固定件111的解鎖。Among them, the lengths of the fixed rod 1414 and the third movable rod 1413 can be longer, and the lengths of the first movable rod 1411 and the second movable rod 1412 can be shorter, so as to reduce the range of movement of the connecting rod mechanism 141 when it swings and avoid interference. The second end of the clamping member 142 can be rotatably connected to the third movable rod 1413, the first movable rod 1411 can be provided with a first triggering member 143, and the second movable rod 1412 can be provided with a second triggering member 144. When the second slider 1213 moves to the two ends of the travel of the second guide rail 1124, the thrust member 1214 can trigger the first triggering member 143 and the second triggering member 144 respectively, that is, the first movable rod 1411 or the second movable rod 1412 is driven to swing by abutting against the first triggering member 143 or the second triggering member 144 respectively, so as to realize the movement of the connecting rod mechanism 141, thereby realizing the unlocking of the clamping member 142 and the fixing member 111.
需要說明的是,夾取元件120相對於伸縮件112兩端的往復移動,對應推力件1214在第一觸發件143和第二觸發件144之間往復移動,而推力件1214對第一觸發件143和第二觸發件144的抵接力的方向相反,因此,為了保證在推力件1214與第一觸發件143和第二觸發件144抵接時,第三活動杆1413都可以向同一個方向擺動,以使卡接件142與固定件111分離解鎖,對第一觸發件143和第二觸發件144的設置位置可以進行區別設計,其中,在第一活動杆1411的一側,第一觸發件143可以位於第一活動杆1411的兩個轉軸之間,而在第二活動杆1412的一側,第二觸發件144可以位於第二活動杆1412的兩個轉軸外端,從而在第一觸發件143和第二觸發件144受到的抵接力的方向相反,但可以使得連杆機構141具有相同的擺動狀態。It should be noted that the reciprocating movement of the clamping element 120 relative to the two ends of the telescopic member 112 corresponds to the reciprocating movement of the thrust member 1214 between the first trigger member 143 and the second trigger member 144, and the abutting force of the thrust member 1214 on the first trigger member 143 and the second trigger member 144 is in the opposite direction. Therefore, in order to ensure that when the thrust member 1214 abuts against the first trigger member 143 and the second trigger member 144, the third movable rod 1413 can swing in the same direction to separate the clamping member 142 from the fixing member 111. The first trigger 143 and the second trigger 144 can be designed to have different positions, wherein, on one side of the first movable rod 1411, the first trigger 143 can be located between the two rotating shafts of the first movable rod 1411, and on one side of the second movable rod 1412, the second trigger 144 can be located at the outer ends of the two rotating shafts of the second movable rod 1412, so that the directions of the abutting forces on the first trigger 143 and the second trigger 144 are opposite, but the connecting rod mechanism 141 can have the same swinging state.
在一些實施例中,卡接件142的第一端可以設置有卡接部1421和拉力部1422,固定件111上設置有沿第一方向排布的卡接槽1112,卡接件142與固定件111卡接時,卡接部1421卡入卡接槽1112內,保證卡接的可靠性以及結構強度,拉力部1422可以與彈性件145連接,且拉力部1422與卡接部1421分別位於卡接件142與固定件111連接位置的相對兩側,從而觸發件與彈性件145對卡接件142的帶動轉動方向相反,從而實現鎖定和解鎖的功能。In some embodiments, the first end of the clamping member 142 may be provided with a clamping portion 1421 and a pulling portion 1422, and the fixing member 111 is provided with a clamping groove 1112 arranged along the first direction. When the clamping member 142 is clamped with the fixing member 111, the clamping portion 1421 is clamped into the clamping groove 1112 to ensure the reliability of the clamping and the structural strength. The pulling portion 1422 may be connected to the elastic member 145, and the pulling portion 1422 and the clamping portion 1421 are respectively located on opposite sides of the connection position between the clamping member 142 and the fixing member 111, so that the trigger member and the elastic member 145 drive the clamping member 142 to rotate in opposite directions, thereby realizing the locking and unlocking functions.
請繼續參照圖12,卡接槽1112可以由固定件111上安裝的齒板形成,多個卡接槽1112可以沿X方向依次連續排布,當第二觸發件144被撞擊和抵接時,第二活動杆1412順時針擺動,並帶動第三活動杆1413向左移動,此時,由於固定杆1414的位置不變,卡接件142與固定杆1414連接點的位置也不變,第三活動杆1413則可以帶動卡接件142的另一端向左移動,從而使得連接件125產生逆時針的轉動,進而卡接部1421可以從卡接槽1112中脫離;而當第二觸發件144擺脫抵接後,在彈性件145的拉力作用下,彈性件145拉動拉力部1422,使得卡接件142可以產生順時針轉動,進而卡接部1421可以與卡接槽1112進行卡接,同時第三活動杆1413也可以向右擺動至原狀態。Please continue to refer to FIG. 12 . The clamping groove 1112 can be formed by a tooth plate installed on the fixing member 111. The plurality of clamping grooves 1112 can be arranged in sequence along the X direction. When the second trigger member 144 is hit and abutted, the second movable rod 1412 swings clockwise and drives the third movable rod 1413 to move to the left. At this time, since the position of the fixing rod 1414 remains unchanged, the position of the connection point between the clamping member 142 and the fixing rod 1414 remains unchanged. The third movable rod 1413 can drive the clamping member 1414 to move to the left. The other end of 142 moves to the left, so that the connecting member 125 rotates counterclockwise, and the clamping portion 1421 can be separated from the clamping groove 1112; and when the second trigger member 144 is freed from the abutment, under the pulling force of the elastic member 145, the elastic member 145 pulls the pulling portion 1422, so that the clamping member 142 can rotate clockwise, and the clamping portion 1421 can be clamped with the clamping groove 1112, and at the same time the third movable rod 1413 can also be swung to the right to its original state.
請繼續參照圖2和圖9,在一種可能的實現方式中,伸縮件112可以包括託盤1121和分別設置於託盤1121兩側的側板1122,側板1122上設置有至少一個支撐件1125,託盤1121與支撐件1125連接,託盤1121用於承載物料箱400,鎖止聯動組件140位於託盤1121背離承載物料箱400的一側,固定件111的兩側分別設置有第三導軌1111,側板1122分別與第三導軌1111滑動連接,從而既可以為第二驅動機構130提供安裝空間,用可以保證物料箱400可以具有可靠有效的承載。Please continue to refer to FIG. 2 and FIG. 9. In a possible implementation, the telescopic member 112 may include a pallet 1121 and side panels 1122 respectively disposed on both sides of the pallet 1121. The side panels 1122 are provided with at least one supporting member 1125. The pallet 1121 is connected to the supporting member 1125. The pallet 1121 is used to carry the material box 400 and lock the material box 400. The linkage assembly 140 is located on the side of the pallet 1121 away from the material box 400. The third guide rails 1111 are respectively provided on both sides of the fixing member 111. The side plates 1122 are respectively slidably connected to the third guide rails 1111, thereby providing an installation space for the second driving mechanism 130 and ensuring that the material box 400 can be reliably and effectively loaded.
需要說明的是,當託盤1121上未承載有物料箱400時,可以通過夾取元件120對第一觸發件143或第二觸發件144的觸發使得伸縮件112與固定件111解鎖,伸縮件112的移動由夾取組件120直接推動,而在託盤1121上承載有物料箱400時,則可以是由夾取元件120對物料箱400施加推力或拉力,再有物料箱400與託盤1121之間的摩擦力帶動伸縮件112相對於固定件111移動。It should be noted that, when the pallet 1121 does not carry a material box 400, the telescopic member 112 and the fixed member 111 can be unlocked by triggering the first trigger member 143 or the second trigger member 144 by the clamping element 120, and the movement of the telescopic member 112 is directly driven by the clamping assembly 120. When the pallet 1121 carries a material box 400, the clamping element 120 can apply a pushing force or a pulling force to the material box 400, and the friction between the material box 400 and the pallet 1121 drives the telescopic member 112 to move relative to the fixed member 111.
請繼續參照圖1、圖2、圖8和圖13,在一種可能的實現方式中,鎖止聯動元件140還可以包括第三觸發件146,第三觸發件146與固定杆1414轉動連接,託盤1121上設置有開口1123,第三觸發件146至少部分從該開口1123伸出,並延伸至伸縮件112承載物料箱400的一側,第三觸發件146用於和物料箱400配合,在託盤1121上承載有物料箱400時,物料箱400可以將第三觸發件146下壓,觸發伸縮件112與固定件111的解鎖。Please continue to refer to Figures 1, 2, 8 and 13. In a possible implementation, the locking linkage element 140 may also include a third trigger 146, which is rotatably connected to the fixed rod 1414. An opening 1123 is provided on the tray 1121. The third trigger 146 at least partially extends from the opening 1123 and extends to the side of the telescopic member 112 that carries the material box 400. The third trigger 146 is used to cooperate with the material box 400. When the material box 400 is carried on the tray 1121, the material box 400 can press down the third trigger 146 to trigger the unlocking of the telescopic member 112 and the fixed member 111.
可以理解的時,第三觸發件146可以與卡接件142抵接,且在物料箱400與第三觸發件146抵接時,第三觸發件146帶動卡接件142轉動,以使伸縮件112與固定件111分離,從而可以在託盤1121上承載有物料箱400時,保持伸縮件112與固定件111的相對可滑移狀態。此外,為了保證物料箱400與託盤1121具有足夠的接觸面積,避免物料箱400掉落,第三觸發件146可以位於靠近第二活動杆1412的一側。It can be understood that the third trigger 146 can abut against the clamping member 142, and when the material box 400 abuts against the third trigger 146, the third trigger 146 drives the clamping member 142 to rotate, so that the telescopic member 112 is separated from the fixed member 111, so that when the material box 400 is carried on the tray 1121, the telescopic member 112 and the fixed member 111 can be kept in a relatively slidable state. In addition, in order to ensure that the material box 400 has a sufficient contact area with the tray 1121 and prevent the material box 400 from falling, the third trigger 146 can be located on a side close to the second movable rod 1412.
示例性的,固定杆1414上可以設有避讓口1414a,第三觸發件146與避讓口1414a的側壁轉動連接,第三觸發件146上設有第一抵接部1461,卡接件142朝向固定杆1414的一側設有第二抵接部1423,第二抵接部1423延伸至固定杆1414的底側,第一抵接部1461穿過避讓口1414a與第二抵接部1423抵接,從而可以在第三觸發件146轉動時,帶動卡接件142轉動。Exemplarily, the fixed rod 1414 may be provided with an avoidance opening 1414a, the third trigger 146 is rotatably connected to the side wall of the avoidance opening 1414a, the third trigger 146 is provided with a first abutment portion 1461, the clamping member 142 is provided with a second abutment portion 1423 on the side facing the fixed rod 1414, the second abutment portion 1423 extends to the bottom side of the fixed rod 1414, the first abutment portion 1461 passes through the avoidance opening 1414a and abuts against the second abutment portion 1423, so that when the third trigger 146 rotates, the clamping member 142 can be driven to rotate.
需要說明的是,上述的鎖止聯動元件140可以為一個、兩個和多個,並且可以在伸縮件112上沿伸縮件112的寬度方向佈置在不同位置,以保證鎖定的可靠性,並且不同鎖止聯動元件140可以同步移動或擺動。It should be noted that the above-mentioned locking linkage elements 140 can be one, two or more, and can be arranged at different positions on the telescopic member 112 along the width direction of the telescopic member 112 to ensure the reliability of locking, and different locking linkage elements 140 can move or swing synchronously.
請繼續參照圖2和圖7,本申請實施例提供的取放貨裝置100還可以包括第二檢測單元150,第二檢測單元150與固定件111連接,且第二檢測單元150用於檢測物料箱400的姿態和物料箱400的電子標識中的至少一者,從而可以準確判斷在取放物料箱400時取放貨裝置100的初始位置,以及可以識別物料箱400的資訊,準確執行對應的貨物取放運送任務。Please continue to refer to Figures 2 and 7. The cargo picking and placing device 100 provided in the embodiment of the present application may also include a second detection unit 150. The second detection unit 150 is connected to the fixing member 111, and the second detection unit 150 is used to detect the posture of the material box 400 and at least one of the electronic identification of the material box 400, so as to accurately determine the initial position of the cargo picking and placing device 100 when picking and placing the material box 400, and to identify the information of the material box 400, and accurately perform the corresponding cargo picking and placing and transportation tasks.
可以理解的是,第二檢測單元150可以有多個,不同的第二檢測單元150可以檢測不同的物料箱400的資訊。示例性的,多個第二檢測單元150可以包括3D相機,用於檢測物料箱400的尺寸及擺放姿態,使得取放貨裝置100在操作時可以對準物料箱400,多個第二檢測單元150還可以包括掃描器或2D相機等,用於檢測物料箱400上的可識別標識,例如二維碼、條碼、數位記號等,以判斷物料箱400的身份是否為當前任務的正確執行物件。It is understandable that there may be multiple second detection units 150, and different second detection units 150 may detect information of different material boxes 400. Exemplarily, the multiple second detection units 150 may include a 3D camera for detecting the size and placement of the material box 400, so that the picking and placing device 100 can align the material box 400 during operation. The multiple second detection units 150 may also include a scanner or a 2D camera, etc., for detecting identifiable identification on the material box 400, such as a two-dimensional code, a barcode, a digital mark, etc., to determine whether the identity of the material box 400 is the correct execution object for the current task.
請參照圖14和圖15,本申請實施例提供的取放貨裝置100還可以包括旋轉元件160,旋轉元件160可以包括固定支架161、第四驅動單元163和旋轉平臺162,第四驅動單元163用於驅動旋轉平臺162相對於固定支架161轉動,伸縮組件110設置在旋轉平臺162上,在應用至搬運機器人上時,可以實現在搬運機器人的不同側進行取放貨操作。Please refer to Figures 14 and 15. The cargo picking and placing device 100 provided in the embodiment of the present application may also include a rotating element 160. The rotating element 160 may include a fixed bracket 161, a fourth driving unit 163 and a rotating platform 162. The fourth driving unit 163 is used to drive the rotating platform 162 to rotate relative to the fixed bracket 161. The telescopic assembly 110 is arranged on the rotating platform 162. When applied to a transport robot, cargo picking and placing operations can be implemented on different sides of the transport robot.
示例性的,第四驅動單元163可以為電機,且該電機可以安裝在旋轉平臺162上,在第四驅動單元163與固定支架161之間,可以通過鏈條164和兩個鏈輪(未示出)進行配合,其中一個鏈輪可以與固定支架161相對固定,且旋轉平臺162可以與該鏈輪轉動連接,另一個鏈輪則可以轉動設置在旋轉平臺162的底部,鏈條164可以繞設在兩個鏈輪上,第四驅動單元163可以驅動旋轉平臺162上的鏈輪轉動,從而使旋轉平臺162相對於固定支架161產生相對旋轉,進而實現伸縮元件110相對於固定支架161的旋轉。Exemplarily, the fourth drive unit 163 can be a motor, and the motor can be installed on the rotating platform 162. The fourth drive unit 163 and the fixed bracket 161 can be matched through a chain 164 and two sprockets (not shown), one of which can be fixed relative to the fixed bracket 161, and the rotating platform 162 can be rotatably connected to the sprocket, and the other sprocket can be rotatably set at the bottom of the rotating platform 162. The chain 164 can be wound around the two sprockets, and the fourth drive unit 163 can drive the sprocket on the rotating platform 162 to rotate, so that the rotating platform 162 rotates relative to the fixed bracket 161, thereby realizing the rotation of the telescopic element 110 relative to the fixed bracket 161.
此外,請繼續參照圖1和圖2,託盤1121的前端可以設置有緩衝件,在伸縮件112相對於固定件111伸出時,緩衝件可以與貨架500的邊緣抵接,從而起到緩衝作用,同時可以減小或消除雜訊。在託盤1121的前端還可以設置有微動開關,在伸縮件112與貨架500的邊緣抵接時,可以觸發微動開關,從而可以判斷出伸縮件112與貨架500對接成功,進而夾取元件120可以與物料箱400進行插接配合。當然,在託盤1121的後端也可以設置有相應的開關單元(未示出),以檢測判斷伸縮件112是否完全縮回。In addition, please continue to refer to Figures 1 and 2. A buffer can be provided at the front end of the tray 1121. When the telescopic member 112 is extended relative to the fixed member 111, the buffer can abut against the edge of the shelf 500, thereby playing a buffering role and reducing or eliminating noise. A micro switch can also be provided at the front end of the tray 1121. When the telescopic member 112 abuts against the edge of the shelf 500, the micro switch can be triggered, thereby determining that the telescopic member 112 is successfully docked with the shelf 500, and then the clamping element 120 can be plugged and matched with the material box 400. Of course, a corresponding switch unit (not shown) may also be provided at the rear end of the tray 1121 to detect whether the retractable member 112 is fully retracted.
請參照圖16至圖24,以應用于搬運機器人上為例,下面對本申請實施例的取放貨裝置100的對貨架500進行具體取貨的步驟進行示例性說明。Please refer to Figures 16 to 24, taking the application on a transport robot as an example, the following is an exemplary description of the specific steps of picking up goods from the shelf 500 by the picking and placing device 100 of the embodiment of the present application.
步驟一:如圖16所示,伸縮件112相對於固定件111處於收縮狀態,夾取元件120從伸縮件112的第一端移動至伸縮件112的第二端,從而可以觸發伸縮件112與固定件111的解鎖。Step 1: As shown in FIG. 16 , the telescopic member 112 is in a retracted state relative to the fixed member 111, and the clamping element 120 moves from the first end of the telescopic member 112 to the second end of the telescopic member 112, thereby triggering the unlocking of the telescopic member 112 and the fixed member 111.
步驟二:如圖17所示,夾取組件120帶動伸縮件112相對於固定件111伸出,並且伸縮件112的端部與貨架500的邊緣抵接,從而夾取組件120的兩個夾持件123相互靠近,並且可以與物料箱400的水準插槽410進行插接,夾持住物料箱400。Step 2: As shown in FIG. 17 , the clamping assembly 120 drives the telescopic member 112 to extend relative to the fixed member 111, and the end of the telescopic member 112 abuts against the edge of the shelf 500, so that the two clamping members 123 of the clamping assembly 120 are close to each other and can be plugged into the horizontal slot 410 of the material box 400 to clamp the material box 400.
步驟三:如圖18所示,夾取組件120相對於伸縮件112往回移動,從而夾取元件120將物料箱400部分拉至伸縮件112的託盤1121上,此時伸縮件112與固定件111鎖定,兩者相對位置保持固定,以避免物料箱400掉落。Step 3: As shown in FIG. 18 , the clamping component 120 moves back relative to the telescopic member 112, so that the clamping component 120 pulls part of the material box 400 onto the tray 1121 of the telescopic member 112. At this time, the telescopic member 112 and the fixing member 111 are locked, and the relative positions of the two remain fixed to prevent the material box 400 from falling.
步驟四:如圖19所示,夾取組件120將物料箱400的全部拉至託盤1121上,此時物料箱400的壓力觸發伸縮件112與固定件111的解鎖,從而夾取組件120拖動物料箱400移動時,在物料箱400的摩擦力作用下,伸縮件112可以相對於固定件111縮回。Step 4: As shown in FIG. 19 , the clamping assembly 120 pulls the entire material box 400 onto the pallet 1121 . At this time, the pressure of the material box 400 triggers the unlocking of the telescopic member 112 and the fixed member 111 , so that when the clamping assembly 120 drags the material box 400 to move, the telescopic member 112 can be retracted relative to the fixed member 111 under the friction force of the material box 400 .
步驟五:如圖20所示,伸縮件112完全縮回,伸縮件112與貨架500的邊緣分離,物料箱400被夾取元件120拉至固定件111的上方,此時伸縮元件110整體回到取貨前的初始位置狀態。Step 5: As shown in FIG. 20 , the retractable member 112 is completely retracted, the retractable member 112 is separated from the edge of the shelf 500, and the material box 400 is pulled to the top of the fixing member 111 by the clamping element 120. At this time, the retractable element 110 as a whole returns to the initial position before picking up the goods.
步驟六:如圖21所示,旋轉元件160驅動伸縮元件110與物料箱400一起旋轉90°,使得物料箱400朝向搬運機器人的儲物槽221。Step 6: As shown in FIG. 21 , the rotating element 160 drives the telescopic element 110 and the material box 400 to rotate 90° together, so that the material box 400 faces the storage slot 221 of the transport robot.
步驟七:如圖22所示,夾取組件120推動物料箱400移動,在物料箱400摩擦力的作用下,伸縮件112伸出與儲物槽221的邊緣抵接。Step 7: As shown in FIG. 22 , the clamping assembly 120 pushes the material box 400 to move, and under the action of the friction force of the material box 400 , the telescopic member 112 extends out and abuts against the edge of the storage slot 221 .
步驟八:如圖23所示,夾取組件120繼續推動物料箱400移動,物料箱400從託盤1121上移動至儲物槽221內,此後夾取元件120的兩個夾持件123可以相互遠離,從物料箱400上脫出。Step 8: As shown in FIG. 23 , the clamping assembly 120 continues to push the material box 400 to move, and the material box 400 moves from the tray 1121 to the storage slot 221 , after which the two clamping members 123 of the clamping element 120 can move away from each other and detach from the material box 400 .
步驟九:如圖24所示,夾取組件120相對於伸縮件112回收,並且帶動伸縮件112相對於固定件111縮回,以回到初始狀態。Step nine: As shown in FIG. 24 , the clamping assembly 120 is retracted relative to the telescopic member 112 and drives the telescopic member 112 to retract relative to the fixing member 111 to return to the initial state.
需要說明的是,將搬運機器人上的物料箱400取放至貨架500的庫位內的操作,可以與上述的操作步驟類似,此處不再贅述。It should be noted that the operation of taking and placing the material box 400 on the transport robot into the storage location of the shelf 500 can be similar to the above-mentioned operation steps, which will not be repeated here.
不同於上述技術方案中夾取組件120取放物料箱400的方式,本申請實施例還可以通過另一種方式取放物料箱400。Different from the method of using the clamping assembly 120 to pick up and place the material box 400 in the above technical solution, the embodiment of the present application can also use another method to pick up and place the material box 400.
請參照圖25至圖31,在另一種實現方式中,取放貨裝置100可以包括伸縮元件110和推拉元件170,伸縮元件110包括固定件111和伸縮件112,伸縮件112設置在固定件111上,且可相對於固定件111沿第一方向伸縮,推拉組件170設置在伸縮件112上,推拉元件170用於帶動物料箱400進行移動,即進行物料箱400的取放,伸縮件112可以對物料箱400起到承載作用。Please refer to Figures 25 to 31. In another implementation, the cargo picking and placing device 100 may include a telescopic element 110 and a push-pull element 170. The telescopic element 110 includes a fixed member 111 and a telescopic member 112. The telescopic member 112 is arranged on the fixed member 111 and can be extended and retracted along a first direction relative to the fixed member 111. The push-pull assembly 170 is arranged on the telescopic member 112. The push-pull element 170 is used to drive the material box 400 to move, that is, to pick and place the material box 400. The telescopic member 112 can play a bearing role on the material box 400.
可以理解的是,推拉元件170可以包括基板171、拉動件172和第三驅動機構173,基板171與伸縮件112連接,第三驅動機構173設置於基板171上,拉動件172與第三驅動機構173連接,第三驅動機構173可以驅動拉動件172沿協力廠商向進行移動。It can be understood that the push-pull element 170 may include a substrate 171, a pulling member 172 and a third driving mechanism 173, the substrate 171 is connected to the telescopic member 112, the third driving mechanism 173 is arranged on the substrate 171, the pulling member 172 is connected to the third driving mechanism 173, and the third driving mechanism 173 can drive the pulling member 172 to move along the cooperative manufacturer direction.
為了便於說明,以固定件111為參照,定義固定件111的長度方向為X方向,即第一方向為X方向,伸縮件112可以沿X方向進行伸縮,定義基板171的高度方向為Z方向,即協力廠商向為Z方向,拉動件172可以沿Z方向進行移動。由於伸縮件112與拉動件172都可以進行往復移動,因此第一方向的移動包括X方向的前後移動,協力廠商向的移動包括Z方向的上下移動。For the sake of convenience, the fixing member 111 is used as a reference, and the length direction of the fixing member 111 is defined as the X direction, that is, the first direction is the X direction, and the retractable member 112 can be retracted along the X direction. The height direction of the substrate 171 is defined as the Z direction, that is, the cooperative manufacturer direction is the Z direction, and the pulling member 172 can move along the Z direction. Since the retractable member 112 and the pulling member 172 can both move back and forth, the movement in the first direction includes the forward and backward movement in the X direction, and the movement in the cooperative manufacturer direction includes the up and down movement in the Z direction.
請參照圖25、圖26、圖27、圖28、圖29和圖30,當推拉組件170移動至與物料箱400靠近或抵接的位置時,通過拉動件172的伸縮移動可以實現拉動件172與物料箱400的配合,其中,物料箱400的外壁可以設置有豎直插槽420,在第三驅動機構173的驅動下,拉動件172可以通過移動與豎直插槽420插接或脫離。Please refer to Figures 25, 26, 27, 28, 29 and 30. When the push-pull assembly 170 moves to a position close to or abutting the material box 400, the pulling member 172 can be matched with the material box 400 through the extension and contraction movement of the pulling member 172, wherein the outer wall of the material box 400 can be provided with a vertical slot 420. Under the drive of the third driving mechanism 173, the pulling member 172 can be connected to or disconnected from the vertical slot 420 by movement.
可以理解的是,拉動件172的截面尺寸可以等於或小於豎直插槽420的槽口尺寸,以使拉動件172可以進入豎直插槽420內,當拉動件172向上移動時,拉動件172可以插入豎直插槽420內,當拉動件172向下移動時,拉動件172可以從豎直插槽420內脫離,而當拉動件172進入豎直插槽420內時,隨著推拉組件170整體的移動,拉動件172便可以帶動物料箱400移動,從而實現物料箱400的取放操作。It can be understood that the cross-sectional size of the pulling member 172 can be equal to or smaller than the slot size of the vertical slot 420, so that the pulling member 172 can enter the vertical slot 420. When the pulling member 172 moves upward, the pulling member 172 can be inserted into the vertical slot 420. When the pulling member 172 moves downward, the pulling member 172 can be detached from the vertical slot 420. When the pulling member 172 enters the vertical slot 420, as the push-pull assembly 170 moves as a whole, the pulling member 172 can drive the material box 400 to move, thereby realizing the pick-up and placement operation of the material box 400.
需要說明的是,作為被取放的物件,物料箱400的設置有豎直插槽420的外壁可以朝向貨架500的庫位的出入口,本申請實施例提供的取放貨裝置100對物料箱400在貨架500上進行取放時,推拉元件170可以通過拉動件172與物料箱400的外側壁進行插接配合,從而在推拉元件170帶動物料箱400移動時,推拉組件170和伸縮件112都不需要進入存放物料箱400的庫位內部,因此,取放貨裝置100在取放物料箱400時不會佔用庫位的內部空間,在貨架500的庫位存放物料箱400時可以實現小間距或者無間距存放,進而提高了倉儲的空間利用率。It should be noted that, as the object to be picked up and placed, the outer wall of the material box 400 provided with the vertical slot 420 can face the entrance and exit of the storage location of the shelf 500. When the picking and placing device 100 provided in the embodiment of the present application picks and places the material box 400 on the shelf 500, the push-pull element 170 can be plugged and matched with the outer side wall of the material box 400 through the pulling member 172, so that when the push-pull element 170 drives the material box 400 to move, the push-pull assembly 170 and the telescopic member 112 do not need to enter the storage location where the material box 400 is stored. Therefore, the picking and placing device 100 will not occupy the internal space of the storage location when picking and placing the material box 400, and can achieve small spacing or no spacing when storing the material box 400 in the storage location of the shelf 500, thereby improving the space utilization rate of the warehouse.
此外,推拉元件170還可以包括推板177,推板177連接於基板171上,且推板177朝向物料箱400,以推動物料箱400移動,即推板177位於第三驅動機構173和拉動件172相對於基板171的同一側。示例性的,推板177可以通過緊固件與基板171進行裝配連接。In addition, the push-pull element 170 may further include a push plate 177, which is connected to the base plate 171 and faces the material box 400 to push the material box 400 to move, that is, the push plate 177 is located on the same side of the third driving mechanism 173 and the pulling member 172 relative to the base plate 171. Exemplarily, the push plate 177 can be assembled and connected with the base plate 171 by fasteners.
下面對第三驅動機構173對拉動件172的驅動方式進行詳細說明。The following is a detailed description of the driving method of the third driving mechanism 173 on the pulling member 172.
在一種可能的實現方式中,第三驅動機構173可以包括第三驅動單元1731、第三傳動件1732、第四傳動件1733和連接杆1734,第三驅動單元1731設置在基板171上,第三傳動件1732與第三驅動單元1731的輸出端連接,且第三傳動件1732可以在第三驅動單元1731的驅動下轉動,而第四傳動件1733與第三傳動件1732配合,且第四傳動件1733可以在第三傳動件1732的驅動下沿協力廠商向移動,即沿Z方向進行上下移動。In one possible implementation, the third driving mechanism 173 may include a third driving unit 1731, a third transmission 1732, a fourth transmission 1733 and a connecting rod 1734, the third driving unit 1731 is arranged on the substrate 171, the third transmission 1732 is connected to the output end of the third driving unit 1731, and the third transmission 1732 can rotate under the drive of the third driving unit 1731, and the fourth transmission 1733 cooperates with the third transmission 1732, and the fourth transmission 1733 can move in the direction of the third transmission 1732, that is, move up and down along the Z direction.
可以理解的是,第三驅動單元1731可以輸出旋轉運動,並帶動第三傳動件1732轉動,而第四傳動件1733與第三傳動件1732的配合可以將旋轉運動轉換為直線移動,連接杆1734的第一端可以與第三傳動件1732連接,連接杆1734的第二端與拉動件172連接,從而在第四傳動件1733移動時,可以帶動拉動件172同步進行移動,進而實現拉動件172與豎直插槽420的插接或脫離的配合。It can be understood that the third drive unit 1731 can output rotational motion and drive the third transmission member 1732 to rotate, and the cooperation between the fourth transmission member 1733 and the third transmission member 1732 can convert the rotational motion into linear motion. The first end of the connecting rod 1734 can be connected to the third transmission member 1732, and the second end of the connecting rod 1734 is connected to the pulling member 172, so that when the fourth transmission member 1733 moves, it can drive the pulling member 172 to move synchronously, thereby realizing the cooperation of the pulling member 172 and the vertical slot 420 for plugging in or out.
需要說明的是,由於拉動件172與豎直插槽420的插接配合需要進行往復移動,而拉動件172沿Z方向的上下移動可以分別與第三傳動件1732的正轉和反轉相對,例如,當第三傳動件1732正轉時,對應拉動件172沿Z方嚮往上移動,而當第三傳動件1732反轉時,對應拉動件172沿Z方嚮往下移動。It should be noted that, since the plug-in cooperation between the pulling member 172 and the vertical slot 420 requires reciprocating movement, the up and down movement of the pulling member 172 along the Z direction can be respectively corresponding to the forward rotation and reverse rotation of the third transmission member 1732. For example, when the third transmission member 1732 rotates forward, the corresponding pulling member 172 moves upward along the Z direction, and when the third transmission member 1732 reverses, the corresponding pulling member 172 moves downward along the Z direction.
此外,為了保證拉動件172沿協力廠商向移動時的順暢性和穩定性,第三驅動機構173還可以包括導向件1735,導向件1735可以設置在基板171上,導向件1735上設有導向孔,導向孔沿協力廠商向延伸,連接杆1734穿設過導向孔,且連接杆1734可以在第四傳動件1733的帶動下沿導向孔移動,即導向件1735可以為第四傳動件1733的移動起到限位元導向作用。In addition, in order to ensure the smoothness and stability of the pulling member 172 when moving along the cooperative manufacturer direction, the third driving mechanism 173 may also include a guide member 1735. The guide member 1735 can be arranged on the substrate 171. A guide hole is provided on the guide member 1735. The guide hole extends along the cooperative manufacturer direction. The connecting rod 1734 passes through the guide hole, and the connecting rod 1734 can move along the guide hole under the drive of the fourth transmission member 1733, that is, the guide member 1735 can play a role as a limit element guide for the movement of the fourth transmission member 1733.
在本申請實施例中,通過第三驅動機構173實現對拉動件172的驅動,其目的在於將旋轉運動轉換為直線移動,因此可以採用不同的第三傳動件1732和第四傳動件1733的配合方式,包括但不限於絲杠傳動方式、齒輪齒條的方式,帶輪與傳動帶的方式等,本申請實施例對此不做具體限定。當然,也可以考慮採用直線電機或者氣缸進行直接驅動拉動件172的方式。下面以其中一種驅動方式為例進行說明。In the embodiment of the present application, the third driving mechanism 173 is used to drive the pulling member 172, and its purpose is to convert the rotational motion into linear motion. Therefore, different matching modes of the third transmission member 1732 and the fourth transmission member 1733 can be adopted, including but not limited to the screw transmission mode, the gear and tooth mode, the pulley and transmission belt mode, etc., and the embodiment of the present application does not make specific restrictions on this. Of course, it is also possible to consider the mode of using a linear motor or a cylinder to directly drive the pulling member 172. The following is an example of one of the driving modes for explanation.
在一些實施例中,第三傳動件1732可以為絲杆,第四傳動件1733可以為絲杆螺母,第三驅動單元1731可以為電機,絲杆可以沿協力廠商向延伸,即絲杆沿Z方向延伸,絲杆的第一端與電機的輸出軸連接,絲杆的第二端與導向件1735轉動連接,絲杆螺母套設於絲杆上,且在絲杆轉動時,絲杆螺母沿絲杆的延伸方向移動,連接杆1734與絲杆螺母連接,從而可以通過絲杆的旋轉控制拉動件172的移動行程和位置。In some embodiments, the third transmission member 1732 can be a screw, the fourth transmission member 1733 can be a screw nut, the third drive unit 1731 can be a motor, the screw can extend in the cooperative direction, that is, the screw extends along the Z direction, the first end of the screw is connected to the output shaft of the motor, the second end of the screw is rotatably connected to the guide member 1735, the screw nut is sleeved on the screw, and when the screw rotates, the screw nut moves along the extension direction of the screw, the connecting rod 1734 is connected to the screw nut, so that the movement stroke and position of the pulling member 172 can be controlled by the rotation of the screw.
可以理解的是,絲杆可以設置在電機與導向件1735之間,從而對絲杆起到支撐作用,絲杆與電機的輸出軸可以直接連接,也可以通過聯軸器當部件間接連接,而絲杆在與導向件1735連接時,由於在絲杆轉動但導向件1735相對不動,因此絲杆可以通過軸承與導向件1735進行配合,從而保證絲杆轉動的順暢性。It can be understood that the screw rod can be arranged between the motor and the guide member 1735, so as to support the screw rod. The screw rod and the output shaft of the motor can be directly connected or indirectly connected through a coupling. When the screw rod is connected to the guide member 1735, since the screw rod rotates but the guide member 1735 is relatively stationary, the screw rod can cooperate with the guide member 1735 through the bearing, thereby ensuring the smooth rotation of the screw rod.
為了保證拉動件172移動過程的平穩,連接杆1734可以為兩個,而導向孔也可以為兩個,兩個連接杆1734可以分別穿過兩個導向孔,兩個連接杆1734均可以呈杆狀,並且兩個連接杆1734可以平行設置,此外,兩個連接杆1734可以對稱分佈於第三傳動件1732的兩側,從而可以實現第四傳動件1733帶動拉動件172移動時受力的平衡性。In order to ensure the smooth movement of the pulling member 172, there can be two connecting rods 1734 and two guide holes. The two connecting rods 1734 can pass through the two guide holes respectively. The two connecting rods 1734 can be rod-shaped and the two connecting rods 1734 can be arranged in parallel. In addition, the two connecting rods 1734 can be symmetrically distributed on both sides of the third transmission member 1732, so as to achieve the balance of force when the fourth transmission member 1733 drives the pulling member 172 to move.
本領域技術人員可以理解的是,在佈局空間允許的情況下,可以採用三個或者更多個連接杆1734與導向件1735進行配合導向,從而進一步提高支撐強度,本申請實施例對此不做具體限定。It is understandable to those skilled in the art that, when layout space permits, three or more connecting rods 1734 can be used to cooperate with guide members 1735 to guide, thereby further improving the support strength. This embodiment of the application does not make specific limitations on this.
需要說明的是,由於拉動件172沿Z方向的移動可以由第三驅動單元1731作為動力源,並且有第三傳動件1732與第四傳動件1733作為力與運動的傳遞單元,因此,拉動件172的移動速度和行程一方面取決於第三驅動單元1731的輸出轉速以及轉動的周數,另一方面取決於第三傳動件1732和第四傳動件1733的參數,例如,採用絲杆和絲杆螺母配合時,取決與絲杆的直徑以及螺距。對於選定類型和參數的第三傳動件1732和第四傳動件1733而言,拉動件172的移動行程和速度可以通過對第三驅動單元1731的輸出控制進行調節,而對第三驅動單元1731的控制可以利用外部信號進行參照,下面將對此進行說明。It should be noted that, since the movement of the pulling member 172 along the Z direction can be driven by the third drive unit 1731 as a power source, and the third transmission member 1732 and the fourth transmission member 1733 serve as force and motion transmission units, the movement speed and stroke of the pulling member 172 depend on the output speed and the number of rotations of the third drive unit 1731 on the one hand, and on the parameters of the third transmission member 1732 and the fourth transmission member 1733 on the other hand, for example, when a screw and a screw nut are used in combination, it depends on the diameter and pitch of the screw. For the third transmission member 1732 and the fourth transmission member 1733 of the selected type and parameters, the moving stroke and speed of the pulling member 172 can be adjusted by controlling the output of the third drive unit 1731, and the control of the third drive unit 1731 can be referenced by an external signal, which will be explained below.
在一種可能的實現方式中,推拉元件170還可以包括第三檢測單元174和感應件175,第三檢測單元174設置在基板171上,感應件175與第四傳動件1733連接,即在拉動件172沿Z方向移動時,感應件175也會同步進行移動,第三檢測單元174用於檢測感應件175,以檢測第四傳動件1733沿協力廠商向移動時的相對位置。In one possible implementation, the push-pull element 170 may also include a third detection unit 174 and a sensor 175. The third detection unit 174 is disposed on the substrate 171, and the sensor 175 is connected to the fourth transmission member 1733. That is, when the pulling member 172 moves along the Z direction, the sensor 175 will also move synchronously. The third detection unit 174 is used to detect the sensor 175 to detect the relative position of the fourth transmission member 1733 when it moves along the third party manufacturer direction.
可以理解的是,當拉動件172需要與豎直插槽420進行插接配合或者需要脫離時,第三檢測單元174可以判斷出拉動件172的行程位置,從而可以保證拉動件172與豎直插槽420的插接動作的準確性。第三檢測單元174可以採用的類型包括但不限於光電感測器、觸點開關等。It is understandable that when the pull member 172 needs to be plugged into or detached from the vertical slot 420, the third detection unit 174 can determine the travel position of the pull member 172, thereby ensuring the accuracy of the plugging action of the pull member 172 and the vertical slot 420. The third detection unit 174 can be used in types including but not limited to photoelectric sensors, contact switches, etc.
在一些實施例中,第三檢測單元174可以為兩個,兩個第三檢測單元174分別位於第四傳動件1733沿協力廠商向的移動行程的兩端,從而兩個第三檢測單元174可以分別對拉動件172相對於豎直插槽420的插接和脫離的狀態進行檢測,準確控制拉動件172的行程。In some embodiments, there may be two third detection units 174, and the two third detection units 174 are respectively located at the two ends of the moving travel of the fourth transmission member 1733 along the cooperative manufacturer direction, so that the two third detection units 174 can respectively detect the insertion and disengagement status of the pulling member 172 relative to the vertical slot 420, and accurately control the travel of the pulling member 172.
示例性的,當採用光電感測器時,兩個第三檢測單元174可以沿Z方向佈置在感應件175的移動行程的兩端,在沿Z方向的上側的第三檢測單元174被感應件175遮擋時,可以判斷出拉動件172與豎直插槽420已經完成插接,此時推拉元件170可以帶動物料箱400移動,在沿Z方向的下側的第三檢測單元174被感應件175遮擋時,可以判斷出拉動件172與插接槽完成脫離,此時推拉元件170可以與物料箱400分離。Exemplarily, when a photoelectric sensor is used, two third detection units 174 can be arranged at both ends of the moving range of the sensor 175 along the Z direction. When the third detection unit 174 on the upper side along the Z direction is blocked by the sensor 175, it can be determined that the pulling member 172 and the vertical slot 420 have been plugged in, and at this time the push-pull element 170 can drive the material box 400 to move. When the third detection unit 174 on the lower side along the Z direction is blocked by the sensor 175, it can be determined that the pulling member 172 and the plug-in slot have been disengaged, and at this time the push-pull element 170 can be separated from the material box 400.
由於不同的應用場景下,物料箱400的類型和尺寸規格可能不同,因此,為了提高取放貨裝置100的適用性,並降低控制難度,可以在第三驅動機構173與基板171裝配時,將兩者的安裝配合的相對位置設置為可調節的結構,從而在物料箱400的豎直插槽420位置相對於推拉元件170變化時,依然可以進行物料箱400的取放操作。Since the type and size specifications of the material box 400 may be different in different application scenarios, in order to improve the applicability of the cargo picking and placing device 100 and reduce the difficulty of control, when the third driving mechanism 173 and the base plate 171 are assembled, the relative positions of the two installation cooperations can be set to an adjustable structure, so that when the position of the vertical slot 420 of the material box 400 changes relative to the push-pull element 170, the material box 400 can still be picked up and placed.
在一種可能的實現方式中,推拉元件170還可以包括調節板176,調節板176與基板171連接,第三驅動機構173與調節板176連接,即第三驅動機構173可以通過調節板176與基板171間接連接,調節板176的位置相對於基板171可調,從而實現第三驅動機構173相對於基板171的位置調節。In one possible implementation, the push-pull element 170 may further include an adjusting plate 176, which is connected to the substrate 171, and the third driving mechanism 173 is connected to the adjusting plate 176, that is, the third driving mechanism 173 can be indirectly connected to the substrate 171 through the adjusting plate 176, and the position of the adjusting plate 176 is adjustable relative to the substrate 171, thereby realizing the position adjustment of the third driving mechanism 173 relative to the substrate 171.
可以理解的是,基板171上可以設有多個調節孔1711,多個調節孔1711可以沿協力廠商向排布,調節板176可與不同的調節孔1711配合,以調節調節板176與基板171沿所述協力廠商向的相對位置,從而可以適應不同規格和尺寸的物料箱400的取放需求。It can be understood that a plurality of adjustment holes 1711 can be provided on the base plate 171, and the plurality of adjustment holes 1711 can be arranged along the cooperative manufacturer direction. The adjustment plate 176 can cooperate with different adjustment holes 1711 to adjust the relative position of the adjustment plate 176 and the base plate 171 along the cooperative manufacturer direction, so as to adapt to the requirements of taking and placing material boxes 400 of different specifications and sizes.
示例性的,調節孔1711可以沿排布方向依次連通形成調節槽,即多個調節孔1711為一組,在基板171上可以設置多組調節孔1711,從而形成多個連接位置,每組調節孔1711均有一個調節孔1711與調節板176連接,例如,可以有四組調節孔1711,且排成兩列,每列為沿Z方向的兩組調節孔1711。此外,調節板176可以通過螺紋緊固件與基板171進行連接杆1734,例如,通過螺栓依次穿過連接板以及調節孔1711,將連接杆1734壓緊在基板171上,保證安裝的可靠性。Exemplarily, the adjustment holes 1711 can be connected in sequence along the arrangement direction to form an adjustment groove, that is, a plurality of adjustment holes 1711 form a group, and a plurality of groups of adjustment holes 1711 can be provided on the substrate 171 to form a plurality of connection positions, and each group of adjustment holes 1711 has an adjustment hole 1711 connected to the adjustment plate 176. For example, there can be four groups of adjustment holes 1711, and they are arranged in two rows, and each row is two groups of adjustment holes 1711 along the Z direction. In addition, the adjustment plate 176 can be connected to the substrate 171 by a threaded fastener with a connecting rod 1734, for example, by passing a bolt through the connecting plate and the adjustment hole 1711 in sequence, and pressing the connecting rod 1734 on the substrate 171 to ensure the reliability of the installation.
為了在降低取放貨裝置100整體重量的同時,保證結構強度,基板171可以為鈑金件,例如為截面是L型的折彎板,且在基板171上可以設置一個、兩個或者更多個加強筋,以提高結構強度。In order to reduce the overall weight of the cargo picking and placing device 100 while ensuring the structural strength, the base plate 171 can be a sheet metal part, such as a bent plate with an L-shaped cross-section, and one, two or more reinforcing ribs can be provided on the base plate 171 to improve the structural strength.
需要說明的是,由於拉動件172與物料箱400配合時,拉動件172是上下移動進行插接配合,物料箱400上的豎直插槽420的槽口需要朝向拉動件172。請參照圖31,豎直插槽420可以位於物料箱400的上部邊緣,且豎直插槽420的槽口朝下,同時為了其他物流工序中邊緣操作任務搬動物料箱400,豎直插槽420的槽口邊緣可以設置有波浪形凹槽,對應人的手指,提高物料箱400搬運的舒適性。It should be noted that, when the pull member 172 is engaged with the material box 400, the pull member 172 moves up and down for plugging and engagement, and the notch of the vertical slot 420 on the material box 400 needs to face the pull member 172. Please refer to FIG. 31 , the vertical slot 420 can be located at the upper edge of the material box 400, and the notch of the vertical slot 420 faces downward. At the same time, in order to move the material box 400 for edge operation tasks in other logistics processes, the notch edge of the vertical slot 420 can be provided with a wavy groove corresponding to a person's fingers, thereby improving the comfort of carrying the material box 400.
本申請實施例還提供一種搬運機器人,請繼續參照圖1,該搬運機器人包括機器人主體200、升降裝置300和上述技術方案中的取放貨裝置100,升降裝置300設置于機器人主體200上,並可沿機器人主體200的高度方向移動,取放貨裝置100設置於升降裝置300上,從而升降裝置300可以帶動取放貨裝置100移動,實現不同高度上的取放貨操作。The present application embodiment also provides a transport robot. Please continue to refer to Figure 1. The transport robot includes a robot body 200, a lifting device 300 and a cargo pick-up and placement device 100 in the above technical solution. The lifting device 300 is arranged on the robot body 200 and can move along the height direction of the robot body 200. The cargo pick-up and placement device 100 is arranged on the lifting device 300, so that the lifting device 300 can drive the cargo pick-up and placement device 100 to move, thereby realizing cargo pick-up and placement operations at different heights.
其中,機器人主體200可以包括底座210和儲物架220,儲物架220安裝於底座210上,升降裝置300設置于儲物架220上,且可沿儲物架220的高度方向移動,儲物架220背離取放貨裝置100的一側可以設置有多個儲物槽221,多個儲物槽221沿儲物架220的高度方向間隔分佈。Among them, the robot body 200 may include a base 210 and a storage rack 220, the storage rack 220 is installed on the base 210, the lifting device 300 is arranged on the storage rack 220, and can move along the height direction of the storage rack 220, and a plurality of storage slots 221 may be arranged on the side of the storage rack 220 away from the loading and unloading device 100, and the plurality of storage slots 221 are spaced apart along the height direction of the storage rack 220.
示例性的,升降裝置300可以通過電機進行驅動,並通過同步帶或鏈傳動的方式帶動取放貨裝置100沿機器人主體200的高度方向上下移動。Exemplarily, the lifting device 300 can be driven by a motor, and drive the picking and placing device 100 to move up and down along the height direction of the robot body 200 by means of a synchronous belt or chain transmission.
本領域技術人員可以理解的是,在儲物槽221設置在搬運機器人的後側時,取放貨裝置可以設置于機器人主體200的前側,而根據上述取放貨裝置100的結構,其可以實現在機器人主體200的前側、左側、右側與其他設備對接完成取放貨操作,同時還可以在機器人主體200的後側的儲物槽221中完成取放貨的操作,只需相應旋轉90°或者180°即可。It can be understood by those skilled in the art that when the storage slot 221 is arranged on the rear side of the transport robot, the cargo picking and placing device can be arranged on the front side of the robot body 200. According to the structure of the above-mentioned cargo picking and placing device 100, it can realize the cargo picking and placing operations by docking with other equipment on the front, left, and right sides of the robot body 200. At the same time, the cargo picking and placing operations can also be completed in the storage slot 221 on the rear side of the robot body 200, and it only needs to be rotated 90° or 180° accordingly.
本申請實施例還提供一種物流系統,包括貨架和前述技術方案中的搬運機器人,搬運機器人上設置有前述技術方案中的取放貨裝置,搬運機器人和取放貨裝置的結構與前述方案中類似且具有前述技術方案的所有技術效果,此處不再贅述,貨架可以實現物料箱的小間距或無間距(箱間距、層間距等)存放,提高空間利用率。The present application embodiment also provides a logistics system, including a shelf and the handling robot in the aforementioned technical solution, the handling robot is provided with the picking and placing device in the aforementioned technical solution, the structure of the handling robot and the picking and placing device is similar to that in the aforementioned solution and has all the technical effects of the aforementioned technical solution, which will not be repeated here. The shelf can realize the storage of material boxes with small spacing or no spacing (box spacing, layer spacing, etc.), thereby improving space utilization.
最後應說明的是:以上各實施例僅用以說明本申請的技術方案,而非對其限制;儘管參照前述各實施例對本申請進行了詳細的說明,本領域的普通技術人員應當理解:其依然可以對前述各實施例所記載的技術方案進行修改,或者對其中部分或者全部技術特徵進行等同替換;而這些修改或者替換,並不使相應技術方案的本質脫離本申請技術方案的範圍。Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application, rather than to limit it. Although the present application has been described in detail with reference to the above embodiments, ordinary technical personnel in this field should understand that they can still modify the technical solutions described in the above embodiments, or replace part or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solution from the scope of the technical solution of the present application.
100:取放貨裝置 110:伸縮組件 111:固定件 112:伸縮件 120:夾取組件 121:基座 122:第一驅動機構 123:夾持件 124:安裝座 125:連接件 130:第二驅動機構 131:第二驅動單元 132:柔性傳動件 133:傳動輪組 134:驅動軸 140:鎖止聯動組件 141:連杆機構 142:卡接件 143:第一觸發件 144:第二觸發件 145:彈性件 146:第三觸發件 150:第二檢測單元 160:旋轉組件 161:固定支架 162:旋轉平臺 163:第四驅動單元 164:鏈條 170:推拉組件 171:基板 172:拉動件 173:第三驅動機構 174:第三檢測單元 175:感應件 176:調節板 177:推板 200:機器人主體 210:底座 220:儲物架 221:儲物槽 300:升降裝置 400:物料箱 410:水準插槽 420:豎直插槽 500:貨架 1111:第三導軌 1112:卡接槽 1121:託盤 1122:側板 1123:開口 1124:第二導軌 1125:支撐件 1126:第一限位部 1127:第二限位部 1211:避讓槽 1212:第一導軌 1213:第二滑塊 1214:推力件 1221:第一驅動單元 1222:第一傳動件 1223:第二傳動件 1224:第一帶輪 1225:第二帶輪 1226:傳動帶 1231:第一滑塊 1331:第一傳動輪 1332:第二傳動輪 1333:第三傳動輪 1334:第四傳動輪 1411:第一活動杆 1412:第二活動杆 1413:第三活動杆 1414:固定杆 1414a:避讓口 1421:卡接部 1422:拉力部 1423:第二抵接部 1461:第一抵接部 1711:調節孔 1731:第三驅動單元 1732:第三傳動件 1733:第四傳動件 1734:連接杆 1735:導向件 100: Pick-up and delivery device 110: Telescopic assembly 111: Fixing member 112: Telescopic member 120: Clamping assembly 121: Base 122: First drive mechanism 123: Clamping member 124: Mounting seat 125: Connecting member 130: Second drive mechanism 131: Second drive unit 132: Flexible transmission member 133: Transmission wheel assembly 134: Driving shaft 140: Locking linkage assembly 141: Link mechanism 142: Snap-on member 143: First trigger member 144: Second trigger member 145: Elastic member 146: Third trigger member 150: Second detection unit 160: Rotating assembly 161: Fixed bracket 162: Rotating platform 163: Fourth drive unit 164: Chain 170: Push-pull assembly 171: Base plate 172: Pulling member 173: Third drive mechanism 174: Third detection unit 175: Sensing member 176: Adjustment plate 177: Push plate 200: Robot body 210: Base 220: Storage rack 221: Storage slot 300: Lifting device 400: Material box 410: Horizontal slot 420: Vertical slot 500: Shelf 1111: Third guide rail 1112: Snap-in slot 1121: tray 1122: side plate 1123: opening 1124: second guide rail 1125: support member 1126: first limiter 1127: second limiter 1211: avoidance groove 1212: first guide rail 1213: second slider 1214: thrust member 1221: first drive unit 1222: first transmission member 1223: second transmission member 1224: first pulley 1225: second pulley 1226: transmission belt 1231: first slider 1331: first transmission wheel 1332: second transmission wheel 1333: third transmission wheel 1334: fourth transmission wheel 1411: first movable rod 1412: second movable rod 1413: third movable rod 1414: fixed rod 1414a: escape hole 1421: clamping part 1422: tension part 1423: second abutment part 1461: first abutment part 1711: adjustment hole 1731: third drive unit 1732: third transmission member 1733: fourth transmission member 1734: connecting rod 1735: guide member
為了更清楚地說明本申請實施例或現有技術中的技術方案,下面將對實施例或現有技術描述中所需要使用的附圖作一簡單地介紹,顯而易見地,下面描述中的附圖是本申請的一些實施例,對於本領域普通技術人員來講,在不付出創造性勞動性的前提下,還可以根據這些附圖獲得其他的附圖。 圖1為本申請實施例提供的取放貨裝置應用至搬運機器人上的示意圖; 圖2為本申請實施例提供的取放貨裝置的結構示意圖; 圖3為本申請實施例提供的取放貨裝置中夾取元件與物料箱配合的示意圖; 圖4為本申請實施例提供的取放貨裝置中夾取元件的第一視角的結構示意圖; 圖5為本申請實施例提供的取放貨裝置中夾取元件的第二視角的結構示意圖; 圖6為本申請實施例提供的取放貨裝置中夾取元件所配合的物料箱的結構示意圖; 圖7為本申請實施例提供的取放貨裝置中基座與伸縮元件連接的示意圖; 圖8為本申請實施例提供的取放貨裝置中伸縮元件驅動結構的示意圖; 圖9為本申請實施例提供的取放貨裝置中傳動輪組的佈置示意圖; 圖10為本申請實施例提供的取放貨裝置中傳動輪組的佈置的正視圖; 圖11為本申請實施例提供的取放貨裝置中鎖止聯動元件的結構示意圖; 圖12為本申請實施例提供的取放貨裝置中鎖止聯動元件的局部示意圖; 圖13為本申請實施例提供的取放貨裝置中鎖止聯動元件另一視角的局部示意圖; 圖14為本申請實施例提供的取放貨裝置的另一種結構示意圖; 圖15為本申請實施例提供的取放貨裝置中旋轉元件的結構示意圖; 圖16為本申請實施例提供的取放貨裝置的取貨過程第一狀態的示意圖; 圖17為本申請實施例提供的取放貨裝置的取貨過程第二狀態的示意圖; 圖18為本申請實施例提供的取放貨裝置的取貨過程第三狀態的示意圖; 圖19為本申請實施例提供的取放貨裝置的取貨過程第四狀態的示意圖; 圖20為本申請實施例提供的取放貨裝置的取貨過程第五狀態的示意圖; 圖21為本申請實施例提供的取放貨裝置的取貨過程第六狀態的示意圖; 圖22為本申請實施例提供的取放貨裝置的取貨過程第七狀態的示意圖; 圖23為本申請實施例提供的取放貨裝置的取貨過程第八狀態的示意圖; 圖24為本申請實施例提供的取放貨裝置的取貨過程第九狀態的示意圖; 圖25為本申請實施例提供的取放貨裝置的另一種結構示意圖; 圖26為本申請實施例提供的取放貨裝置中推拉元件的結構示意圖; 圖27為本申請實施例提供的取放貨裝置中推拉元件與物料箱配合的示意圖; 圖28為本申請實施例提供的取放貨裝置中推拉元件與物料箱配合的剖視圖; 圖29為本申請實施例提供的取放貨裝置中推拉元件的局部視圖; 圖30為本申請實施例提供的取放貨裝置中推拉元件的另一視角的結構示意圖; 圖31為本申請實施例提供的取放貨裝置中推拉元件所配合的物料箱的結構示意圖。 In order to more clearly explain the technical solutions in the embodiments of this application or the prior art, the drawings required for use in the embodiments or the prior art descriptions will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor. Figure 1 is a schematic diagram of the cargo pick-up and placement device provided in the embodiment of the present application applied to a handling robot; Figure 2 is a schematic diagram of the structure of the cargo pick-up and placement device provided in the embodiment of the present application; Figure 3 is a schematic diagram of the cooperation between the clamping element and the material box in the cargo pick-up and placement device provided in the embodiment of the present application; Figure 4 is a schematic diagram of the structure of the clamping element in the cargo pick-up and placement device provided in the embodiment of the present application from a first viewing angle; Figure 5 is a schematic diagram of the structure of the clamping element in the cargo pick-up and placement device provided in the embodiment of the present application from a second viewing angle; Figure 6 is a schematic diagram of the structure of the material box matched with the clamping element in the cargo pick-up and placement device provided in the embodiment of the present application; Figure 7 is a schematic diagram of the connection between the base and the telescopic element in the cargo pick-up and placement device provided in the embodiment of the present application; Figure 8 is a schematic diagram of the telescopic element driving structure in the cargo pick-up and placement device provided in the embodiment of the present application; Figure 9 is a schematic diagram of the arrangement of the transmission wheel set in the cargo pick-up and release device provided in the embodiment of the present application; Figure 10 is a front view of the arrangement of the transmission wheel set in the cargo pick-up and release device provided in the embodiment of the present application; Figure 11 is a structural schematic diagram of the locking linkage element in the cargo pick-up and release device provided in the embodiment of the present application; Figure 12 is a partial schematic diagram of the locking linkage element in the cargo pick-up and release device provided in the embodiment of the present application; Figure 13 is a partial schematic diagram of the locking linkage element in the cargo pick-up and release device provided in the embodiment of the present application from another perspective; Figure 14 is another structural schematic diagram of the cargo pick-up and release device provided in the embodiment of the present application; Figure 15 is a structural schematic diagram of the rotating element in the cargo pick-up and release device provided in the embodiment of the present application; Figure 16 is a schematic diagram of the first state of the cargo pick-up process of the cargo pick-up and release device provided in the embodiment of the present application; Figure 17 is a schematic diagram of the second state of the picking process of the picking and placing device provided in the embodiment of the present application; Figure 18 is a schematic diagram of the third state of the picking process of the picking and placing device provided in the embodiment of the present application; Figure 19 is a schematic diagram of the fourth state of the picking process of the picking and placing device provided in the embodiment of the present application; Figure 20 is a schematic diagram of the fifth state of the picking process of the picking and placing device provided in the embodiment of the present application; Figure 21 is a schematic diagram of the sixth state of the picking process of the picking and placing device provided in the embodiment of the present application; Figure 22 is a schematic diagram of the seventh state of the picking process of the picking and placing device provided in the embodiment of the present application; Figure 23 is a schematic diagram of the eighth state of the picking process of the picking and placing device provided in the embodiment of the present application; Figure 24 is a schematic diagram of the ninth state of the picking process of the picking and placing device provided in the embodiment of the present application; Figure 25 is another structural schematic diagram of the cargo pick-up and placement device provided in the embodiment of the present application; Figure 26 is a structural schematic diagram of the push-pull element in the cargo pick-up and placement device provided in the embodiment of the present application; Figure 27 is a schematic diagram of the push-pull element in the cargo pick-up and placement device provided in the embodiment of the present application and the material box; Figure 28 is a cross-sectional view of the push-pull element in the cargo pick-up and placement device provided in the embodiment of the present application and the material box; Figure 29 is a partial view of the push-pull element in the cargo pick-up and placement device provided in the embodiment of the present application; Figure 30 is a structural schematic diagram of another perspective of the push-pull element in the cargo pick-up and placement device provided in the embodiment of the present application; Figure 31 is a structural schematic diagram of the material box matched with the push-pull element in the cargo pick-up and placement device provided in the embodiment of the present application.
110:伸縮組件 110: Telescopic assembly
111:固定件 111:Fixing parts
112:伸縮件 112: Telescopic parts
120:夾取組件 120: Clip assembly
130:第二驅動機構 130: Second drive mechanism
146:第三觸發件 146: The third trigger
150:第二檢測單元 150: Second detection unit
1111:第三導軌 1111: The third track
1121:託盤 1121: Trust
1122:側板 1122: Side panels
1123:開口 1123: Open your mouth
1124:第二導軌 1124: Second rail
Claims (30)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202210617489.1A CN114803260A (en) | 2022-06-01 | 2022-06-01 | Goods taking and placing device and transfer robot |
CN2022106174891 | 2022-06-01 |
Publications (1)
Publication Number | Publication Date |
---|---|
TW202413233A true TW202413233A (en) | 2024-04-01 |
Family
ID=82518352
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
TW112117539A TW202413233A (en) | 2022-06-01 | 2023-05-11 | Goods picking and placing device and carrying robot |
Country Status (3)
Country | Link |
---|---|
CN (1) | CN114803260A (en) |
TW (1) | TW202413233A (en) |
WO (1) | WO2023231984A1 (en) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114803260A (en) * | 2022-06-01 | 2022-07-29 | 深圳市海柔创新科技有限公司 | Goods taking and placing device and transfer robot |
CN115057147B (en) * | 2022-08-08 | 2022-11-01 | 湖南工商大学 | Commodity circulation transportation is with anticollision type express delivery storage device and get and put device |
CN115417045A (en) * | 2022-09-07 | 2022-12-02 | 北京德诚科技有限责任公司 | Buffer storage table and cargo access system |
CN115477118B (en) * | 2022-10-17 | 2023-09-15 | 常熟理工学院 | Heavy-load lithium battery type RGV taking and discharging scheduling device |
CN115924800A (en) * | 2022-12-30 | 2023-04-07 | 深圳市海柔创新科技有限公司 | Fork device and storage robot |
CN118323715A (en) * | 2023-01-12 | 2024-07-12 | 深圳市海柔创新科技有限公司 | Get put goods subassembly, fork, robot and warehouse system |
CN117464344B (en) * | 2023-12-26 | 2024-03-12 | 今创集团股份有限公司 | Energy storage container assembly quality |
CN117900139B (en) * | 2024-03-18 | 2024-06-07 | 太原福莱瑞达物流设备科技有限公司 | Multidirectional sorting stack conveyor |
CN118061146B (en) * | 2024-04-17 | 2024-06-25 | 洛阳圣鑫重工科技有限公司 | Power detection equipment strorage device and power equipment detects car |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6331908A (en) * | 1986-07-25 | 1988-02-10 | Sanki Eng Co Ltd | Carriage for stacker crane |
JP6265188B2 (en) * | 2015-09-08 | 2018-01-24 | 村田機械株式会社 | Transfer equipment |
CN211309750U (en) * | 2019-11-06 | 2020-08-21 | 深圳市丰巢科技有限公司 | Goods storing and taking device |
CN215624515U (en) * | 2021-06-15 | 2022-01-25 | 杭州慧盈智能科技有限公司 | A haulage equipment for storage commodity circulation |
CN216582519U (en) * | 2021-10-26 | 2022-05-24 | 北京极智嘉科技股份有限公司 | Get container device, transfer robot and storage logistics system |
CN215558760U (en) * | 2021-09-30 | 2022-01-18 | 腾米机器人科技(深圳)有限责任公司 | Transfer robot |
CN217971024U (en) * | 2022-06-01 | 2022-12-06 | 深圳市海柔创新科技有限公司 | Goods taking and placing device and transfer robot |
CN114803260A (en) * | 2022-06-01 | 2022-07-29 | 深圳市海柔创新科技有限公司 | Goods taking and placing device and transfer robot |
-
2022
- 2022-06-01 CN CN202210617489.1A patent/CN114803260A/en active Pending
-
2023
- 2023-05-11 TW TW112117539A patent/TW202413233A/en unknown
- 2023-05-29 WO PCT/CN2023/096916 patent/WO2023231984A1/en unknown
Also Published As
Publication number | Publication date |
---|---|
WO2023231984A1 (en) | 2023-12-07 |
CN114803260A (en) | 2022-07-29 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
TW202413233A (en) | Goods picking and placing device and carrying robot | |
JP7446394B2 (en) | Transfer robot | |
TWI594933B (en) | Automated storage and retrieval system | |
JP6523296B2 (en) | Automatic storage and retrieval system | |
CN111470240A (en) | Container carrying robot and using method thereof | |
CN217971024U (en) | Goods taking and placing device and transfer robot | |
US6588574B2 (en) | Method and apparatus for automatically loading and unloading piece goods | |
CN110422527A (en) | A kind of automatic stereowarehouse | |
JP2011042475A (en) | Article transferring device and stacker crane with the same | |
WO2024001731A1 (en) | Pickup device and transport robot | |
CN113544068A (en) | Article carrier | |
JP2024525052A (en) | CONTAINER LOADING AND UNLOADING DEVICE, WAREHOUSE STORAGE SYSTEM, AND METHOD FOR LOADING AND UNLOADING CONTAINER | |
WO2024139910A1 (en) | Robot and warehousing system | |
WO2024140082A1 (en) | Pallet fork device and warehouse robot | |
CN219448078U (en) | Robot and warehousing system | |
TWM654425U (en) | Unloading equipment and logistics system | |
CN111908114A (en) | Transfer equipment for carrying wafer box storage rack | |
TWM649569U (en) | Fork mechanism and palletizing robot | |
CN214826318U (en) | Warehousing system | |
CN211418428U (en) | Novel spring layer mechanism of full-automatic safe box | |
CN213293966U (en) | A haulage equipment for shifting wafer box goods shelves | |
CN112573060B (en) | Transfer robot | |
CN113213047A (en) | Warehousing system | |
CN216547942U (en) | Goods taking and placing device and transfer robot | |
CN219585769U (en) | Fork device and storage robot |