WO2021218057A1 - 一种取货箱设备及机器人 - Google Patents

一种取货箱设备及机器人 Download PDF

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Publication number
WO2021218057A1
WO2021218057A1 PCT/CN2020/121931 CN2020121931W WO2021218057A1 WO 2021218057 A1 WO2021218057 A1 WO 2021218057A1 CN 2020121931 W CN2020121931 W CN 2020121931W WO 2021218057 A1 WO2021218057 A1 WO 2021218057A1
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WO
WIPO (PCT)
Prior art keywords
arm
arms
cable
timing belt
telescopic
Prior art date
Application number
PCT/CN2020/121931
Other languages
English (en)
French (fr)
Inventor
王启铭
Original Assignee
北京极智嘉科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京极智嘉科技股份有限公司 filed Critical 北京极智嘉科技股份有限公司
Priority to CN202090000779.6U priority Critical patent/CN219057402U/zh
Priority to EP20934052.0A priority patent/EP4144668A4/en
Priority to US17/996,122 priority patent/US20230192402A1/en
Publication of WO2021218057A1 publication Critical patent/WO2021218057A1/zh

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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
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0435—Storage devices mechanical using stacker cranes with pulling or pushing means on either stacking crane or stacking area
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
    • B66F9/141—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements with shuttle-type movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/205—Arrangements for transmitting pneumatic, hydraulic or electric power to movable parts or devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems

Definitions

  • This application relates to the field of logistics, and in particular to a container picking device and a robot.
  • the present application provides a pick-up box equipment and a robot to improve the handling effect.
  • the present application provides a pickup box equipment, which includes: a body, a telescopic device, a control device, and a driving device; wherein,
  • a cargo warehouse is arranged in the body, and the cargo warehouse has a cargo inlet;
  • the telescopic device includes telescopic arms arranged on opposite sides of the goods inlet; each telescopic arm includes at least three arms that can slide relatively, and the at least three arms can be telescopic in a first direction, and the first The direction is the loading and unloading direction of the cargo warehouse; wherein, the head section arms of the at least three arms are slidably connected to the main body, and the end of the end arms away from the main body is provided with a finger structure;
  • the driving device includes a driving assembly that drives the first section arm of each telescopic arm to slide relative to the body, and a linkage mechanism that drives the linkage between adjacent arms in each telescopic arm;
  • the control device is used to control the finger structure to rotate to a position where the cargo box to be transported can be moved.
  • the linkage mechanism is a closed-loop synchronous belt.
  • the linkage between the arms is driven by the closed-loop synchronous belt.
  • the at least three arms are three arms;
  • the closed-loop timing belt includes a first timing belt and a second timing belt;
  • the first timing belt is arranged on the first arm, and the first timing belt is respectively fixedly connected to the main body and the middle arms of the three arms, and is used to drive the middle arm to slide relative to the main body ;
  • the second timing belt is arranged on the middle arm, and the second timing belt is fixedly connected to the head section arm and the end section arm respectively, and is used to drive the end section arm to slide relative to the head section arm; in,
  • the distal arm is provided with a selection mechanism, and the selection mechanism is used to selectively connect the distal arm with the second timing belt and the intermediate arm; the distal arm and the intermediate arm pass through the selection mechanism When fixedly connected, the terminal arm and the second timing belt are unfixedly connected.
  • the set selection mechanism Through the set selection mechanism, three arms or two arms can be selectively extended, so that goods can be taken out from warehouses of different depths.
  • the selection mechanism includes: a first magnetic member provided on the second timing belt, a second magnetic member provided on the intermediate arm; and a first magnetic member provided on the distal arm.
  • the electromagnet and the second electromagnet wherein when the first electromagnet is energized, the first magnetic member can be adsorbed; when the second electromagnet is energized, the second magnetic member can be adsorbed. It realizes that the end arm is selectively fixedly connected with the second timing belt or the middle arm.
  • the first arm is provided with a first limiting rib for limiting the horizontal sway of the first timing belt
  • the middle arm is provided with a second limiting rib for limiting the horizontal shaking of the first timing belt; and a third limiting rib for limiting the horizontal shaking of the second timing belt;
  • the distal arm is provided with a fourth limiting rib for limiting the horizontal shaking of the second timing belt.
  • the set limit ribs can improve the stability of the synchronous belt during movement.
  • first limiting rib and the second limiting rib are arranged opposite to each other, and the first limiting rib and the second limiting rib are left between the first limiting rib and the second limiting rib to accommodate the The gap between the first timing belt; the third limiting rib and the fourth limiting rib are arranged oppositely, and the second limiting rib is left between the third limiting rib and the fourth limiting rib to accommodate the second The gap of the timing belt.
  • the set limit ribs can improve the stability of the synchronous belt during movement.
  • the second limiting rib is provided with two guiding protrusions for limiting the vertical swing of the first timing belt
  • the fourth limiting rib is provided with two guiding protrusions for limiting the vertical swing of the second timing belt.
  • the set limit ribs can improve the stability of the synchronous belt during movement.
  • the arrangement position of the first synchronous belt is lower than the arrangement position of the second synchronous belt;
  • the second direction is perpendicular to the first direction. Leave room for movement of the cable.
  • the height of the three arms of each telescopic arm along the second direction satisfies:
  • H2 ⁇ H1 ⁇ H3 where H1 is the height of the first arm in the second direction, H2 is the height of the middle arm in the second direction, and H3 is the height of the end arm in the second direction.
  • the height of the direction. Leave room for movement of the cable.
  • the body is provided with a power supply device;
  • the finger structure includes a steering gear fixed at the end of the distal arm, a finger connected to the steering gear, and A cable connected to the steering gear, and the cable is connected to the power supply device.
  • the steering gear drives the finger structure to reduce mechanical wear.
  • the cable includes a first cable and a second cable; the first cable and the second cable are tank chain cables, respectively;
  • the at least three arms are three arms, and the middle arm of the three arms is provided with a transfer module;
  • the first end of the first cable is fixed on the side wall of the body; the second end of the first cable is connected to the adapter module;
  • the first end of the second cable is connected to the adapter module, and the second end of the second cable is connected to the steering gear and the sensor assembly. Convenient cable setting.
  • the first cable and the second cable are arranged staggered along the third direction;
  • the third direction is perpendicular to the first direction and the second direction. Convenient cable setting.
  • the distal arm is provided with a sensor assembly for detecting the cargo box to be transported;
  • the sensor assembly is connected to the control device through the cable;
  • the control device is also used to control the finger structure to rotate to a position where the cargo box to be moved can be moved when the sensor assembly detects the cargo box to be moved. Improve the accuracy of handling.
  • the sensor assembly includes through-beam sensors arranged on the two end arms of two opposite telescopic arms; and a forward detector arranged on the end arms of the two telescopic arms. Improved accuracy when picking up goods.
  • a robot provided with the pickup box device described in any of the foregoing embodiments is provided.
  • FIG. 1 is a schematic diagram of an application scenario of a pickup box device provided by an embodiment of the application
  • FIG. 2 is a schematic diagram of an application scenario of a pickup box device provided by an embodiment of the application
  • Fig. 3 is a schematic diagram of an uncollected state of the pickup box equipment provided by an embodiment of the application;
  • FIG. 4 is a schematic diagram of the pickup state of the pickup box equipment provided by the embodiment of the application.
  • FIG. 5 is a schematic structural diagram of a driving device provided by an embodiment of the application.
  • Fig. 6 is a schematic diagram of cooperation between a telescopic arm and a driving device provided by an embodiment of the application;
  • Fig. 7 is a schematic structural diagram of a telescopic arm provided by an embodiment of the application.
  • FIG. 8 is a schematic diagram of the application of the pickup box device provided by an embodiment of the application.
  • the container picking device provided by the embodiment of the present application is used for moving containers in a warehouse.
  • the boxes are stored in the rack 100, but when the rack 100 is placed in the warehouse, it needs to be placed adaptively according to the environment of the warehouse.
  • the rack 100 is arranged in two rows. There is a pick-up channel between the rows of shelves 100.
  • the prior art adopts the arrangement of 4 rows of shelves 100 as shown in FIG.
  • the cargo box in this application refers to the boxes used to hold finished or semi-finished products in the logistics industry, including but not limited to common cargo boxes such as plastic boxes, cartons, and wooden boxes.
  • FIGS. 3 and 4 illustrate schematic structural diagrams of different states of the pickup box equipment provided by the embodiment of the present application.
  • Figure 3 illustrates the schematic diagram of the structure of the pickup box equipment when the telescopic arm 20 is not extended.
  • the XYZ three-dimensional The coordinate system where the Z direction is the vertical direction, the X direction and the Y direction are the horizontal directions, and the X direction points to the direction in which the goods can be picked up on the shelf, and the Y direction is perpendicular to the X direction.
  • the first direction in the following refers to the X direction
  • the second direction refers to the Z direction
  • the third direction refers to the Y direction.
  • the main structure of the pickup box equipment includes at least a main body 10 and a telescopic device.
  • the main body 10 has a rectangular parallelepiped structure, and a corresponding rectangular parallelepiped warehouse 11 is provided inside.
  • the cargo warehouse 11 has a cargo inlet 12 which can also be used as an outgoing port.
  • the cargo box can enter the cargo warehouse 11 from the cargo inlet 12 and can also be removed from the cargo warehouse 11 from the cargo inlet 12.
  • the main body 10 includes a rectangular parallelepiped structure surrounded by three side walls and a bottom plate. Therefore, the goods taken out from the shelf can be entered into the warehouse 11 of the main body 10 from the receiving port 12.
  • the example side body 10 in FIG. 3 is a rectangular parallelepiped shape, which is only a specific example of the body 10 in this application.
  • the body 10 provided in the embodiment of the present application may also adopt other shapes, such as a cylinder, an elliptical cylinder, and a polygon. Body shape and other different shapes.
  • the shape of the cargo warehouse 11 can also adopt other shapes, such as an elliptical shape and a polygonal shape, which only need to be matched with the cargo box.
  • the telescopic device provided by the embodiment of the present application includes telescopic arms 20 arranged on opposite sides of the goods inlet 12.
  • two telescopic arms 20 are symmetrically arranged on both sides of the goods inlet 12.
  • each telescopic arm 20 is connected to a side wall of the body 10.
  • the space between the two telescopic arms 20 is the space where the cargo box to be transported is located.
  • the cargo box to be transported is limited in the space by the two telescopic arms 20, and when the telescopic arm 20 is contracted, the cargo box to be transported can be moved
  • the cargo box is pulled into the cargo warehouse 11.
  • the corresponding description will be given below in conjunction with FIG. 4.
  • FIG. 4 shows the state of the telescopic arm 20 when the pickup box device is picking up goods.
  • the structure of the two telescopic arms 20 is the same, so one of the telescopic arms 20 is taken as an example for description.
  • the telescopic arm 20 includes at least three arms that are relatively slidable.
  • the telescopic arm 20 includes three arms as an example. 3 and 4, the three arms include: the first arm 21, the middle arm 22, and the end arm 23.
  • the head section arm 21, the middle arm 22, and the end section arm 23 are arranged in a direction in which the side wall of the body 10 slidably connected to the head section arm 21 points to the inside of the warehouse 11.
  • the head section arm 21 is slidably connected to the main body 10
  • the middle arm 22 is slidably connected to the head section arm 21
  • the end arm 23 is slidably connected to the middle arm 22, and the sliding direction of the three arms slides in the first direction (X direction), namely three
  • X direction first direction
  • the three arms are contracted, the three arms are arranged in an overlapping arrangement and are located in the warehouse 11; combined with Figure 4, when the three arms are extended, the three arms extend in the first direction, and the three arms extend To the outside of the warehouse 11.
  • the end of the distal arm 23 away from the main body 10 is provided with a finger structure 30, and the finger structure 30 is used to shift the cargo box to be transported.
  • the finger structure 30 includes a steering gear 31 fixed at the end of the distal arm 23 and a finger 32 connected to the steering gear 31.
  • the steering gear 31 is fixed at the end of the distal arm 23, the finger 32 is connected to the steering gear 31, and the steering gear 31 can drive the finger 32 to rotate.
  • the finger 32 has two positions: working position and avoiding position. When the finger 32 is working, the steering gear 31 drives the finger 32 to rotate to a horizontal position, and the length direction of the finger 32 is along the Y direction.
  • the fingers 32 of the two telescopic arms 20 are placed opposite to each other and extend into the space defined by the two telescopic arms 20, so that when the telescopic arms 20 are contracted, the cargo box to be transported can be pulled.
  • the finger 32 does not need to work.
  • the finger 32 is in the retreat position.
  • the finger 32 is driven by the steering gear 31 to rotate until its length is along the Z direction, so as to prevent the telescopic arm 20 from being in the Z direction.
  • the container to be transported is blocked from entering the space between the telescopic arms 20.
  • the finger structure provided by the embodiment of the present application may also adopt other structures that can shift the cargo box to be transported.
  • the power supply device may be a storage battery or other power supply capable of supplying power, and the power supply device is provided in the main body 10.
  • the cable includes a first cable 51 and a second cable 52; the first cable 51 and the second cable 52 are tank chain cables; the middle arm 22 is provided with a transfer module 53, the first The first end of a cable 51 is fixed on the side wall of the body 10 and connected to the power supply device; the second end of the first cable 51 is connected to the adapter module 53; the first end of the second cable 52 is connected to the adapter The module 53 is connected, and the second end of the second cable 52 is connected to the steering gear 31; wherein, the switching module 53 can electrically connect the first cable 51 and the second cable 52.
  • the second cable 52 can expand and contract with the end arm 23, and the second cable 52 can expand and contract with the head arm 21 and the middle arm 22.
  • the cables follow the movement of the three arms when they extend and contract, and the reliability of the cables connected to the power supply equipment and the steering gear 31 is also ensured.
  • the first cable 51 and the second cable 52 are staggered along the third direction; wherein the third direction is perpendicular to the first direction and the second direction. As shown in FIG.
  • a sensor assembly 40 for detecting the cargo box may be provided at the end of the distal arm 23 away from the body 10, and the sensor assembly 40 It can be connected to the control device of the pickup box equipment through a cable.
  • the second cable 52 is not only connected to the steering gear 31, but also connected to the sensor assembly 40 to send the signal of the sensor assembly 40 to the control device.
  • the control device can be used to detect the waiting state when the sensor assembly 40
  • the steering gear 31 is controlled to drive the finger 32 to rotate to a position where the cargo box to be moved can be moved. Thereby improving the accuracy when carrying the cargo box.
  • the sensor assembly 40 may include different sensors.
  • the sensor assembly 40 includes through-beam sensors 41 arranged on the two end arms 23 of the two telescopic arms 20 opposite to each other; and The forward detector 42 of the distal arm 23 of the telescopic arm 20. Improved accuracy when picking up goods.
  • the forward detector 42 can detect the telescopic direction of the telescopic arm 20 to ensure that the telescopic arm 20 is located on both sides of the container to be transported when it is telescopic, so as to ensure the accuracy of the telescopic arm 20 when it is telescopic; , Through the detection between the on-beam sensors 41, it can be judged whether the position of the finger 32 is in place, and whether the cargo box to be transported can be jammed when the finger 32 rotates. After receiving the above signal, the control device can control the steering gear 31 of the finger structure 30 to work, so that the cargo box to be transported can be accurately stuck. It can be seen from the above description that when a cable is used, the telescopic arm 20 provided in the embodiment of the present application can be provided with a sensor assembly 40 to improve the reliability of the entire pickup box equipment during operation.
  • control device may be a single-chip microcomputer, PLC or industrial computer, and the above-mentioned control device controls the operation of the component according to the detection signal of the sensor assembly 40 as a common function of the above-mentioned control device. Therefore, the sensor assembly will not be expanded in this application. The signal interaction between 40 and the control device.
  • the control device when the container pickup device does not include a sensor component, can also be used to control the finger structure to rotate to a position where the container to be moved can be moved. At this time, the control device directly sends the control instruction to the dial finger structure without data collected by the sensor component.
  • control device can also control the expansion and contraction of the telescopic arm 20.
  • control device is connected to the driving device, and the expansion and contraction of the telescopic arm 20 is controlled by the driving device.
  • the drive device includes a drive assembly 63 that drives the head section arm 21 of each telescopic arm to slide relative to the body 10, and drives each telescopic arm in Linkage mechanism for linkage between adjacent arms.
  • the linkage mechanism can drive the linkage between the arms.
  • the linkage mechanism may adopt different structures such as a timing belt and a transmission belt.
  • the linkage mechanism may use a closed-loop timing belt.
  • a specific drive assembly 63 as illustrated in FIG. 5 includes a drive motor (not marked in the figure) provided on the main body 10, and a transmission shaft (not marked in the figure) connected to the drive motor through a belt (not marked in the figure) ,
  • the transmission shaft is used to synchronously drive the two timing belts 64 provided on the main body 10, and the two timing belts are respectively used to drive the first section arms 21 of the two telescopic arms to slide relative to the main body 10.
  • the driving device also includes a closed-loop synchronous belt that drives the linkage between adjacent arms in each telescopic arm.
  • the closed-loop synchronous belt as shown in FIG. 5 includes a first synchronous belt 61 and a second synchronous belt 62.
  • the first timing belt 61 is disposed on the head section arm 21, and the first timing belt 61 is fixedly connected to the main body 10 and the intermediate arm 22 respectively, and is used to drive the intermediate arm 22 to slide relative to the main body 10.
  • the second timing belt 62 is arranged on the middle arm 22, and the second timing belt 62 is fixedly connected to the head section arm 21 and the end section arm 23 respectively, and is used to drive the end section arm 23 to slide relative to the head section arm 21. As shown in FIG.
  • the setting position of the first timing belt 61 is lower than the setting position of the second timing belt 62;
  • the space allows the first cable and the second cable to be arranged along the second direction with the two timing belts, so that the space of the telescopic arm is reasonably used, and the space occupied by the cables and the timing belt is reduced.
  • the first section arm 21 is provided with a first limiting rib for limiting the horizontal swing of the first timing belt 61;
  • the middle arm 22 is provided with a second limiting rib for limiting the horizontal swing of the first timing belt 61 Rib 71;
  • the first limiting rib (due to the shielding of the first timing belt 61, the first limiting rib is not shown in Figure 6) is located in the space enclosed by the first timing belt 61 to support from the inside
  • the first timing belt 61 and the second limiting rib 71 are arranged on the side of the middle arm 22 facing the first section arm 21, and the first limiting rib and the second limiting rib 71 are arranged oppositely, and the first limiting rib and the second limiting rib are arranged opposite to each other.
  • the positioning ribs 71 for accommodating the first timing belt 61.
  • the shaking of the first timing belt 61 in the horizontal direction (Y direction) is limited to ensure The reliability of the transmission of the first synchronous belt 61 is improved.
  • the second limiting rib 71 is provided with two guiding protrusions for limiting the shaking of the first timing belt 61 in the vertical direction (Z direction), so that the second limiting rib 71 can be defined in the horizontal and vertical directions.
  • the shaking of a synchronous belt 61 improves the reliability of the transmission of the first synchronous belt 61.
  • the middle arm 22 is provided with a third limiting rib for limiting the horizontal swing of the second timing belt 62; the end arm 23 is provided with a third limiting rib for limiting the horizontal swing of the second timing belt 62
  • the fourth limiting rib 73 is located in the space enclosed by the second synchronous belt 62 (due to the occlusion of the second synchronous belt 62, the third limiting rib is not shown in FIG. 6) to support the second synchronous belt from the inside.
  • the fourth limiting rib 73 is arranged on the side of the distal arm 23 facing the middle arm 22, and the third limiting rib and the fourth limiting rib 73 are arranged oppositely, and the third limiting rib and the fourth limiting rib 73 are opposite to each other. There is a gap for accommodating the second timing belt 62. Through the cooperation of the third limiting rib and the fourth limiting rib 73, the shaking of the second timing belt 62 in the horizontal direction (Y direction) is limited to ensure the second synchronization. Reliability of belt 62 transmission.
  • the fourth limiting rib 73 is provided with two guiding protrusions for limiting the swing of the second timing belt 62 in the vertical direction (Z direction), so that the second timing belt 62 can be limited in the horizontal and vertical directions.
  • the shaking of the second synchronous belt 62 improves the reliability of the transmission of the second synchronous belt 62.
  • the head section arm 21 is provided with a fifth limiting rib for limiting the second timing belt 62, the fifth limiting rib is provided on the side of the head section arm 21 facing the middle arm 22, and the fifth limiting rib is provided on the side of the head section arm 21 facing the middle arm 22, The limiting rib and the third limiting rib together limit the shaking of the second timing belt 62 in the horizontal direction.
  • the thickness of the arms can be increased in the horizontal direction (Y direction) by setting the limiting ribs, thereby increasing the structural strength of each arm and improving the reliability of the telescopic arm in use.
  • Figure 7 shows a side view of the telescopic boom.
  • the height of the three arms of each telescopic boom in the second direction satisfies: H2 ⁇ H1 ⁇ H3; where H1 is the head
  • H2 is the height of the middle arm 22 in the second direction
  • H3 is the height of the end arm 23 in the second direction. Leave room for movement of the cable.
  • the end arm 23 adopts a higher height. Improved the stability of carrying the cargo box on the pulling belt.
  • a low height of the middle arm 22 enough space can be left below the middle arm 22 for arranging the adapter module, the first cable, and the foldable space for the second cable.
  • the telescopic arm provided in the embodiments of the present application is set to be adjustable Telescopic boom.
  • the distal arm may be provided with a selection mechanism for selectively connecting the distal arm with the second timing belt and the intermediate arm; when the distal arm and the intermediate arm are connected by the selection mechanism, the distal arm and the second The synchronous belt is disconnected.
  • the selection mechanism includes: a first magnetic member arranged on the second timing belt, a second magnetic member arranged on the middle arm; a first electromagnet and a second electromagnet arranged on the distal arm, wherein, when the first electromagnet is energized, it can adsorb the first magnetic part; when the second electromagnet is energized, it can adsorb the second magnetic part.
  • the first electromagnet and the second electromagnet can be connected to the control device through a cable, and the working state of the first electromagnet and the second electromagnet are controlled by the control device.
  • the control device controls the first electromagnet to be attracted to the first magnetic member, and controls the second electromagnet to power off.
  • the second timing belt is fixedly connected with the end arm, the end arm and the middle arm are unlocked, and the end arm can slide relative to the middle arm.
  • the driving device is working, the second timing belt can drive the first arm and the end arm to link, and all three arms can be extended. At this time, it can be applied to the rack arrangement shown in Figure 2, and can be taken out of the rack.
  • the cargo box inside 100 is the cargo box device 1 shown in FIG. 8.
  • the control device controls the second electromagnet to adsorb the second magnetic part, and the first electromagnet is de-energized.
  • the end arm and the middle arm are fixed by the adsorption effect of the second electromagnet and the second magnetic member.
  • the end arm and the second timing belt are released from the fixed connection.
  • the driving device drives the telescopic arm, only the first arm and the middle The arm extends, and the end arm does not extend outside the middle arm, thus achieving the effect of two arms extending. It can be applied to the shelf arrangement in Figure 1 and used to take out the outer shelf 100 in Figure 2 Cargo box, as shown in Figure 8 for the pickup box device 2.
  • the end arm can be selectively fixedly connected with the second timing belt or the intermediate arm through the provided selection mechanism. Therefore, different working methods are selected according to different working environments, and the adaptability of the pick-up box equipment is improved.
  • the first magnetic member and the second magnetic member may be iron blocks embedded in the second timing belt and the middle arm, or other materials that can be magnetically attracted.
  • the installation positions of the first magnetic part and the second magnetic part can be set according to actual needs, and the corresponding installation positions of the first electromagnet and the second electromagnet can be set according to the actual situation to ensure the corresponding The two can be connected by adsorption, and meet the above-mentioned movement requirements after adsorption.
  • the container picking device provided by the embodiment of the present application can pick up the container by using three arms, so that the goods can be taken out from a deeper warehouse.
  • the sensor assembly and the control device it can be Achieve accurate pickup.
  • an embodiment of the present application may also provide a robot provided with the above-mentioned pickup box device.
  • the robot picks up the box through the above-mentioned box picking device to achieve accurate pickup.

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  • Transportation (AREA)
  • Structural Engineering (AREA)
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Abstract

一种取货箱设备及机器人，取货箱设备包括：本体（10）、伸缩装置、控制装置及驱动装置；本体（10）内设置有货仓（11），货仓（11）具有进货口（12）；伸缩装置包括设置在进货口（12）相对两侧的伸缩臂（20）；每个伸缩臂（20）包括可相对滑动的至少三个臂，且至少三个臂可沿第一方向伸缩，第一方向为货仓的进出货方向；其中，至少三个臂的首节臂（21）与本体（10）滑动连接，末节臂（23）远离本体（10）的末端设置有拨指结构（30）；驱动装置包括驱动每个伸缩臂（20）中的首节臂（21）相对本体（10）滑动的驱动组件（63），以及驱动每个伸缩臂（20）中相邻的臂之间联动的联动机构；控制装置用于控制拨指结构（30）转动到可拨动待搬运货箱的位置。通过采用至少三个臂来取货箱，可以实现从更深的货仓（11）取出货物。

Description

一种取货箱设备及机器人
本申请要求在2020年04月27日提交中国专利局、申请号为202010345452.9、申请名称为“一种取货箱设备”的中国专利的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及物流领域，尤其涉及到一种取货箱设备及机器人。
背景技术
在现有物流领域的机器人搬运过程中，最初的AGV机器人是搬运货架模式，随着技术进步现在大多数厂家开始搬运料箱或者纸箱等货物存储的设备。现有的取货箱和纸箱的伸缩叉多为1级固定，2级伸缩的模式。但是随着货架排布方式的改变，现有技术中的搬运设备无法取到货架内侧和外侧货箱，已经无法满足搬运的要求。
发明内容
有鉴于此，本申请提供了一种取货箱设备及机器人，用以改善搬运效果。
本申请提供了一种取货箱设备，该取货箱设备包括：本体、伸缩装置、控制装置及驱动装置；其中，
所述本体内设置有货仓，所述货仓具有进货口；
所述伸缩装置包括设置在所述进货口相对两侧的伸缩臂；每个伸缩臂包括可相对滑动的至少三个臂，且所述至少三个臂可沿第一方向伸缩，所述第一方向为所述货仓的进出货方向；其中，所述至少三个臂的首节臂与所述本体滑动连接，末节臂远离所述本体的末端设置有拨指结构；
所述驱动装置包括驱动每个伸缩臂中的首节臂相对所述本体滑动的驱动组件，以及驱动每个伸缩臂中相邻的臂之间联动的联动机构；
所述控制装置用于控制所述拨指结构转动到可拨动所述待搬运货箱的位置。
在上述技术方案中，通过采用至少三个臂来取货箱，可以实现从更深的货仓取出货物。
在一个具体的可实施方案中，所述联动机构为闭环式同步带。通过闭环式同步带带动臂之间联动。
在一个具体的可实施方案中，所述至少三个臂为三个臂；所述闭环式同步带包括第一同步带及第二同步带；
所述第一同步带设置在所述首节臂，且所述第一同步带分别与所述本体及所述三个臂的中间臂固定连接，并用于驱动所述中间臂相对所述本体滑动；
所述第二同步带设置在所述中间臂，且所述第二同步带分别与所述首节 臂及所述末节臂固定连接，并用于驱动所述末节臂相对所述首节臂滑动；其中，
所述末节臂设置有选择机构，所述选择机构用于选择性连接所述末节臂与所述第二同步带及所述中间臂；在所述末节臂与所述中间臂通过所述选择机构固定连接时，所述末节臂与所述第二同步带解除固定连接。通过设置的选择机构，可以实现选择性的伸出三个臂或者两节臂，从而实现在不同深度的货仓取出货物。
在一个具体的可实施方案中，所述选择机构包括：设置在所述第二同步带的第一磁性件、设置在所述中间臂的第二磁性件；设置在所述末节臂的第一电磁铁及第二电磁铁，其中，所述第一电磁铁在得电时，可吸附所述第一磁性件；所述第二电磁铁在得电时，可吸附所述第二磁性件。实现了末节臂选择性的与第二同步带或中间臂固定连接。
在一个具体的可实施方案中，所述首节臂设置有用于限定所述第一同步带水平方向晃动的第一限位筋；
所述中间臂设置有用于限定所述第一同步带水平方向晃动的第二限位筋；以及用于限定所述第二同步带水平方向晃动的第三限位筋；
所述末节臂设置有用于限定所述第二同步带水平方向晃动的第四限位筋。通过设置的限位筋可提高同步带在运动时的稳定性。
在一个具体的可实施方案中，所述第一限位筋及所述第二限位筋相对设置，且所述第一限位筋及所述第二限位筋之间留有容纳所述第一同步带的间隙；所述第三限位筋及所述第四限位筋相对设置，且所述第三限位筋及所述第四限位筋之间留有容纳所述第二同步带的间隙。通过设置的限位筋可提高同步带在运动时的稳定性。
在一个具体的可实施方案中，所述第二限位筋设置有用于限定所述第一同步带在竖直方向晃动的两个导向凸起；
所述第四限位筋设置有用于限定所述第二同步带在竖直方向晃动的两个导向凸起。通过设置的限位筋可提高同步带在运动时的稳定性。
在一个具体的可实施方案中，沿第二方向：所述第一同步带的设置位置低于所述第二同步带的设置位置；
所述第二方向垂直于所述第一方向。给线缆留出运动空间。
在一个具体的可实施方案中，每个伸缩臂的三个臂沿第二方向的高度满足：
H2≤H1＜H3；其中，H1为所述首节臂在所述第二方向的高度，H2为所述中间臂在所述第二方向的高度，H3为所述末节臂在所述第二方向的高度。给线缆留出运动空间。
在一个具体的可实施方案中，所述本体上设置有供电装置；所述拨指结构包括固定在所述末节臂的末端的舵机，与所述舵机连接的拨指，以及与所述舵机连接的线缆，所述线缆与所述供电设备连接。通过舵机带动拨指结构，降低了机械磨损。
在一个具体的可实施方案中，所述线缆包括第一线缆和第二线缆；所述 第一线缆和所述第二线缆分别为坦克链式电缆；
所述至少三个臂为三个臂，所述三个臂的中间臂设置有转接模块；
所述第一线缆的第一端固定在所述本体的侧壁；所述第一线缆的第二端与所述转接模块连接；
所述第二线缆的第一端与所述转接模块连接，所述第二线缆的第二端与所述舵机及所述传感器组件连接。方便线缆设置。
在一个具体的可实施方案中，每个伸缩臂中，所述第一线缆和所述第二线缆沿第三方向错位设置；其中，
所述第三方向与所述第一方向及所述第二方向相互垂直。方便线缆设置。
在一个具体的可实施方案中，所述末节臂设置有用于检测所述待搬运货箱的传感器组件；
所述传感器组件通过所述线缆与所述控制装置连接；
所述控制装置还用于在所述传感器组件检测到所述待搬运货箱时，控制所述拨指结构转动到可拨动所述待搬运货箱的位置。提高了搬运的准确性。
在一个具体的可实施方案中，所述传感器组件包括设置在相对的两个伸缩臂的两个末节臂的对射传感器；以及设置在所述两个伸缩臂的末节臂的前向探测器。提高了取货时的准确性。
在一个具体的可实施方案中，提供一种设置有上述任一实施方案所述的取货箱设备的机器人。
附图说明
为了更清楚地说明本公开实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，此处的附图被并入说明书中并构成本说明书中的一部分，这些附图示出了符合本公开的实施例，并与说明书一起用于说明本公开的技术方案。应当理解，以下附图仅示出了本公开的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。
图1为本申请实施例提供的取货箱设备的应用场景示意图；
图2为本申请实施例提供的取货箱设备的应用场景示意图；
图3为本申请实施例提供的取货箱设备的未取货的状态示意图；
图4为本申请实施例提供的取货箱设备的取货的状态示意图；
图5为本申请实施例提供的驱动装置的结构示意图；
图6为本申请实施例提供的伸缩臂与驱动装置的配合示意图；
图7为本申请实施例提供的伸缩臂的结构示意图；
图8为本申请实施例提供的取货箱设备的应用示意图。
具体实施方式
为了使本申请的目的、技术方案和优点更加清楚，下面将结合附图对本申请作进一步地详细描述，显然，所描述的实施例仅仅是本申请一部分实施 例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都属于本申请保护的范围。
为方便理解本申请实施例提供的取货箱设备，下面结合图1及图2详细说明一下本申请实施例提供的取货箱设备。如图1及图2所示，本申请实施例提供的取货箱设备应用于仓库中搬运货箱。在仓库中，货箱存放在货架100中，但是货架100在仓库中摆放时，需要根据仓库的环境适应性放置，如图1中所示，货架100采用两排设置的方式排布，两排货架100之间设置有取货通道，但是随着仓库面积的利用要求越来越高，现有技术中采用如图2中所示的4排货架100排布，4排货架100之间设置取货通道。为适应在4排货架100排布的仓库中取货方式，本申请实施例提供了一种取货箱设备，下面结合具体的附图对其进行详细的说明。
首先说明一下货箱，本申请中的货箱指代的是物流产业中用于盛放成品或者半成品的箱子，包含但不限定塑料箱、纸箱、木质箱等常见的货箱。
一并参考图3及图4，图3及图4示例出了本申请实施例提供的取货箱设备的不同状态的结构示意图。
首先参考图3，图3示例出了取货箱设备的伸缩臂20未伸出时的结构示意图，为方便理解本申请实施例提供的取货箱设备，以货架的放置方向为参考建立XYZ三维坐标系，其中，Z方向为竖直方向，X方向及Y方向为水平方向，且X方向指向可在货架上取货的方向，Y方向垂直于X方向。为与下文中的第一方向、第二方向、第三方向描述统一，下文中的第一方向指代的为X方向，第二方向指代的Z方向，第三方向指代的Y方向。
继续参考图3，取货箱设备的主体结构至少包括本体10以及伸缩装置。首先说明一下本体10，在图3中本体10为长方体形结构，其内部设置有对应的长方体形的货仓11。货仓11具有进货口12，该进货口12也可作为出货口，货箱可从进货口12进入到货仓11中，也可从进货口12从货仓11中移出。结合图3中的结构，本体10包括三个侧壁以及底板围成的长方体形结构，未设置侧壁的一面作为货仓11的进货口12，且进货口12的开口方向朝向X方向，以便于可将从货架中取出的货物从进货口12进入到本体10的货仓11中。应当理解的是，图3中示例侧本体10为长方体形仅仅为本申请中本体10的一个具体示例，本申请实施例提供的本体10还可采用其他形状，如圆柱体、椭圆柱形、多边体形等不同的形状。货仓11的形状也可采用其他的形状，如椭圆形、多边体形只需要跟货箱匹配即可。
继续参考图3，本申请实施例提供的伸缩装置包括设置在进货口12相对两侧的伸缩臂20，结合图3中所示的结构，两个伸缩臂20对称设置在进货口12的两侧，且每个伸缩臂20与本体10的一个侧壁连接。其中，两个伸缩臂20之间的空间为待搬运货箱所处的空间，通过两个伸缩臂20将待搬运货箱限定在该空间内，并在伸缩臂20收缩时，可将待搬运货箱拉入到货仓11中。为方便理解伸缩臂20的结构，下面结合图4对应进行说明。
图4示出了取货箱设备在取货时伸缩臂20的状态。两个伸缩臂20的结 构相同，因此以其中的一个伸缩臂20为例进行说明。伸缩臂20包括可相对滑动的至少三个臂，以下以伸缩臂20包括三个臂为例进行说明。结合图3及图4，三个臂包括：首节臂21、中间臂22及末节臂23。首节臂21、中间臂22、末节臂23沿首节臂21滑动连接的本体10的侧壁指向货仓11内的方向排列。首节臂21与本体10滑动连接，中间臂22与首节臂21滑动连接，末节臂23与中间臂22滑动连接，且三个臂的滑动方向沿第一方向(X方向)滑动，即三个臂可沿取货方向滑动，以实现伸缩臂20沿取货方向伸缩。结合图3，在三个臂收缩时，三个臂重叠排布并位于货仓11内；结合图4，在三个臂伸出时，三个臂沿第一方向延伸，并且三个臂延伸到货仓11的外部。
继续参考图4，末节臂23远离本体10的末端设置有拨指结构30，拨指结构30用于拨动待搬运货箱。作为一个具体的示例，拨指结构30包括固定在末节臂23的末端的舵机31，与舵机31连接的拨指32。结合图4，舵机31固定在末节臂23的末端，拨指32与舵机31连接，并可通过舵机31带动拨指32转动，拨指32具有两个位置：工作位及避让位。拨指32在工作时，舵机31带动拨指32转动到水平位置，拨指32的长度方向沿Y方向。两个伸缩臂20的拨指32相对而置，并延伸到两个伸缩臂20限定的空间内，以便于在伸缩臂20收缩时，可拉动待搬运货箱。在伸缩臂20插入到货架中时，拨指32无需工作，此时拨指32处于避让位，拨指32在舵机31的带动下转动到其长度方向沿Z方向，从而避免伸缩臂20在插入到货架内时，阻挡待搬运货箱进入到伸缩臂20之间的空间。在采用舵机31驱动拨指32时，相比于现有技术中采用机械结构驱动拨指32的情况，不存在现有技术中机械结构磨损的情况，提高了拨指结构30工作的可靠性。当然，本申请实施例提供的拨指结构还可采用其他的可拨动待搬运货箱的结构。
舵机31在使用时，通过线缆给舵机31供电，线缆与供电设备连接。供电设备可以为蓄电池或者其他可供电的电源，供电设备设置在本体10内。如图4中所示，线缆包括第一线缆51和第二线缆52；第一线缆51和第二线缆52为坦克链式电缆；中间臂22设置有转接模块53，第一线缆51的第一端固定在本体10的侧壁，并与供电设备连接；第一线缆51的第二端与转接模块53连接；第二线缆52的第一端与转接模块53连接，第二线缆52的第二端与舵机31；其中，转接模块53可将第一线缆51和第二线缆52实现电连接。在采用上述结构时，第二线缆52可跟随末节臂23伸缩而伸缩，第二线缆52可跟随首节臂21及中间臂22伸缩而伸缩。在采用两节线缆时，即保证了线缆跟随三个臂伸缩时的运动，又保证了线缆连接供电设备及舵机31的可靠性。在一个具体的可实施方案中，每个伸缩臂20中，第一线缆51和第二线缆52沿第三方向错位设置；其中，第三方向与第一方向及第二方向相互垂直。如图4中所示，第一线缆51和第二线缆52采用错位设置时，使得第一线缆51和第二线缆52之间在伸缩时不会出现干扰，保证了在有限的空间内可实现两个线缆的运动空间，保证了线缆在伸缩臂20伸缩时，与供电设备及舵机31连接的可靠性。
在本申请实施例提供的拨指结构30采用线缆供电时，作为一个可选的实 施方式，可在末节臂23远离本体10的末端设置用于检测货箱的传感器组件40，该传感器组件40可通过线缆与取货箱设备的控制装置连接。在采用两级线缆时，第二线缆52不仅与舵机31连接，还与传感器组件40连接，以将传感器组件40的信号发送给控制装置，控制装置可用于在传感器组件40检测到待搬运货箱时，控制舵机31驱动拨指32转动到可拨动待搬运货箱的位置。从而提高了搬运货箱时的准确性。在设置传感器组件40时，传感器组件40可包含不同的传感器，示例性的，传感器组件40包括设置在相对的两个伸缩臂20的两个末节臂23的对射传感器41；以及设置在两个伸缩臂20的末节臂23的前向探测器42。提高了取货时的准确性。在使用时，通过前向探测器42，可探测伸缩臂20伸缩方向的情况，保证伸缩臂20伸缩时，位于待搬运货箱的两侧，以保证伸缩臂20在伸缩时的准确性；另外，通过对射传感器41之间的检测，可判断拨指32的位置是否到位，在拨指32转动时，是否可将待搬运货箱卡住。控制装置在接收到上述信号后，可控制拨指结构30的舵机31工作，从而可准确的卡住待搬运货箱。通过上述描述可看出，在采用线缆时，本申请实施例提供的伸缩臂20可设置传感器组件40，以提高整个取货箱设备在工作时的可靠性。
应当理解的是，上述的控制装置可以为单片机、PLC或者工控电脑，且上述控制装置根据传感器组件40检测信号控制部件工作为上述控制装置常见的功能，因此在本申请中不再详细展开传感器组件40与控制装置之间的信号交互情况。
在一个可选的实施方案中，在取货箱设备不包含传感器组件时，控制装置还可用于控制拨指结构转动到可拨动所述待搬运货箱的位置。此时，控制装置直接发送控制指令到拨指结构，无需通过传感器组件采集的数据。
在一个可选的实施方案中，控制装置还可控制伸缩臂20的伸缩，具体的，控制装置与驱动装置连接，并通过驱动装置控制伸缩臂20伸缩。
如图5所示，伸缩臂在工作时，通过驱动装置控制其伸缩的，驱动装置包括驱动每个伸缩臂中的首节臂21相对本体10滑动的驱动组件63，以及驱动每个伸缩臂中相邻的臂之间联动的联动机构。联动机构可带动臂之间联动。示例性的，联动机构可采用同步带、传动带等不同的结构，作为一个具体的示例，联动机构采用闭环式同步带。
如图5中所示例的一种具体的驱动组件63包括设置在本体10的驱动电机(图中未标示)，与驱动电机通过皮带(图中未标示)连接的传动轴(图中未标示)，传动轴用于同步驱动设置在本体10上的两个同步带64，两个同步带分别用于带动两个伸缩臂的首节臂21相对本体10滑动。此外，驱动装置还包括驱动每个伸缩臂中相邻的臂之间联动的闭环式同步带。如图5中所示的闭环式同步带包括第一同步带61及第二同步带62。其中，第一同步带61设置在首节臂21，且第一同步带61分别与本体10及中间臂22固定连接，并用于驱动中间臂22相对本体10滑动。第二同步带62设置在中间臂22，且第二同步带62分别与首节臂21及末节臂23固定连接，并用于驱动末节臂23相对首节臂21滑动。如图5中所示，沿第二方向(Z方向)：第一同步带61 的设置位置低于第二同步带62的设置位置；从而给上述的第一线缆和第二线缆留出空间，使得第一线缆、第二线缆可与两个同步带沿第二方向排布，从而合理的利用伸缩臂的空间，降低线缆及同步带占用的空间。
一并参考图6，图6示例出了同步带与三个臂之间的配合示意图。作为一个可选的方案，首节臂21设置有用于限定第一同步带61水平方向晃动的第一限位筋；中间臂22设置有用于限定第一同步带61水平方向晃动的第二限位筋71；其中，第一限位筋(由于第一同步带61的遮挡，因此在图6中未示出第一限位筋)位于第一同步带61围成的空间内，以从内侧支撑第一同步带61，第二限位筋71设置在中间臂22朝向首节臂21的一面，且第一限位筋及第二限位筋71相对设置，第一限位筋及第二限位筋71之间留有容纳第一同步带61的间隙，通过第一限位筋及第二限位筋71的配合，限定第一同步带61在水平方向(Y方向)上的晃动，保证了第一同步带61传动的可靠性。另外，作为一个可选的方案，第二限位筋71设置有用于限定第一同步带61在竖直方向(Z方向)晃动的两个导向凸起，从而可在水平和竖直方向限定第一同步带61的晃动，提高了第一同步带61传动的可靠性。
继续参考图6，作为一个可选的方案，中间臂22设置有用于限定第二同步带62水平方向晃动的第三限位筋；末节臂23设置有用于限定第二同步带62水平方向晃动的第四限位筋73。其中，第三限位筋位于第二同步带62围成的空间内(由于第二同步带62的遮挡，因此在图6中未示出第三限位筋)，以从内侧支撑第二同步带62，第四限位筋73设置在末节臂23朝向中间臂22的一面，且第三限位筋及第四限位筋73相对设置，第三限位筋及第四限位筋73之间留有容纳第二同步带62的间隙，通过第三限位筋及第四限位筋73的配合，限定第二同步带62在水平方向(Y方向)上的晃动，保证了第二同步带62传动的可靠性。另外，作为一个可选的方案，第四限位筋73设置有用于限定第二同步带62在竖直方向(Z方向)晃动的两个导向凸起，从而可在水平和竖直方向限定第二同步带62的晃动，提高了第二同步带62传动的可靠性。
在一个可选的方案中，首节臂21设置有用于限位第二同步带62的第五限位筋，第五限位筋设置在首节臂21朝向中间臂22的一面，且第五限位筋与第三限位筋一起限定第二同步带62在水平方向的晃动。
另外，在采用上述限位筋时，通过设置限位筋可在水平方向(Y方向)增加臂的厚度，从而增加各个臂的结构强度，提高伸缩臂在使用时的可靠性。
如图7所示，图7示出了伸缩臂的侧视图，作为一个可选的方案，每个伸缩臂的三个臂沿第二方向的高度满足：H2≤H1＜H3；其中，H1为首节臂21在第二方向的高度，H2为中间臂22在第二方向的高度，H3为末节臂23在第二方向的高度。给线缆留出运动空间。在采用上述结构时，结合第一同步带及第二同步带的设置位置，以及第一线缆及第二线缆的设置位置。通过采用三个臂在Z方向的高度变化，保证了在末节臂23有足够的空间设置上述的拨指结构、传感器组件以及第二线缆等结构，同时通过末节臂23采用较高的高度，提高了在拉动带搬运货箱的稳定性。通过中间臂22采用较低的高度，使 得中间臂22的下方可留有足够的空间设置转接模块、第一线缆以及第二线缆可折叠的空间。在首节臂21采用上述高度时，可稳定的支撑中间臂22及末端臂，同时留出空间设置上述第一线缆及第一同步带等结构。
为提高本申请实施例提供的取货箱设备的通用性，以适应图1及图2所示的货架的排布方式，作为一个扩展示例，本申请实施例提供的伸缩臂设置成可调的伸缩臂。示例性的，末节臂可设置有选择机构，该选择机构用于将末节臂与第二同步带及中间臂选择性的连接；在末节臂与中间臂通过选择机构连接时，末节臂与第二同步带解除连接。在一个具体的可实施方案中，选择机构包括：设置在第二同步带的第一磁性件、设置在中间臂的第二磁性件；设置在末节臂的第一电磁铁及第二电磁铁，其中，第一电磁铁在得电时，可吸附第一磁性件；第二电磁铁在得电时，可吸附第二磁性件。其中，第一电磁铁及第二电磁铁可通过线缆与控制装置连接，通过控制装置控制第一电磁铁及第二电磁铁的工作状态。在需要伸出三节臂时，控制装置控制第一电磁铁与第一磁性件吸附，控制第二电磁铁断电。此时，第二同步带与末节臂固定连接，末节臂与中间臂之间解除锁定，末节臂可相对中间臂滑动。在驱动装置工作时，第二同步带可带动首节臂与末节臂联动，三个臂均可伸出，此时，可应用于图2所示的货架的排布方式中，可取出位于货架100内部的货箱，如图8中所示的取货箱设备1。在需要进伸出两个臂时，控制装置控制第二电磁铁吸附第二磁性件，第一电磁铁断电。此时，末节臂与中间臂通过第二电磁铁与第二磁性件的吸附效果固定，同时，末节臂与第二同步带解除固定连接，在驱动装置驱动伸缩臂时，仅首节臂与中间臂伸出，末节臂不伸出到中间臂外，从而实现了两个臂伸出的效果，可应用于图1中的货架排布方式中，以及应用于取出图2中位于外侧货架100的货箱，如图8中所示的取货箱设备2。
通过上述描述可看出，通过设置的选择机构可实现末节臂选择性的与第二同步带或中间臂固定连接。从而根据不同的工作环境选择不同的工作方式，提高了取货箱设备的适应性。
在一个可选的方案中，第一磁性件及第二磁性件可以为镶嵌在第二同步带及中间臂的铁块，或者其他可被磁性吸附的材质。另外，对于第一磁性件及第二磁性件的设置位置，可以根据实际的需求设定，对应的第一电磁铁及第二电磁铁的设置位置可根据实际的情况设定，以保证对应的两者之间可吸附连接，并且在吸附后满足上述的运动的要求。
通过上述描述可看出，本申请实施例提供的取货箱设备可通过采用三个臂来取货箱，可以实现从更深的货仓取出货物，另外，通过设置的传感器组件及控制装置，可以实现精准的取货。
基于上述取货箱设备，本申请实施例还可以提供一种设置有上述取货箱设备的机器人。机器人通过上述取货箱设备来取货箱，实现精准的取货。
显然，本领域的技术人员可以对本申请进行各种改动和变型而不脱离本申请的精神和范围。这样，倘若本申请的这些修改和变型属于本申请权利要求及其等同技术的范围之内，则本申请也意图包含这些改动和变型在内。

Claims (14)

  1. 一种取货箱设备，其特征在于，包括：本体、伸缩装置、控制装置及驱动装置；其中，
    所述本体内设置有货仓，所述货仓具有进货口；
    所述伸缩装置包括设置在所述进货口相对两侧的伸缩臂；每个伸缩臂包括可相对滑动的至少三个臂，且所述至少三个臂可沿第一方向伸缩，所述第一方向为所述货仓的进出货方向；其中，所述至少三个臂的首节臂与所述本体滑动连接，末节臂远离所述本体的末端设置有拨指结构；
    所述驱动装置包括驱动每个伸缩臂中的首节臂相对所述本体滑动的驱动组件，以及驱动每个伸缩臂中相邻的臂之间联动的联动机构；
    所述控制装置用于控制所述拨指结构转动到可拨动所述待搬运货箱的位置。
  2. 如权利要求1所述的取货箱设备，其特征在于，所述联动机构为闭环式同步带。
  3. 如权利要求2所述的取货箱设备，其特征在于，所述至少三个臂为三个臂；所述闭环式同步带包括第一同步带及第二同步带；
    所述第一同步带设置在所述首节臂，且所述第一同步带分别与所述本体及所述三个臂的中间臂固定连接，并用于驱动所述中间臂相对所述本体滑动；
    所述第二同步带设置在所述中间臂，且所述第二同步带分别与所述首节臂及所述末节臂固定连接，并用于驱动所述末节臂相对所述首节臂滑动；其中，
    所述末节臂设置有选择机构，所述选择机构用于选择性连接所述末节臂与所述第二同步带及所述中间臂；在所述末节臂与所述中间臂通过所述选择机构固定连接时，所述末节臂与所述第二同步带解除固定连接。
  4. 如权利要求3所述的取货箱设备，其特征在于，所述首节臂设置有用于限定所述第一同步带水平方向晃动的第一限位筋；
    所述中间臂设置有用于限定所述第一同步带水平方向晃动的第二限位筋；以及用于限定所述第二同步带水平方向晃动的第三限位筋；
    所述末节臂设置有用于限定所述第二同步带水平方向晃动的第四限位筋。
  5. 如权利要求4所述的取货箱设备，其特征在于，所述第一限位筋及所述第二限位筋相对设置，且所述第一限位筋及所述第二限位筋之间留有容纳所述第一同步带的间隙；
    所述第三限位筋及所述第四限位筋相对设置，且所述第三限位筋及所述第四限位筋之间留有容纳所述第二同步带的间隙。
  6. 如权利要求4或5所述的取货箱设备，其特征在于，所述第二限位筋设置有用于限定所述第一同步带在竖直方向晃动的两个导向凸起；或/和，
    所述第四限位筋设置有用于限定所述第二同步带在竖直方向晃动的两个 导向凸起。
  7. 如权利要求3～6任一项所述的取货箱设备，其特征在于，沿第二方向：所述第一同步带的设置位置低于所述第二同步带的设置位置；
    所述第二方向垂直于所述第一方向。
  8. 如权利要求7所述的取货箱设备，其特征在于，每个伸缩臂的三个臂沿第二方向的高度满足：
    H2≤H1＜H3；其中，H1为所述首节臂在所述第二方向的高度，H2为所述中间臂在所述第二方向的高度，H3为所述末节臂在所述第二方向的高度。
  9. 如权利要求1～8任一项所述的取货箱设备，其特征在于，所述本体上设置有供电装置；
    所述拨指结构包括固定在所述末节臂的末端的舵机，与所述舵机连接的拨指，以及与所述舵机连接的线缆，所述线缆与所述供电设备连接。
  10. 如权利要求9所述的取货箱设备，其特征在于，
    所述线缆包括第一线缆和第二线缆；所述第一线缆和所述第二线缆分别为坦克链式电缆；
    所述至少三个臂为三个臂，所述三个臂的中间臂设置有转接模块；
    所述第一线缆的第一端固定在所述本体的侧壁；所述第一线缆的第二端与所述转接模块连接；
    所述第二线缆的第一端与所述转接模块连接，所述第二线缆的第二端与所述舵机及所述传感器组件连接。
  11. 如权利要求10所述的取货箱设备，其特征在于，每个伸缩臂中，所述第一线缆和所述第二线缆沿第三方向错位设置；其中，
    所述第三方向与所述第一方向及所述第二方向相互垂直。
  12. 如权利要求9～11任一项所述的取货箱设备，其特征在于，所述末节臂设置有用于检测所述待搬运货箱的传感器组件；
    所述传感器组件通过所述线缆与所述控制装置连接；
    所述控制装置还用于在所述传感器组件检测到所述待搬运货箱时，控制所述拨指结构转动到可拨动所述待搬运货箱的位置。
  13. 如权利要求12所述的取货箱设备，其特征在于，所述传感器组件包括设置在相对的两个伸缩臂的两个末节臂的对射传感器；以及设置在所述两个伸缩臂的末节臂的前向探测器。
  14. 一种机器人，其特征在于，所述机器人上设置有如权利要求1～13任一所述的取货箱设备。
PCT/CN2020/121931 2020-04-27 2020-10-19 一种取货箱设备及机器人 WO2021218057A1 (zh)

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