WO2022022382A1 - 一种取货机构及搬运装置 - Google Patents

一种取货机构及搬运装置 Download PDF

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Publication number
WO2022022382A1
WO2022022382A1 PCT/CN2021/107893 CN2021107893W WO2022022382A1 WO 2022022382 A1 WO2022022382 A1 WO 2022022382A1 CN 2021107893 W CN2021107893 W CN 2021107893W WO 2022022382 A1 WO2022022382 A1 WO 2022022382A1
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WO
WIPO (PCT)
Prior art keywords
clamping plate
pickup mechanism
moved
mechanism according
fixing member
Prior art date
Application number
PCT/CN2021/107893
Other languages
English (en)
French (fr)
Inventor
詹庆鑫
孔哲
Original Assignee
深圳市海柔创新科技有限公司
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 深圳市海柔创新科技有限公司 filed Critical 深圳市海柔创新科技有限公司
Priority to EP21850197.1A priority Critical patent/EP4190720A4/en
Publication of WO2022022382A1 publication Critical patent/WO2022022382A1/zh
Priority to US18/156,696 priority patent/US20230150765A1/en

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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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • 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
    • 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
    • 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
    • B66F9/18—Load gripping or retaining means
    • B66F9/183—Coplanar side clamps

Definitions

  • the present disclosure relates to the technical field of intelligent storage, and in particular, to a pickup mechanism and a handling device.
  • handling devices as an industrial handling device that can perform automated handling operations, have been widely used in many fields such as intelligent storage systems, intelligent logistics systems, and intelligent sorting systems.
  • the handling operation performed by the handling device refers to the use of a piece of equipment to hold the workpiece and move it from one processing position to another.
  • the handling device can be installed with different end effectors to complete the handling of workpieces in various shapes and states, which can replace the manual handling of goods and play an important role in many fields.
  • the handling device handles the cargo, it mainly extends into the gap through the clamping arm of the picking mechanism of the handling device, and clamps the two opposite sides of the cargo. side, so as to achieve access to goods.
  • the pick-up mechanism of the existing handling device can only hold a container of a fixed size, which not only has a small scope of application, but also causes a large distance between adjacent containers.
  • the present disclosure provides a pick-up mechanism and a handling device, which can clamp objects to be moved of different sizes and help reduce the distance between adjacent objects to be moved.
  • the present disclosure provides a pickup mechanism, which includes a fixing member, a first clamping plate, a second clamping plate and a driving assembly, wherein the first clamping plate and the second clamping plate are in
  • the fixing members are arranged opposite to each other and are connected with the driving assembly, and the first clamping plate and the second clamping plate can move relative to the fixing member under the action of the driving assembly to act on on opposite sides of the object to be moved.
  • the first clamping plate and the second clamping plate can move in opposite directions relative to the fixing member.
  • the first clamping plate and the second clamping plate can move horizontally relative to the fixing member.
  • the first clamping plate and the second clamping plate are clamped on opposite sides of the object to be moved;
  • first clamping plate and the second clamping plate are engaged with the object to be moved.
  • both the first clamping plate and the second clamping plate are slidably connected to the fixing member.
  • the first clamping plate includes a clamping portion and an assembling portion
  • the clamping portion is provided on the fixing member through the assembling portion, and acts on the On the side wall of the object to be moved
  • the second clamping plate has the same structure as the first clamping plate.
  • the clamping portion and the assembling portion are perpendicular to each other.
  • the pickup mechanism as described above optionally, further includes a first connecting piece, the assembling parts of the first clamping plate and the second clamping plate are both hinged to the first connecting piece, and the assembling part is There is a hinge portion between the hinge portion and the first connecting piece, and both the first clamping plate and the second clamping plate can rotate around the hinge portion toward the object to be moved, so as to clamp the on opposite sides of the object to be moved.
  • the assembling portion is slidably connected to the fixing member through the first connecting member.
  • the pickup mechanism further includes a limit component, and the limit component is used to limit the movement of the first clamping plate and the second clamping plate. bit.
  • the limiting assembly includes a second connecting piece, a third connecting piece, and a sliding piece fixed on the fixing piece; the second connecting piece has a first sliding piece
  • the third connecting piece has a second chute and is connected with the second clamping board, and the sliding piece penetrates through the first chute and all the the second chute.
  • the limiting assembly further includes a fixing frame provided on the fixing member, the fixing frame has two oppositely arranged third sliding grooves, and the second connecting Parts of the sliding member and the third connecting member pass through the fixing frame, the sliding member penetrates the first sliding groove, the second sliding groove and the third sliding groove, and is fixed on the inside the holder.
  • the limit assembly further includes a limit shaft, and the sliding member is fixed in the fixing frame through the limit shaft.
  • the first chute and the second chute are parallel and overlapping each other, and the third chute is connected to the first and second chute vertical.
  • the second connecting piece is connected to the first clamping plate through the first connecting piece
  • the third connecting piece is connected to the first clamping plate through the first connecting piece.
  • the second clamping plate is connected.
  • the first clamping plate further includes an engaging portion, and the engaging portion is provided at an end of the clamping portion away from the assembling portion, and faces the to-be-to-be-installed portion.
  • One side of the object to be moved is engaged with the side wall of the object to be moved.
  • two opposite sides of the object to be moved are respectively provided with concave portions adapted to the structure of the engaging portion.
  • the engaging portion is a hook
  • the recessed portion is a slot
  • the pickup mechanism as described above includes a sliding assembly, and both the first clamping plate and the second clamping plate are slidably connected to the fixing member through the sliding assembly.
  • the sliding assembly includes a sliding rail and a sliding block adapted to the sliding rail, and one of the sliding rail and the sliding block is located on the fixing member The other one is located on the side of the first clamping plate and the second clamping plate facing the fixing member.
  • the drive assembly includes a drive motor and a transmission group, and the drive motor is respectively connected with the first clamping plate and the second clamping plate through the transmission group, so The transmission group is used to make the first clamping plate and the second clamping plate move relative to the fixing member under the driving of the driving motor.
  • the transmission group includes a gear and two racks, the gears are connected to the output shaft of the drive motor; the two racks are respectively connected to the first clamp
  • the holding plate is connected to the second clamping plate and meshes with opposite sides of the gear; under the rotation of the gear, the two racks can drive the first clamping plate and the second clamping plate.
  • the two clamping plates move toward or away from each other on the fixing member.
  • the transmission group further includes a reduction box, one end of the reduction box is connected to the output shaft of the drive motor, and the other end of the reduction box is connected to the gear.
  • the transmission group further includes a fourth connecting piece, and both the first clamping plate and the second clamping plate are connected to the tooth through the fourth connecting piece.
  • the bars are fixedly connected, and the transmission group is located on the side opposite to the first clamping plate and the second clamping plate on the fixing member.
  • the transmission group includes a transmission member and two oppositely arranged connecting arms, and the transmission member is connected to the output shaft of the drive motor and can rotate around the output shaft ;
  • the two connecting arms are located on opposite sides of the transmission member to correspond to the first clamping plate and the second clamping plate respectively;
  • the first end of the connecting arm is connected to the transmission member, the connecting arm has a distance between the connection point on the transmission member and the output shaft, and the second end of the connecting arm is connected to the first A clamping plate or the second clamping plate.
  • the connecting arm is an arc-shaped arm.
  • the present disclosure provides a handling device, which includes a body and a pickup mechanism as described in any one of the items provided on the body.
  • the present disclosure provides a picking mechanism and a transporting device.
  • the first clamping plate and the second clamping plate can move relative to the fixing member, and the first clamping plate and the second clamping plate can be moved relative to the fixing member.
  • the distance between them can be adjusted to act on the opposite sides of the object to be moved, so on the one hand, it can meet more sizes of the objects to be moved, so that the application range of the pickup mechanism is wider, and on the other hand, it can help reduce the Spacing between adjacent moving parts.
  • the first clamping plate and the second clamping plate are plate-like structures, they have a smaller thickness than the clamping arms of the existing picking mechanism.
  • the pickup mechanism and the handling device provided by the present disclosure can clamp objects to be moved of different sizes, which helps to reduce the distance between adjacent objects to be moved.
  • FIG. 1 is a schematic structural diagram of a handling device provided by an embodiment of the present disclosure
  • FIG. 2 is a schematic diagram of a moving state of a handling device provided by an embodiment of the present disclosure
  • FIG. 3 is a schematic diagram of the assembly of a pickup mechanism and an object to be moved according to Embodiment 1 of the present disclosure
  • FIG. 4 is an enlarged schematic diagram of part A in FIG. 3 according to an embodiment of the present disclosure
  • FIG. 5 is a partial assembly top view of a pickup mechanism and an object to be moved according to Embodiment 1 of the present disclosure
  • FIG. 6 is a schematic structural diagram of a pickup mechanism provided in Embodiment 1 of the present disclosure.
  • FIG. 7 is a schematic structural diagram of another angle of a pickup mechanism provided in Embodiment 1 of the present disclosure.
  • FIG. 8 is a schematic diagram of the assembly of a pickup mechanism and an object to be moved according to Embodiment 2 of the present disclosure
  • FIG. 9 is an enlarged schematic diagram of part B in FIG. 8 according to Embodiment 2 of the present disclosure.
  • FIG. 10 is an assembly top view of a pickup mechanism and an object to be moved according to Embodiment 2 of the present disclosure
  • Fig. 11 is the enlarged schematic diagram of C part in Fig. 10;
  • FIG. 12 is a schematic diagram of the force of the first clamping plate of the D part in FIG. 11;
  • FIG. 13 is a schematic structural diagram of a pickup mechanism provided in Embodiment 2 of the present disclosure.
  • FIG. 14 is a schematic structural diagram of another angle of a pickup mechanism provided in Embodiment 2 of the present disclosure.
  • FIG. 15 is a schematic structural diagram of another angle of a pickup mechanism according to Embodiment 2 of the present disclosure.
  • FIG. 16 is a schematic diagram of the assembly of a pickup mechanism and an object to be moved according to Embodiment 3 of the present disclosure
  • FIG. 17 is a schematic structural diagram of a pickup mechanism provided in Embodiment 3 of the present disclosure.
  • FIG. 18 is a schematic structural diagram of an object to be moved according to Embodiment 3 of the present disclosure.
  • 100-carrying device 100-carrying device; 10-carrying mechanism; 11-fixing part; 111-through hole; 12-first clamping plate; 121-clamping part; 122-assembling part; 123-engaging part; clamping plate;
  • 16-limiting component 161-second connecting piece; 162-third connecting piece; 163-sliding piece; 164-fixing frame 1; 165-limiting shaft; 167-first chute; 168-second chute ; 169 - the third chute; 17 - the first connector; 18 - hinge; 19 - bracket;
  • the application scenarios of the handling device may include, but are not limited to, an intelligent storage system, an intelligent logistics system, an intelligent sorting system, or other application scenarios that require a handling device.
  • an intelligent storage system a space is reserved between two adjacent cargo boxes to facilitate the handling and storage of the cargo boxes by the handling device.
  • the handling device mainly includes a pickup mechanism, so that when the handling device handles the cargo box, the clamping arm of the pickup mechanism can extend into the space and clamp it on the opposite sides of the cargo box, so as to realize the holding of the cargo box. take or store.
  • the distance between the two gripping arms of the existing pickup mechanism is a fixed value and cannot be adjusted, so it can only grip a cargo box of a fixed size, and the gripping arms are thick, so the two sides of the cargo box are clamped. , the distance between adjacent cargo boxes will be larger.
  • the spacing i.e. box spacing
  • the spacing will also be larger than the normal size (the vast majority of container sizes in smart storage systems or other fields). Therefore, the pickup mechanism of the existing handling device not only has a smaller scope of application, but also makes the distance between adjacent containers larger.
  • the embodiments of the present disclosure provide a cargo picking mechanism and a handling device, which can clamp cargo boxes of different sizes and help reduce the distance between adjacent cargo boxes.
  • the following takes an application scenario of an intelligent storage system as an example to further describe the pickup mechanism and the handling device in this embodiment.
  • FIG. 1 is a schematic structural diagram of a transport device provided by an embodiment of the present disclosure
  • FIG. 2 is a schematic diagram of a movement state of the transport device provided by an embodiment of the present disclosure.
  • the embodiment of the present disclosure provides an overall structure of a handling device 100 .
  • the handling device 100 may include a body and a pickup mechanism 10 provided on the body.
  • the body can be understood as a structure on the handling device 100 other than the pickup mechanism 10 .
  • the body may include a base assembly 20
  • the base assembly 20 may include a tray 21 , a fixed base 22 and two transmission assemblies 30 .
  • the tray 21 is arranged on the fixing base 22 and is slidably connected with the fixing base 22 .
  • the transmission assembly 30 can be arranged on the fixed seat 22 and located on opposite sides of the tray 21, and is connected with the tray 21, so that the tray 21 can reciprocate in the direction toward or away from the object to be moved 200, thereby realizing the object to be moved 200. movement.
  • the pickup mechanism 10 may be located at one end of the base assembly 20, clamped on opposite sides of the object to be moved 200, such as a cargo box, for moving the object to be moved 200 onto the tray 21, and then placing the object to be moved 200 on the pallet 21.
  • the designated position ie designated height
  • the object 200 to be moved is transported from the shelf to the designated placing platform, so as to realize the taking or storage of the object 200 to be moved.
  • the tray 21 can be slidably connected to the rail 221 on the fixing base 22 through a sliding block (not shown in the figure) at the bottom.
  • the tray 21 can slide relative to the fixed seat 22 to extend out of the fixed seat 22 and contact the bottom of the object to be removed 200, which facilitates the picking mechanism 10 to move the object to be removed 200
  • the object to be moved 200 on the tray 21 can also be prevented from falling during the process of taking or storing while moving the object to be moved 200 on the tray 21 to the placing platform.
  • the tray 21 can be moved to a position close to or The position in contact with the edge of the shelf continues to extend in the direction of the object to be moved 200 relative to the shelf through the picking mechanism 10 to move the object to be moved 200 .
  • the picking mechanism 10 to move the object to be moved 200 .
  • the transmission assembly 30 may include a motor (not marked in the figure), a moving wheel group, a fixed wheel group and a transmission belt 36, the moving wheel group is connected with the output shaft of the motor, one end of the transmission belt 36 is fixedly connected with the moving wheel group, and the other end of the transmission belt 36 is fixedly connected. It is wound around the fixed wheel set and is fixedly connected with the tray 21 . In this way, when the motor rotates, the fixed wheel group starts to rotate. Under the driving of the transmission belt 36, the direction of the transmission belt 36 is changed by the fixed wheel group, and then the transmission belt 36 drives the tray 21 to move relative to the fixed seat 22, so that the tray 21 is relative to the fixed seat. 22 moves are powered.
  • a motor not marked in the figure
  • the transmission belt 36 is connected with the output shaft of the motor
  • one end of the transmission belt 36 is fixedly connected with the moving wheel group
  • the other end of the transmission belt 36 is fixedly connected. It is wound around the fixed wheel set and is fixedly connected with the tray 21 .
  • the moving wheel set may include a first moving wheel 31 , a second moving wheel 32 and a third moving wheel 33 .
  • the first moving wheel 31 , the second moving wheel 32 and the third moving wheel 33 are on the side wall of the fixed seat 22 , and are shown in FIG. 1 .
  • the triangular arrangement shown in wherein the first driving wheel 31 is connected with the output shaft of the motor.
  • the set of fixed wheels may include a first fixed wheel 34 and a second fixed wheel 35. Both the first fixed wheel 34 and the second fixed wheel 35 are located on the bottom wall of the fixed seat 22, and the second fixed wheel 35 is close to the tray 21 and faces toward picking up the goods.
  • the first fixed wheel 34 is close to the end of the tray 21 away from the picking mechanism 10 (ie the front end of the tray 21 ).
  • the transmission belt 36 is fixed on the first moving pulley 31 , and is wound on the second moving pulley 32 , the third moving pulley 33 , the first fixed pulley 34 and the second fixed pulley 35 in sequence, and then fixed to the end of the tray 21 .
  • the motor can drive the moving wheel set, thereby driving the conveying direction of the transmission belt 36, providing power for the movement of the tray 21 relative to the fixed seat 22, or driving the tray 21 to reset.
  • the transmission assembly 30 reference may be made to the transmission assembly 30 of the handling device 100 in the prior art. In this embodiment, the transmission assembly 30 will not be further described.
  • the elastic transmission belt can also drive the tray 21 that moves relative to the fixed seat 22 to reset.
  • the handling device 100 may include more or less components than shown, or combine some components, or separate some components, or different component arrangements.
  • the pickup mechanism 10 of the handling device 100 in this embodiment will be further described below.
  • FIG. 3 is a schematic diagram of the assembly of a pickup mechanism and an object to be moved according to the first embodiment of the present disclosure
  • FIG. 4 is an enlarged schematic diagram of part A in FIG. 3 according to the first embodiment of the present disclosure
  • FIG. 5 is the first embodiment of the present disclosure.
  • FIG. 6 is a schematic structural diagram of a pickup mechanism provided in Embodiment 1 of the present disclosure
  • FIG. 7 is a pickup mechanism provided in Embodiment 1 of the present disclosure. Schematic diagram of the structure from another angle.
  • the present embodiment provides an overall structure of a pickup mechanism 10 .
  • the pickup mechanism 10 may include a fixing member 11 , a first clamping plate 12 , a second clamping plate 13 and a driving assembly 14 .
  • the first clamping plate 12 and the second clamping plate 13 are arranged opposite to each other on the fixing member 11, so that the first clamping plate 12 and the second clamping plate 13 can be arranged symmetrically on the fixing member 11, so as to act on the waiting member 11.
  • the opposite sides of the object 200 are moved to realize the taking or storage of the object 200 to be moved.
  • the first clamping plate 12 and the second clamping plate 13 can be connected with the driving assembly 14 , and the first clamping plate 12 and the second clamping plate 13 can be under the action of the driving assembly 14 It moves relative to the fixing member 11 to act on opposite sides of the object to be moved 200 .
  • the first clamping plate 12 and the second clamping plate 13 can be driven by the driving assembly 14 to make the first clamping plate 12 and the second clamping plate 13 relative to the fixing member 11 .
  • the movement is to act on the opposite sides of the object to be moved 200 to realize the movement of the object to be moved 200 .
  • first clamping plate 12 and the second clamping plate 13 can be understood as the fact that the first clamping plate 12 and the second clamping plate 13 are moving toward each other on the fixing member 11 ( 5 to 7) or moving away from each other, so that the distance between the first clamping plate 12 and the second clamping plate 13 can be changed, so as to meet the needs of more sizes to be moved.
  • the object 200 expands the scope of application of the pickup mechanism 10 .
  • the distance between the first clamping plate 12 and the second clamping plate 13 can be adjusted according to the size of the object to be moved 200 , so that more sizes of objects 200 to be moved are satisfied, so that the scope of application of the pickup mechanism 10 is wider, and compared with the pickup mechanism 10 in the prior art, when moving objects 200 of smaller sizes , the distance between the objects to be moved 200 of smaller size can be made smaller than the distance between the objects to be moved 200 of normal size, which can help reduce the distance between adjacent objects to be moved 200 .
  • the pickup mechanism 10 can clamp objects 200 of different sizes to be moved, which helps to reduce the distance between adjacent objects to be moved 200 .
  • first clamping plate 12 and the second clamping plate 13 can move in opposite directions relative to the fixing member 11 (the directions shown by the arrows in FIGS. 5 to 7 ).
  • one of the first clamping plate 12 and the second clamping plate 13 can be moved relative to the fixing member 11 under the driving of the driving assembly 14, and the other is kept relatively fixed.
  • the distance between the first clamping plate 12 and the second clamping plate 13 can be adjusted to accommodate objects 200 of different sizes to be moved, the distance between adjacent objects to be moved 200 can be reduced. spacing.
  • first clamping plate 12 and the second clamping plate 13 can move horizontally relative to the fixing member 11 .
  • first clamping plate 12 and the second clamping plate 13 can move horizontally on the fixing member 11 under the driving of the driving assembly 14, so as to realize the connection between the first clamping plate 12 and the second clamping plate 13. distance adjustment.
  • first clamping plate 12 and the second clamping plate 13 can be clamped on opposite sides of the object to be moved 200 to realize the movement of the object to be moved 200 .
  • first clamping plate 12 and the second clamping plate 13 can also be engaged with the object to be moved 200, and the object to be moved 200 can be moved by dragging or other means. In this way, the structures of the first clamping plate 12 and the second clamping plate 13 can be more diversified.
  • the following takes the manner in which the first clamping plate 12 and the second clamping plate 13 clamp the object 200 to be moved as an example to further describe the pickup mechanism 10 in this embodiment.
  • the first clamping plate 12 and the second clamping plate 13 are both slidably connected to the fixing member 11 . In this way, under the driving of the driving assembly 14, the movement of the first clamping plate 12 and the second clamping plate 13 relative to the fixing member 11 can be more convenient.
  • the first clamping plate 12 may include a clamping portion 121 and a fitting portion 122 , and the clamping portion 121 may be provided on the fixing member 11 through the fitting portion 122 and act on the object to be moved. 200 sidewalls.
  • the second clamping plate 13 has the same structure as the first clamping plate 12 . That is to say, the assembling portion 122 of the second clamping plate 13 also acts on the side wall of the object to be moved 200 , so as to act on the opposite side of the object to be moved 200 through the first clamping portion 121 and the second clamping portion 121 . Both sides, so as to realize the movement and handling of the object to be moved 200 .
  • first clamping plate 12 and the second clamping plate 13 may be an integral structure, or may be a split structure.
  • the assembling portion 122 can be detachably connected with the fixing member 11 by sliding or other means, which facilitates the movement of the first clamping plate 12 and the second clamping plate 13 relative to the fixing member 11 and facilitates the pickup mechanism. 10 Installation and removal.
  • the clamping part 121 and the fitting part 122 may be perpendicular to each other. That is to say, the clamping part 121 is perpendicular to the assembling part 122, so that the first clamping plate 12 and the second clamping plate 13 can be regarded as a plate-like structure of an "L"-shaped structure, so as to facilitate the object to be moved 200 such as a cargo box
  • the side walls of the 200 have a higher degree of fit, thereby improving the clamping effect of the object to be moved 200 .
  • the pickup mechanism 10 may include a sliding assembly 15 , and both the first clamping plate 12 and the second clamping plate 13 may be slidably connected to the fixing member 11 through the sliding assembly 15 , so as to The movement of the first clamping plate 12 and the second clamping plate 13 relative to the fixing member 11 is realized.
  • the sliding assembly 15 may include a sliding rail 151 and a sliding block 152 adapted to the sliding rail 151 .
  • One of the sliding rail 151 and the sliding block 152 may be located on the fixing member 11 , and the other may be located on the side of the first clamping plate 12 and the second clamping plate 13 facing the fixing member 11 . In this way, while ensuring that the first clamping plate 12 and the second clamping plate 13 are slidably connected to the fixing member 11 , the arrangement of the sliding assembly 15 can be more diversified.
  • the slide rail 151 can be fixed on the member 11 by screwing, clipping or other means.
  • the sliding block 152 can be fixed on the first clamping plate 12 and the second clamping plate 12 .
  • Clamping plate 13 Clamping plate 13 .
  • a sliding block 152 is respectively provided on the assembling portion 122 of the first clamping plate 12 and the second clamping plate 13 , and is slidably connected with the sliding rail 151 on the fixing member 11 .
  • the slide rail 151 when the slide rail 151 is located on the fixing member 11 , the slide rail 151 may be a continuous structure (as shown in FIG. 3 , FIG. 4 and FIG. 7 ), or the slide rail 151 may also be a segmented structure (multi-segment structure). ). In this way, while ensuring that the first clamping plate 12 and the second clamping plate 13 are slidably connected to the fixing member 11 and can move relative to the fixing member 11 , the structure of the sliding rail 151 can be more diversified.
  • the length of the sliding rail 151 should satisfy the maximum sliding stroke of the first clamping plate 12 and the second clamping plate 13 .
  • the sliding assembly 15 may be disposed adjacent to the driving assembly 14 (as shown in FIGS. 3 , 4 and 7 ). That is to say, the sliding assembly 15 may be disposed on the fixing member 11 close to the driving assembly 14 . Alternatively, the sliding assembly 15 and the driving assembly 14 may also be located at different heights from the fixing member 11 . That is to say, the sliding assembly 15 may have a space between the fixing member 11 and the driving assembly 14 , so that the setting positions of the sliding assembly 15 can be more diversified.
  • the driving assembly 14 may include a driving motor 141 and a transmission group 142 , and the driving motor 141 may be connected to the first clamping plate 12 and the second clamping plate 13 respectively through the transmission group 142 ,
  • the transmission group 142 is used to make the first clamping plate 12 and the second clamping plate 13 move relative to the fixing member 11 under the driving of the driving motor 141 .
  • the object to be moved 200 can improve the applicability of the pickup mechanism 10 and at the same time reduce the distance between the adjacent objects to be moved 200 .
  • the transmission group 142 may include a gear 143 and two racks 144 , the gear 143 is connected with the output shaft of the driving motor 141 ; the two racks 144 are respectively connected with The first clamping plate 12 and the second clamping plate 13 are connected and engaged with opposite sides of the gear 143 . Under the rotation of the gear 143 , the two racks 144 move relative to the pair of gears 143 , so as to drive the first clamping plate 12 and the second clamping plate 13 to move toward or away from each other on the fixing member 11 move.
  • the drive motor 141 drives the gear 143 to rotate clockwise
  • the two racks 144 since the two racks 144 are engaged with both sides of the gear 143 , the two racks 144 will face each other with respect to the gear 143 under the rotation of the gear 143 . move in the approaching direction, thereby driving the first clamping plate 12 and the second clamping plate 13 to move toward each other on the fixing member 11, so as to shorten the gap between the first clamping plate 12 and the second clamping plate 13
  • the distance is suitable for the object to be moved 200 of smaller size.
  • the transmission group 142 may further include a reduction box 145 , one end of the reduction box 145 is connected to the output shaft of the drive motor 141 , the other end of the reduction box 145 is connected to the gear 143 , and the drive motor 141 is connected to the gear 143 through the reduction box 145 .
  • the driving assembly 14 drives the first clamping plate 12 and the second clamping plate 13 to pick up goods by clamping and acting on opposite sides of the object to be moved 200
  • the object to be moved 200 There is friction with the first clamping plate 12 and the second clamping plate 13 , and the picking mechanism 10 uses the friction to move the object to be moved 200 onto the tray 21 .
  • the driving motor 141 may be a servo motor.
  • the reduction box 145 may be a worm gear reduction box, a planetary gear reduction box, or other reduction devices with a self-locking function.
  • the type of the reduction box 145 is not further limited.
  • the object to be moved 200 when the object to be moved 200 needs to be placed on the designated position of the shelf or other placement platform through the pickup mechanism 10, the object to be moved 200 can be directly pushed by the pickup mechanism 10 to the object to be moved. 200 is pushed to a designated position on the shelf or other placing platform, so as to realize the storage of the object to be moved 200 .
  • the transmission group 142 may further include a fourth connecting member 148 , and both the first clamping plate 12 and the second clamping plate 13 can be connected with the fourth connecting member 148 through the fourth connecting member 148 .
  • the rack 144 is fixedly connected, so that when the rack 144 moves, the fourth connecting member 148 can drive the first clamping plate 12 and the second clamping plate 13 to move relative to the fixing member 11 .
  • the transmission group 142 may be located on the side of the fixing member 11 opposite to the first clamping plate 12 and the second clamping plate 13 . That is, the transmission group 142 may be located on opposite sides of the fixing member 11 from the first clamping plate 12 and the second clamping plate 13 . In this way, while realizing the driving of the first clamping plate 12 and the second clamping plate 13, the interference caused by the clamping of the object 200 to be moved by the driving assembly 14 can be avoided.
  • the fixing member 11 has a through hole 111 , and the fourth connecting member 148 can be provided on the first clamping plate 12 and the second clamping plate 13 and extend out of the through hole 111 to be fixedly connected to the rack 144 .
  • the transmission group 142 and the first clamping plate 12 and the second clamping plate 13 can be located on opposite sides of the fixing member 11 .
  • the fixing member 11 may be a plate-like structure.
  • the fourth connecting member 148 may be an L-shaped bent plate to facilitate the fixing of the fourth connecting member 148 to the first clamping plate 12 , the second clamping plate 13 and the rack 144 .
  • the through hole 111 may be a bar-shaped hole on the fixing member 11 through which the fourth connecting member 148 can extend.
  • the transmission group 142 in this embodiment may also have other structures, and the structures of other transmission groups 142 will be described below in conjunction with the pickup mechanism 10 .
  • the first clamping plate and the second clamping plate of the pickup mechanism provided by the present disclosure are disposed opposite to each other on the fixing member, and are connected with the driving assembly. Under the driving of the driving assembly, the first clamping plate and the second clamping plate are It can be moved relative to the fixed part to act on the opposite sides of the object to be moved, and can clamp objects of different sizes to be moved, so that the scope of application of the pick-up mechanism is wider, and at the same time, it helps to reduce the size of adjacent objects to be moved. Spacing between objects.
  • FIG. 8 is a schematic diagram of the assembly of an object to be moved by a pickup mechanism according to the second embodiment of the present disclosure
  • FIG. 9 is an enlarged schematic diagram of part B in FIG. 8 according to the second embodiment of the present disclosure
  • FIG. 10 is the second embodiment of the present disclosure.
  • FIG. 11 is an enlarged schematic view of the C part in FIG. 10
  • FIG. 12 is a force schematic diagram of the first clamping plate of the D part in FIG. 11
  • FIG. 13 is the present disclosure
  • FIG. 14 is a schematic structural diagram of a pickup mechanism provided in Embodiment 2 of the present disclosure from another angle
  • FIG. 15 is a pickup mechanism provided in Embodiment 2 of the present disclosure.
  • this embodiment provides another pickup mechanism 10 .
  • the pickup mechanism 10 may further include a first connecting member 17, and the assembling portions 122 of the first clamping plate 12 and the second clamping plate 13 are both connected to the first connecting member 17 is hinged (as shown in FIG. 13 ), and there is a hinged part 18 between the fitting part 122 and the first connecting piece 17 .
  • the first clamping plate 12 Under the action of the friction force between the second clamping plate 13 and the object to be moved 200, the first clamping plate 12 and the second clamping plate 13 can also rotate around the hinge portion 18 toward the object to be moved 200 (eg, 10 to 12), to clamp on opposite sides of the object to be moved 200, so as to clamp the object to be moved 200 more tightly on the basis of the first embodiment.
  • the first clamping plate 12 and the first connecting piece 17 are relatively fixed at the hinge part 18 , therefore, under the action of f, f can drive the first clamping plate 12 along w through the force arm a direction rotation.
  • Fn can drive the first clamping plate 12 to rotate in the opposite direction to w through the force arm b.
  • the first clamping plate 12 will eventually rotate around the hinge portion in the w direction, so as to clamp the object to be moved 200 more tightly.
  • the force of the second clamping plate 13 reference may be made to the force analysis of the first clamping plate 12 above.
  • the assembling portion 122 may be slidably connected to the fixing member 11 through the first connecting member 17 .
  • the sliders 152 of the first clamping plate 12 and the second clamping plate 13 may be provided on the first connecting member 17 and movably connected with the sliding rails 151 on the fixing member 11 .
  • the pickup mechanism 10 may further include a limit assembly 16 , and the limit assembly 16 is used to limit the movement of the first clamping plate 12 and the second clamping plate 13 , The movement of the first clamping plate 12 and the second clamping plate 13 relative to the fixing member 11 is made more stable.
  • the limiting assembly 16 may include a second connecting member 161 , a third connecting member 162 and a sliding member 163 fixed on the fixing member 11 .
  • the second connecting member 161 has a first sliding groove 167 and is connected to the first clamping plate 12;
  • the third connecting member 162 has a second sliding groove 168 and is connected to the second clamping plate 13, and the sliding member 163 penetrates through The first chute 167 and the second chute 168 .
  • the first clamping plate 12 and the second clamping plate can be connected to the first clamping plate 12 and the second clamping plate through the limiting assembly 16 .
  • 13 is limited relative to the horizontal movement of the fixing member 11, so that the first clamping plate 12 and the second clamping plate 13 can be installed with preset trajectories to move.
  • the sliding member 163 since the sliding member 163 is fixed on the fixing member 11 , the sliding member 163 can be regarded as a fulcrum or fixed point when the first clamping plate 12 and the second clamping plate 13 rotate relative to the object to be moved 200 .
  • the rotation angles of the first clamping plate 12 and the second clamping plate 13 around the hinge portion 18 are kept the same.
  • parts of the second connecting member 161 and the third connecting member 162 both extend out of the fixing member 11 , wherein the first sliding groove 167 and the second sliding groove 168 are located on the fixing member 11 and the first clamping plate 12 .
  • the side opposite to the second clamping plate 13 is a part of the fixing member 161 and the third connecting member 162 .
  • the limiting assembly 16 may further include a fixing frame 164 provided on the fixing member 11 , the fixing frame 164 has two oppositely arranged third sliding grooves 169 , and the second connecting member 161 Parts of the third connecting member 162 and the third connecting member 162 pass through the fixing frame 164 , and the sliding member 163 penetrates the first sliding groove 167 , the second sliding groove 168 and the third sliding groove 169 and is fixed in the fixing frame 164 . In this way, the sliding member 163 can pass through the first sliding groove 167 and the second sliding groove 168 and can be fixed on the fixing member 11 through the fixing frame 164 at the same time.
  • the limiting assembly 16 may further include a limiting shaft 165 , and the sliding member 163 is fixed in the fixing frame 164 through the limiting shaft 165 , so as to realize the fixed installation of the sliding member 163 on the fixing member 11 .
  • the first chute 167 and the second chute 168 are parallel and overlap each other, and the third chute 169 is perpendicular to the first chute 167 and the second chute 168 . In this way, while the movement of the first clamping plate 12 and the second clamping plate 13 is limited, it can be ensured that the driving assembly 14 can move horizontally relative to the fixing member 11.
  • the second connecting member 161 can be connected to the first clamping plate 12 through the first connecting member 17 , and can be connected to the second clamping plate 13 through the first connecting member 17 . In this way, the second connecting piece 161 and the third connecting piece 162 can be fixed.
  • the first clamping plate and the second clamping plate of the pickup mechanism provided by the present disclosure can clamp objects to be moved of different sizes by being hinged with the first connecting piece, and reduce the distance between adjacent objects to be moved At the same time, the first clamping plate and the second clamping plate can have a better clamping effect on the object to be moved.
  • FIG. 16 is a schematic diagram of the assembly of a pickup mechanism and an object to be moved according to the third embodiment of the present disclosure
  • FIG. 17 is a schematic structural diagram of a pickup mechanism according to the third embodiment of the present disclosure
  • FIG. 18 is the third embodiment of the present disclosure.
  • Provided is a schematic structural diagram of an object to be moved.
  • this embodiment provides another pickup mechanism 10 .
  • the difference from the pickup mechanism 10 in the above embodiment is that the first clamping plate 12 and the second clamping plate 13 of the pickup mechanism 10 in this embodiment can be engaged with the object to be moved 200 .
  • the first clamping plate 12 may further include an engaging portion 123 , and the engaging portion 123 may be provided at an end of the clamping portion 121 away from the assembling portion 122 (ie, as shown in FIGS. 16 and 12 ). 17), and faces the side of the object to be moved 200, so as to be engaged with the side wall of the object to be moved 200. Since the second clamping plate 13 and the second clamping plate 13 have the same structure, the second clamping plate 13 is also provided with an engaging portion 123 at a position opposite to the first clamping plate 12 . In this way, the first clamping plate 12 and the second clamping plate 13 can be engaged with the side wall of the object to be moved 200 through the engaging portion 123 (as shown in FIG. 16 ), and the object to be moved can be realized by dragging 200 take.
  • the opposite sides of the object to be moved 200 are respectively provided with concave portions 210 adapted to the structure of the engaging portion 123 , which can facilitate the first clamping plate 12 and the second clamping plate.
  • the engaging portion 123 of 13 can be engaged with the concave portions 210 on both sides of the object to be moved 200 , so as to realize engagement with the object to be moved 200 .
  • the engaging portion 123 may be a barb-shaped hook as shown in FIG. 16 and FIG. 17 .
  • the concave portion 210 may be a slot that is adapted to the barb-shaped structure. In this way, the engaging portion 123 can be engaged with the card slot, so that the object to be moved 200 can be picked up by dragging.
  • the slide rail 151 on the fixing member 11 may be a segmented or multi-segmented structure (as shown in FIG. 17 ).
  • the sliding assembly 15 and the driving assembly 14 may be located at different heights of the fixing member 11 . This can make the installation of the first clamping plate 12 and the second clamping plate 13 on the fixing member 11 more stable.
  • the pickup mechanism 10 in this embodiment has no effect on the first clamping
  • the clamping force of the plate 12 and the second clamping plate 13 is required to be small, and the precision of the adjustment of the distance between the first clamping plate 12 and the second clamping plate 13 is relatively high. Therefore, this embodiment can adopt the driving assembly 14 in the above-mentioned embodiments.
  • the transmission group 142 may include a transmission member 146 and two oppositely disposed connecting arms 147 .
  • the transmission member 146 is connected to the output shaft of the drive motor 141 and can Rotate around the output shaft.
  • the two connecting arms 147 may be located on opposite sides of the transmission member 146 to correspond to the first clamping plate 12 and the second clamping plate 13 respectively.
  • the first end of the connecting arm 147 may be connected to the transmission member 146, and the connecting arm 147 has a space between the connection point on the transmission member 146 and the output shaft. That is to say, the connection point of the connecting arm 147 on the transmission member 146 and the output shaft of the driving motor 141 are arranged eccentrically.
  • the second end of the connecting arm 147 may be connected to the first clamping plate 12 or the second clamping plate 13 .
  • the transmission member 146 can drive the two connecting arms 147 to rotate together, thereby driving the first clamping plate 12 and the second clamping plate 13 to move toward or away from each other relative to the fixing member 11. move, and then adjust the distance between the first clamping plate 12 and the second clamping plate 13, so as to adapt to the objects 200 of different sizes to be moved, and at the same time help to reduce the distance between the adjacent objects to be moved 200 .
  • the driving method is the same as that described in the first embodiment.
  • the driving motor 141 drives the transmission member 146 to rotate clockwise
  • the two connecting arms 147 will be driven by the transmission member 146 .
  • the first clamping plate 12 and the second clamping plate 13 are driven to move toward each other on the fixing member 11 relative to the transmission member 146 moving in the direction of approaching each other.
  • the second end of the connecting arm 147 may be connected to the first clamping plate 12 or the second clamping plate 13 through the fixing bar 149 .
  • One end of the fixing bar 149 can be hinged with the second end of the connecting arm 147, and the second end of the fixing bar 149 can be fixedly connected with the first clamping plate 12 or the second clamping plate 13, so that the first clamping plate 147 can drive the first clamping plate 147 through the connecting arm 147.
  • the connecting arm 147 may be an arc-shaped arm or a connecting structure of other shapes.
  • the driving motor 141 can also be fixed on the fixing member 11 through the bracket 19 .
  • the structure of the bracket 19 is not further limited.
  • the pickup mechanism provided by the present disclosure, by arranging engaging portions on the first clamping plate and the second clamping plate, objects to be moved of different sizes can be clamped, and the distance between adjacent objects to be moved can be reduced At the same time, the structure of the picking mechanism can be more diversified.
  • the terms “installed”, “connected”, “connected”, “fixed”, etc. should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integration; it may be The direct connection can also be indirectly connected through an intermediate medium, and the internal communication between the two elements or the interaction relationship between the two elements can be achieved.
  • the specific meanings of the above terms in the present disclosure can be understood according to specific situations.
  • the terms “first”, “second”, etc. are used for descriptive purposes only, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features.

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Abstract

一种取货机构（10）及搬运装置（100），该取货机构（10）包括固定件（11）、第一夹持板（12）、第二夹持板（13）和驱动组件（14），第一夹持板（12）和第二夹持板（13）在固定件（11）上相对设置，并与驱动组件（14）连接，第一夹持板（12）和第二夹持板（13）可在驱动组件（14）的作用下相对于固定件（11）移动，以作用在待移物件的相对两侧。该取货机构（10）能够对不同尺寸的待移物件进行夹持，有助于缩小相邻待移物件之间的间距。

Description

一种取货机构及搬运装置
本公开要求于2020年07月30日提交中国专利局，申请号为202021550076.9，申请名称为“一种取货机构及搬运装置”的中国申请专利申请的优先权，其与本申请的全部内容通过引用结合在本申请中。
技术领域
本公开涉及智能仓储技术领域，特别涉及一种取货机构及搬运装置。
背景技术
随着科技化的不断发展，搬运装置作为一种可进行自动化搬运作业的工业搬运装置，在很多领域比如智能仓储系统、智能物流系统和智能分拣系统等领域中均得到了广泛的应用。
搬运装置所从事的搬运作业是指用一种设备握持工件，从一个加工位置移到另一个加工位置。搬运装置可安装不同的末端执行器以完成各种不同形状和状态的工件搬运工作，能够代替人工搬运货物，在很多领域中扮演着重要的角色。目前，在智能仓储系统中，相邻货箱之间具有间距，搬运装置在搬运货物时，主要通过搬运装置的取货机构的夹持臂伸入该间距内，并夹持在货物的相对两侧上，从而实现对货物的存取。
然而，现有搬运装置的取货机构只能夹持固定尺寸的货箱，不仅适用范围较小，而且会使得相邻货箱之间的间距较大。
发明内容
本公开提供一种取货机构及搬运装置，能够对不同尺寸的待移物件进行夹持，有助于缩小相邻待移物件之间的间距。
第一方面，本公开提供了一种取货机构，其包括固定件、第一夹持板、第二夹持板和驱动组件，所述第一夹持板和所述第二夹持板在所述固定件上相对设置，并与所述驱动组件连接，所述第一夹持板和所述第二夹持板可在所述驱动组件的作用下相对于所述固定件移动，以作用在待移物件的相对两侧。
如上所述的取货机构，可选的，所述第一夹持板和所述第二夹持板可相对于所述固定件朝着相反的方向移动。
如上所述的取货机构，可选的，所述第一夹持板和所述第二夹持板可相对于所述固定件水平移动。
如上所述的取货机构，可选的，所述第一夹持板和所述第二夹持板夹设在所述待移物件的相对两侧；
或者，所述第一夹持板和所述第二夹持板与所述待移物件相卡合。
如上所述的取货机构，可选的，所述第一夹持板和所述第二夹持板均与所述固定件滑动连接。
如上所述的取货机构，可选的，所述第一夹持板包括夹持部和装配部，所述夹持部通过所述装配部设在所述固定件上，并作用在所述待移物件的侧壁，所述第二夹持板与所述第一夹持板的结构相同。
如上所述的取货机构，可选的，所述夹持部与所述装配部相互垂直。
如上所述的取货机构，可选的，还包括第一连接件，所述第一夹持板和所述第二夹持板的装配部均与所述第一连接件铰接，所述装配部和所述第一连接件之间具有铰接部，所述第一夹持板和所述第二夹持板均可绕着所述铰接部朝向所述待移物件的方 向旋转，以夹设在所述待移物件的相对两侧。
如上所述的取货机构，可选的，所述装配部通过所述第一连接件与固定件滑动连接。
如上所述的取货机构，可选的，所述取货机构还包括限位组件，所述限位组件用于对所述第一夹持板和所述第二夹持板的移动进行限位。
如上所述的取货机构，可选的，所述限位组件包括第二连接件、第三连接件和固定在所述固定件上的滑动件；所述第二连接件上具有第一滑槽，并与所述第一夹持板连接；所述第三连接件上具有第二滑槽，并与所述第二夹持板连接，所述滑动件贯穿所述第一滑槽和所述第二滑槽。
如上所述的取货机构，可选的，所述限位组件还包括设在所述固定件上的固定架，所述固定架具有两个相对设置的第三滑槽，所述第二连接件和所述第三连接件的部分穿设在所述固定架内，所述滑动件贯穿所述第一滑槽、所述第二滑槽和所述第三滑槽，并固定在所述固定架内。
如上所述的取货机构，可选的，所述限位组件还包括限位轴，所述滑动件通过所述限位轴固定在所述固定架内。
如上所述的取货机构，可选的，所述第一滑槽和所述第二滑槽平行且相互重叠，所述第三滑槽与所述第一滑槽和所述第二滑槽垂直。
如上所述的取货机构，可选的，所述第二连接件通过所述第一连接件与所述第一夹持板连接，所述第三连接件通过所述第一连接件与所述第二夹持板连接。
如上所述的取货机构，可选的，所述第一夹持板还包括卡合部，所述卡合部设在所述夹持部远离所述装配部的一端，并朝向所述待移物件的一面，以与所述待移物件的侧壁相卡合。
如上所述的取货机构，可选的，所述待移物件相对的两侧上分别设有与所述卡合部结构相适配的凹陷部。
如上所述的取货机构，可选的，所述卡合部为卡勾，所述凹陷部为卡槽。
如上所述的取货机构，可选的，包括滑动组件，所述第一夹持板和所述第二夹持板均通过所述滑动组件与所述固定件滑动连接。
如上所述的取货机构，可选的，所述滑动组件包括滑轨和与所述滑轨相适配的滑块，所述滑轨和所述滑块的其中一者位于所述固定件上，另一者位于所述第一夹持板和所述第二夹持板朝向所述固定件的一面上。
如上所述的取货机构，可选的，所述驱动组件包括驱动电机和传动组，所述驱动电机通过传动组分别与所述第一夹持板和所述第二夹持板连接，所述传动组用于在所述驱动电机的驱动下，以使所述第一夹持板和所述第二夹持板可相对于所述固定件移动。
如上所述的取货机构，可选的，所述传动组包括齿轮和两个齿条，所述齿轮与所述驱动电机的输出轴连接；两个所述齿条分别与所述第一夹持板和所述第二夹持板连接，并与所述齿轮的相对两侧啮合；在所述齿轮的转动下，两个所述齿条可带动所述第一夹持板和所述第二夹持板在所述固定件上朝着相互靠近或者远离的方向移动。
如上所述的取货机构，可选的，所述传动组还包括减速箱，所述减速箱的一端与所述驱动电机的输出轴连接，所述减速箱的另一端与所述齿轮连接。
如上所述的取货机构，可选的，所述传动组还包括第四连接件，所述第一夹持板和所述第二夹持板均通过所述第四连接件与所述齿条固定连接，所述传动组位于所述固定件上与所述第一夹持板和所述第二夹持板相对的一侧。
如上所述的取货机构，可选的，所述传动组包传动件和两个相对设置的连接臂，所述传动件与所述驱动电机的输出轴连接，并可绕所述输出轴转动；两个所述连接臂 位于所述传动件的相对两侧，以分别对应所述第一夹持板和所述第二夹持板；
所述连接臂的第一端连接至所述传动件，所述连接臂在所述传动件上的连接点和所述输出轴之间具有间距，所述连接臂的第二端连接所述第一夹持板或者所述第二夹持板。
如上所述的取货机构，可选的，所述连接臂为弧形臂。
第二方面，本公开提供一种搬运装置，其包括本体和设在所述本体上的如任意一项中所述的取货机构。
本公开提供一种取货机构及搬运装置，通过驱动组件的作用下，使得第一夹持板和第二夹持板可相对于固定件移动，对第一夹持板和第二夹持板之间的距离进行调节，以作用在待移物件的相对两侧，这样一方面能够满足更多尺寸的待移物件，使得取货机构的适用范围更广，另一方面能够有助于减小相邻移动件之间的间距。与此同时，由于第一夹持板和第二夹持板为板状结构，相较于现有取货机构的夹持臂具有较小的厚度，因此在实现对待移物件移动的同时，能够有助于进一步减小相邻移动件之间的间距。因此，本公开提供的取货机构及搬运装置，能够对不同尺寸的待移物件进行夹持，有助于缩小相邻待移物件之间的间距。
附图说明
为了更清楚地说明本公开实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本公开的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本公开实施例提供的搬运装置的结构示意图；
图2是本公开实施例提供的搬运装置的运动状态示意图；
图3是本公开实施例一提供的一种取货机构与待移物件的装配示意图；
图4为本公开实施例提供的图3中的A部的放大示意图；
图5是本公开实施例一提供的一种取货机构与待移物件的局部装配俯视图；
图6是本公开实施例一提供的一种取货机构的结构示意图；
图7是本公开实施例一提供的一种取货机构另一角度的结构示意图；
图8是本公开实施例二提供的一种取货机构与待移物件的装配示意图；
图9是本公开实施例二提供的图8中的B部的放大示意图；
图10是本公开实施例二提供的一种取货机构与待移物件的装配俯视图；
图11是图10中C部的放大示意图；
图12是图11中D部第一夹持板的受力示意图；
图13是本公开实施例二提供的一种取货机构的结构示意图；
图14是本公开实施例二提供的一种取货机构另一角度的结构示意图；
图15是本公开实施例二提供的一种取货机构又一角度的结构示意图；
图16是本公开实施例三提供的一种取货机构与待移物件的装配示意图；
图17是本公开实施例三提供的一种取货机构的结构示意图；
图18是本公开实施例三提供的一种待移物件的结构示意图。
附图标识说明：
100-搬运装置；10-取货机构；11-固定件；111-通孔；12-第一夹持板；121-夹持部；122-装配部；123-卡合部；13-第二夹持板；
14-驱动组件；141-驱动电机；142-传动组；143-齿轮；144-齿条；145-减速箱；146-传动件；147-连接臂；148-第四连接件；149-固定条；15-滑动组件；151-滑轨；152-滑块；
16-限位组件；161-第二连接件；162-第三连接件；163-滑动件；164-固定架1；165- 限位轴；167-第一滑槽；168-第二滑槽；169-第三滑槽；17-第一连接件；18-铰接部；19-支架；
20-货叉组件；21-托盘；22-固定座；221-轨道；
30-传动组件；31-第一动轮；32-第二动轮；33-第三动轮；34-第一定轮；35-第二定轮；36-传送带；
200-待移物件；210-凹陷部。
具体实施方式
为使本公开实施例的目的、技术方案和优点更加清楚，下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本公开一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
目前，搬运装置的应用场景可以包括但不仅限于智能仓储系统、智能物流系统、智能分拣系统或者其他需要搬运装置的应用场景等。以智能仓储系统为例，相邻两个货箱之间预留有间距，以便于搬运装置对货箱的拿取和存放。搬运装置主要包括取货机构，这样搬运装置在搬运货箱时，取货机构的夹持臂可以伸入该间距内，并夹持在货箱的相对两侧上，从而实现对货箱的拿取或者存放。
然而，现有取货机构两个夹持臂之间的距离为定值，不可调，所以只能夹持固定尺寸的货箱，而且夹持臂较厚，所以在夹持货箱的两侧时，会使得相邻货箱之间的间距较大。当遇到较小尺寸的货箱时，由于现有取货机构两个夹持臂之间的距离固定，即使能够取到小尺寸的货箱时，也将导致的小尺寸的货箱之间的间距(即箱间距)也会比正常尺寸(智能仓储系统或者其他领域中货箱的绝大多数尺寸)的箱间距更大。因此，现有搬运装置的取货机构不仅适用范围较小，而且会使得相邻货箱之间的间距较大。
为此，本公开实施例提供了一种取货机构及搬运装置，能够对不同尺寸的货箱进行夹持，有助于缩小相邻货箱之间的间距。
下面以智能仓储系统的应用场景为例，对本实施例中的取货机构及搬运装置做进一步阐述。
图1是本公开实施例提供的搬运装置的结构示意图，图2是本公开实施例提供的搬运装置的运动状态示意图。
如图1和图2中所示，本公开实施例提供了一种搬运装置100的整体结构。从图1和图2中可以看出，搬运装置100可以包括本体和设在本体上的取货机构10。其中，本体可以理解为搬运装置100上除取货机构10之外的结构。如图1和图2中所示，本体可以包括机座组件20，机座组件20可以包括托盘21、固定座22和两个传动组件30。托盘21设在固定座22上，并与固定座22滑动连接。传动组件30可以设在固定座22上，并位于托盘21的相对两侧，与托盘21连接，可以使托盘21在朝向或者背离待移物件200的方向上进行往复运动，从而实现对待移物件200的移动。取货机构10可以位于机座组件20的一端，夹持在待移物件200比如货箱的相对两侧上，用于将待移物件200移动至托盘21上，然后将待移物件200放置到智能仓储系统中货架的指定位置(即指定高度)处，或者将待移物件200从货架上搬运至指定的放置平台上，从而实现对待移物件200的拿取或者存放。
其中，托盘21可以通过底部的滑动块(在图中未标示)与固定座22上的轨道221滑动连接。这样当取货机构10移动待移物件200时，托盘21可以相对于固定座22滑动，以伸出固定座22，与待移物件200的底部接触，方便取货机构10将待移物件200移动至托盘21上，或者将托盘21上的待移物件200移动至放置平台上的同时， 还能够避免待移物件200在拿取或者存放的过程中掉落。
或者，作为一种可能的实施方式，当待移物件200位于货架靠近内部的位置(即待移物件200相对于货架的边缘在货架上更靠货架的中部)时，托盘21可以移动至靠近或者与货架边缘相接触的位置，通过取货机构10相对于货架继续向待移物件200的方向延伸，以移动待移物件200。这样在实现对待移物件200移动的同时，同样能够避免待移物件200在拿取或者存放的过程中掉落。
其中，传动组件30可以包括电机(在图中未标示)、动轮组、定轮组和传动带36，动轮组与电机的输出轴连接，传动带36的一端与动轮组固定连接，传动带36的另一端绕设在定轮组上，并与托盘21固定连接。这样当电机转动时，定轮组开始转动，在传动带36的驱动下，通过定轮组改变传动带36的方向，然后通过传动带36带动托盘21相对于固定座22移动，为托盘21相对于固定座22的移动提供动力。
示例性的，动轮组可以包括第一动轮31、第二动轮32和第三动轮33，第一动轮31、第二动轮32和第三动轮33在固定座22的侧壁，并呈如图1中所示的三角形排布，其中第一动轮31与电机的输出轴连接。定轮组可以包括第一定轮34和第二定轮35，第一定轮34和第二定轮35均位于固定座22的底壁上，且第二定轮35靠近托盘21朝向取货机构10的一端(即托盘21的末端)，第一定轮34靠近托盘21远离取货机构10的一端(即托盘21的前端)。传动带36固定在第一动轮31上，并依次绕设在第二动轮32、第三动轮33、第一定轮34和第二定轮35上后，固定在托盘21的末端。这样可以通过电机可以驱动动轮组，进而驱动传动带36的传送方向，为托盘21相对于固定座22的移动提供动力，或者带动托盘21复位。具体，传动组件30可以参考现有技术中搬运装置100的传动组件30，在本实施例中，不在对传动组件30做进一步阐述。
当传动带36为弹性体，比如弹性传动带时，弹性传动带还可以带动相对于固定座22发生移动的托盘21进行复位。
可以理解的是，本实施例示意的结构并不构成对搬运装置100结构的具体限定。在本公开另一些实施例中，搬运装置100可以包括比图示更多或更少的部件，或者组合某些部件，或者拆分某些部件，或者不同的部件布置。
下面对本实施例中搬运装置100的取货机构10做进一步阐述。
实施例一
图3是本公开实施例一提供的一种取货机构与待移物件的装配示意图，图4为本公开实施例提供的图3中的A部的放大示意图，图5是本公开实施例一提供的一种取货机构与待移物件的局部装配俯视图，图6是本公开实施例一提供的一种取货机构的结构示意图，图7是本公开实施例一提供的一种取货机构另一角度的结构示意图。
如图3至图7中所示，本实施例提供了一种取货机构10的整体结构。取货机构10可以包括固定件11、第一夹持板12、第二夹持板13和驱动组件14。第一夹持板12和第二夹持板13在固定件11上相对设置，这样第一夹持板12和第二夹持板13可以在固定件11上呈左右对称设置，以便作用在待移物件200的相对两侧，实现对待移物件200的拿取或者存放。
参考图3至图7所示，第一夹持板12和第二夹持板13可以与驱动组件14连接，第一夹持板12和第二夹持板13可以在驱动组件14的作用下相对于固定件11移动，以作用在待移物件200的相对两侧。这样当取货机构10需要适配不同尺寸大小的待移物件200比如货箱时，可以在驱动组件14的驱动下，使得第一夹持板12和第二夹持板13相对于固定件11移动，以作用在待移物件200的相对两侧，实现对待移物件200的移动。
应理解的是，第一夹持板12和第二夹持板13相对于固定件11移动可以理解为第 一夹持板12和第二夹持板13在固定件11上朝着相互靠近(如图5至图7中箭头所示的方向)或者相互远离的方向移动，这样能够改变第一夹持板12和第二夹持板13之间的距离，以便满足更多尺寸大小的待移物件200，扩展取货机构10的适用范围。
由于第一夹持板12和第二夹持板13可相对于固定件11移动，所以第一夹持板12和第二夹持板13之间的距离可以根据待移物件200的尺寸进行调节，这样在满足更多尺寸的待移物件200，使得取货机构10的适用范围更广的同时，相较于现有技术中的取货机构10，在移动较小尺寸的待移物件200时，可以使得较小尺寸的待移物件200之间的间距比正常尺寸的待移物件200之间的间距更小，能够有助于减小相邻待移物件200之间的间距。
与此同时，由于第一夹持板12和第二夹持板13为板状结构，由于板状结构的厚度较小，第一夹持板12和第二夹持板13相较于现有取货机构10的夹持臂具有较小的厚度，因此在实现对待移物件200移动的同时，能够有助于进一步减小相邻移动件之间的间距，以便实现对智能仓储系统的存储空间进行更为合理的利用。因此，本公开提供的取货机构10，能够对不同尺寸的待移物件200进行夹持，有助于缩小相邻待移物件200之间的间距。
作为一种可能的实施方式，第一夹持板12和第二夹持板13可相对于固定件11朝着相反的方向移动(如图5至图7中箭头所示的方向)。或者，第一夹持板12和第二夹持板13中的一个可以在驱动组件14的驱动下相对于固定件11移动，另一个保持相对固定。本实施例中，只要可以实现对第一夹持板12和第二夹持板13之间的距离进行调节，以适应不同尺寸大小的待移物件200，缩小相邻待移物件200之间的间距即可。
具体的，第一夹持板12和第二夹持板13可相对于固定件11水平移动。这样第一夹持板12和第二夹持板13在驱动组件14的驱动下可以通过在固定件11上做水平移动，从而实现对第一夹持板12和第二夹持板13之间距离的调节。
其中，第一夹持板12和第二夹持板13可以夹设在待移物件200的相对两侧，以实现对待移物件200的移动。或者，第一夹持板12和第二夹持板13也可以与待移物件200相卡合，通过拖拽或者其他的方式，实现对待移物件200的移动。这样可以使得第一夹持板12和第二夹持板13的结构更加多样化。
下面以第一夹持板12和第二夹持板13夹设待移物件200的方式为例，对本实施例中的取货机构10做进一步阐述。
具体的，为了便于第一夹持板12和第二夹持板13相对于固定件11的移动，第一夹持板12和第二夹持板13均与固定件11滑动连接。这样在驱动组件14的驱动下，可以使得第一夹持板12和第二夹持板13相对于固定件11的移动更为便捷。
其中，参考图4至图6所示，第一夹持板12可以包括夹持部121和装配部122，夹持部121可以通过装配部122设在固定件11上，并作用在待移物件200的侧壁。第二夹持板13与第一夹持板12的结构相同。也就是说，第二夹持板13的装配部122也作用在待移物件200的侧壁上，从而通过第一夹持部121和第二夹持部121作用在待移物件200的相对的两侧，从而实现对待移物件200的移动和搬运。
具体的，第一夹持板12和第二夹持板13可以为一体式结构，也可以为分体式结构。其中，装配部122可以与固定件11通过滑动或者其他的方式可拆卸连接，在便于第一夹持板12和第二夹持板13相对于固定件11的移动的同时，能够便于取货机构10的安装和拆卸。
示例性，参考图4至图6所示，夹持部121可以与装配部122相互垂直。也就是说，夹持部121垂直于装配部122，这样第一夹持板12和第二夹持板13可以看作“L”形结构的板状结构，以便于待移物件200比如货箱的侧壁具有更高的贴合程度，进而 提高对待移物件200的夹持效果。
具体的，如图4和图7中所示，取货机构10可以包括滑动组件15，第一夹持板12和第二夹持板13均可以通过滑动组件15与固定件11滑动连接，以便实现第一夹持板12和第二夹持板13相对于固定件11的移动。
其中，滑动组件15可以包括滑轨151和与滑轨151相适配的滑块152。滑轨151和滑块152的其中一者可以位于固定件11上，另一者可以位于第一夹持板12和第二夹持板13朝向固定件11的一面上。这样在确保第一夹持板12和第二夹持板13与固定件11滑动连接的同时，能够使得滑动组件15的设置方式更加多样化。
示例性的，如图4和图7中所示，滑轨151可以通过螺纹、卡接或者其他的方式固定件11上，相应的，滑块152可以固定在第一夹持板12和第二夹持板13。其中，本实施例中，第一夹持板12和第二夹持板13的装配部122上分别设有一个滑块152，与固定件11上的滑轨151滑动连接。
其中，滑轨151位于固定件11上时，滑轨151可以为连续型结构(如图3、图4和图7中所示)，或者，滑轨151也可以分段型结构(多段型结构)。这样在确保第一夹持板12和第二夹持板13与固定件11滑动连接，并可相对于固定件11移动的同时，能够使得滑轨151的结构更加多样化。
需要说明的是，当滑轨151为分段型结构时，滑轨151的长度应满足第一夹持板12和第二夹持板13的最大滑动行程。
作为一种可能的实施方式，滑动组件15可以与驱动组件14相邻设置(如图3、图4和图7中所示)。也就是说，滑动组件15在固定件11上可以靠近驱动组件14设置。或者，滑动组件15也可以与驱动组件14位于固定件11的不同高度处。也就是说，滑动组件15在固定件11上可以与驱动组件14之间具有间距，这样能够使得滑动组件15的设置位置更加多样化。
具体的，参考图3至图7所示，驱动组件14可以包括驱动电机141和传动组142，驱动电机141可以通过传动组142分别与第一夹持板12和第二夹持板13连接，传动组142用于在驱动电机141的驱动下，以使第一夹持板12和第二夹持板13可相对于固定件11移动。这样可以通过第一夹持板12和第二夹持板13可相对于固定件11的移动，对第一夹持板12和第二夹持板13之间距离进行调节，以适应不同尺寸大小的待移物件200，提高取货机构10适用性的同时，能够减小相邻待移物件200之间的间距。
作为一种可能的实施方式，如图4至图7中所示，传动组142可以包括齿轮143和两个齿条144，齿轮143与驱动电机141的输出轴连接；两个齿条144分别与第一夹持板12和第二夹持板13连接，并与齿轮143的相对两侧啮合。在齿轮143的转动下，两个齿条144相对于齿轮143对发生相对移动，以可带动第一夹持板12和第二夹持板13在固定件11上朝着相互靠近或者远离的方向移动。
示例性的，当驱动电机141驱动齿轮143顺时针旋转时，由于两个齿条144与齿轮143的两侧啮合，所以在齿轮143的转动下，两个齿条144会相对于齿轮143朝向相互靠近的方向移动，从而带动第一夹持板12和第二夹持板13在固定件11上朝着相互靠近的方向移动，以缩短第一夹持板12和第二夹持板13之间的距离，适应较小尺寸的待移物件200。
相反的，当驱动电机141驱动齿轮143逆时针旋转时，由于两个齿条144与齿轮143的两侧啮合，所以在齿轮143的转动下，两个齿条144会相对于齿轮143朝向相互远离的方向移动，从而带动第一夹持板12和第二夹持板13在固定件11上朝着相互远离的方向移动，以增大第一夹持板12和第二夹持板13之间的距离，适应较大尺寸的待移物件200。
进一步的，传动组142还可以包括减速箱145，减速箱145的一端与驱动电机141的输出轴连接，减速箱145的另一端与齿轮143连接，驱动电机141通过减速箱145与齿轮143连接。这样由于减速箱145具有自锁功能，当驱动组件14驱动第一夹持板12和第二夹持板13通过夹设作用于待移物件200的相对两侧进行取货时，待移物件200与第一夹持板12和第二夹持板13之间具有摩擦力，取货机构10利用摩擦力将待移物件200移动至托盘21上。
示例性的，驱动电机141可以为伺服电机。减速箱145可以为蜗轮蜗杆减速箱、行星齿轮减速箱或者其他具有自锁功能的减速装置。在本实施例中，对于减速箱145的种类并不做进一步限定。
需要说明的是，当需要通过取货机构10将待移物件200放置到货架的指定位置或者其他放置平台上时，可以直接通过取货机构10将待移物件200通过推动的方式将待移物件200推动至货架的指定位置或者其他放置平台，从而实现对待移物件200的存放。
进一步的，参考图4、图6和图7中所示，传动组142还可以包括第四连接件148，第一夹持板12和第二夹持板13均可以通过第四连接件148与齿条144固定连接，以便在齿条144移动时，通过第四连接件148可以带动第一夹持板12和第二夹持板13相对于固定件11移动。
具体的，传动组142可以位于固定件11上与第一夹持板12和第二夹持板13相对的一侧。也就是说，传动组142可以与第一夹持板12和第二夹持板13位于固定件11的相对两侧。这样在实现对第一夹持板12和第二夹持板13驱动的同时，能够避免驱动组件14对待移物件200的夹持造成干扰。
其中，固定件11上具有通孔111，第四连接件148可以设在第一夹持板12和第二夹持板13上，并伸出通孔111与齿条144固定连接。这样能够使得传动组142可以与第一夹持板12和第二夹持板13位于固定件11的相对两侧。
示例性的，本实施例中，固定件11可以为板状结构。第四连接件148可以为L形的弯折板，以便于第四连接件148与第一夹持板12、第二夹持板13和齿条144的固定。通孔111可以为固定件11上可供第四连接件148伸出的条形孔。
需要说明的是，本实施例中的传动组142还可以为其他的结构，在下文中会结合取货机构10对其他的传动组142的结构进行阐述。
本公开提供的取货机构的第一夹持板和第二夹持板在固定件上相对设置，并与驱动组件连接，在驱动组件的驱动下，第一夹持板和第二夹持板可相对于固定件移动，以作用在待移物件的相对两侧，能够对不同尺寸的待移物件进行夹持，使得取货机构的适用范围更广的同时，有助于缩小相邻待移物件之间的间距。
实施例二
图8是本公开实施例二提供的一种取货机构待移物件的装配示意图，图9是本公开实施例二提供的图8中的B部的放大示意图，图10是本公开实施例二提供的一种取货机构与待移物件的装配俯视图，图11是图10中C部的放大示意图，图12是图11中D部第一夹持板的受力示意图，图13是本公开实施例二提供的一种取货机构的结构示意图，图14是本公开实施例二提供的一种取货机构另一角度的结构示意图，图15是本公开实施例二提供的一种取货机构又一角度的结构示意图。
如图8至图10中所示，本实施例提供了另一种取货机构10。在上述实施例一的基础上，本实施例中，取货机构10还可以包括第一连接件17，第一夹持板12和第二夹持板13的装配部122均与第一连接件17铰接(如图13中所示)，装配部122和第一连接件17之间具有铰接部18。由于第一夹持板12和第二夹持板13的装配部122均与第一连接件17铰接，因此在取货机构10移动待移物件200进行取货时，在第一 夹持板12和第二夹持板13与待移物件200之间摩擦力的作用下，第一夹持板12和第二夹持板13还可绕着铰接部18朝向待移物件200的方向旋转(如图10至图12中箭头所示的旋转方向)，以夹设在待移物件200的相对两侧，从而将实施例一的基础上，将待移物件200夹持的更紧。
参考图11和图12中所示，当第一夹持板12和第二夹持板13夹持在待移物件200的相对两侧，并朝向图11中所示的X方向移动时，与此同时，待移物件200相对于第一夹持板12和第二夹持板13有朝Y方向运动的趋势。示例性的，以第一夹持板12为分析对象，待移物件200对第一夹持板12有正压力Fn和摩擦力f，Fn由驱动电机141通过传动组142产生，f由待移物件200的运动趋势产生，且f＝μxFn，其中μ为夹持板和待移物件200之间的摩擦系数。
如图12中所示，第一夹持板12和第一连接件17在铰接部18相对固定，因此，在f的作用下，f通过力臂a能够驱使第一夹持板12沿着w方向旋转。相应的，在Fn的作用下，Fn通过力臂b能够驱使第一夹持板12沿着与w相反的方向旋转。由于如实施例一中所描述的，取货机构10利用摩擦力将待移物件200移动至托盘21上，因此，f x a＝μx Fn x a＞Fn x b，即μx a＞b，故第一夹持板12最终会绕铰链部沿w方向旋转，将待移物件200夹得更紧。相应的，第二夹持板13的受力可以参考上述对于第一夹持板12的受力分析。
其中，本实施例中，参考图13所示，装配部122可以通过第一连接件17与固定件11滑动连接。第一夹持板12和第二夹持板13的滑块152可以设在第一连接件17上，并与固定件11上的滑轨151活动连接。
进一步的，参考图13至图15所示，取货机构10还可以包括限位组件16，限位组件16用于对第一夹持板12和第二夹持板13的移动进行限位，使得第一夹持板12和第二夹持板13相对于固定件11的移动更加平稳。
具体的，参考图14和图15所示，限位组件16可以包括第二连接件161、第三连接件162和固定在固定件11上的滑动件163。第二连接件161上具有第一滑槽167，并与第一夹持板12连接；第三连接件162上具有第二滑槽168，并与第二夹持板13连接，滑动件163贯穿第一滑槽167和第二滑槽168。这样在第一夹持板12和第二夹持板13与固定件11滑动连接，以及在驱动组件14的基础上，能够通过限位组件16对第一夹持板12和第二夹持板13相对于固定件11的水平移动进行限位，使得第一夹持板12和第二夹持板13可以安装预设的轨迹进行移动。与此同时，由于滑动件163固定在固定件11上，因此，滑动件163可以看作第一夹持板12和第二夹持板13相对于待移物件200旋转时的支点或者定点，能够使得第一夹持板12和第二夹持板13绕铰接部18的旋转角度保持一致。
需要说明的是，第二连接件161和第三连接件162的部分均伸出固定件11，其中，第一滑槽167和第二滑槽168位于固定件11上与第一夹持板12和第二夹持板13相对的一侧。
进一步的，参考图14和图15所示，限位组件16还可以包括设在固定件11上的固定架164，固定架164具有两个相对设置的第三滑槽169，第二连接件161和第三连接件162的部分穿设在固定架164内，滑动件163贯穿第一滑槽167、第二滑槽168和第三滑槽169，并固定在固定架164内。这样滑动件163可以穿设在第一滑槽167、第二滑槽168内的同时，可以通过固定架164固定在固定件11上。
示例性的，限位组件16还可以包括限位轴165，滑动件163通过限位轴165固定在固定架164内，从而实现滑动件163在固定件11上的固定安装。
其中，第一滑槽167和第二滑槽168平行且相互重叠，第三滑槽169与第一滑槽167和第二滑槽168垂直。这样在实现第一夹持板12和第二夹持板13的移动进行限 位的同时，可以确保在驱动组件14的驱动下可以相对于固定件11水平移动。
具体的，第二连接件161可以通过第一连接件17与第一夹持板12连接，可以通过第一连接件17与第二夹持板13连接。这样可以实现的对第二连接件161和第三连接件162的固定。
本公开提供的取货机构的第一夹持板和第二夹持板通过与第一连接件铰接，在能够对不同尺寸的待移物件进行夹持，缩小相邻待移物件之间的间距的同时，能够使得第一夹持板和第二夹持板对于待移物件具有更好的夹持效果。
实施例三
图16是本公开实施例三提供的一种取货机构与待移物件的装配示意图，图17是本公开实施例三提供的一种取货机构的结构示意图，图18是本公开实施例三提供的一种待移物件的结构示意图。
在上述实施例的基础上，如图16至图17中所示，本实施例提供了另一种取货机构10。与上述实施例中的取货机构10不同之处在于，本实施例中取货机构10的第一夹持板12和第二夹持板13可以与待移物件200相卡合。
进一步的，参考图16和图17所示，第一夹持板12还可以包括卡合部123，卡合部123可以设在夹持部121远离装配部122的一端(即如图16和图17中所示的夹持部121的前端)，并朝向待移物件200的一面，以与待移物件200的侧壁相卡合。由于第二夹持板13和第二夹持板13具有同样的结构，第二夹持板13上在与第一夹持板12的相对位置处也设有卡合部123。这样第一夹持板12和第二夹持板13可以通过卡合部123与待移物件200的侧壁相卡合(如图16中所示)，通过拖拽的方式，实现对待移物件200的拿取。
相应的，参考图18所示，待移物件200相对的两侧上分别设有与卡合部123结构相适配的凹陷部210，这样能够便于第一夹持板12和第二夹持板13的卡合部123可以卡合在待移物件200两侧的凹陷部210，从而实现与待移物件200的卡合。
示例性的，卡合部123可以为如图16和图17中所示的倒钩形的卡勾。相应的，凹陷部210可以为与倒钩形结构相适配的卡槽。这样卡合部123可以卡合在卡槽的以便，从而可以通过拖拽的方式，实现对待移物件200的拿取。
其中，本实施例中，固定件11上的滑轨151可以为分段型或者多段型结构(如图17中所示)。滑动组件15与驱动组件14可以位于固定件11的不同高度处。这样能够使得第一夹持板12和第二夹持板13在固定件11上的安装更加稳固。
需要说明的是，由于第一夹持板12和第二夹持板13通过卡合部123与待移物件200的侧壁相卡合，因此本实施例中取货机构10对于第一夹持板12和第二夹持板13的夹持力要求较小，对于第一夹持板12和第二夹持板13之间的距离的调节的精度要求较高。所以本实施例可以采用上述实施例中的驱动组件14。
作为另一种可能的实施方式，参考图16和图17所示，传动组142可以包括传动件146和两个相对设置的连接臂147，传动件146与驱动电机141的输出轴连接，并可绕输出轴转动。两个连接臂147可以位于传动件146的相对两侧，以分别对应第一夹持板12和第二夹持板13。连接臂147的第一端可以连接至传动件146，连接臂147在传动件146上的连接点和输出轴之间具有间距。也就是说，连接臂147在传动件146上的连接点与驱动电机141的输出轴之间呈偏心设置。连接臂147的第二端可以连接第一夹持板12或者第二夹持板13。这样在驱动电机141的驱动下，传动件146可以带动两个连接臂147一同旋转，从而驱动第一夹持板12和第二夹持板13相对于固定件11朝着相互靠近或者远离的方向移动，进而对第一夹持板12和第二夹持板13之间距离进行调节，以适应不同尺寸大小的待移物件200的同时，有助于缩小相邻待移物件200之间的间距。
示例性的，与实施例一中所描述的驱动方式相同，如图17中所示，当驱动电机141驱动传动件146顺时针旋转时，在传动件146的带动下，两个连接臂147会相对于传动件146朝向相互靠近的方向移动，从而带动第一夹持板12和第二夹持板13在固定件11上朝着相互靠近的方向移动。
相反的，当驱动电机141驱动传动件146逆时针旋转时，在传动件146的带动下，两个连接臂147会相对于传动件146朝向相互远离的方向移动，从而带动第一夹持板12和第二夹持板13在固定件11上朝着相互远离的方向移动。
具体的，连接臂147的第二端可以通过固定条149与第一夹持板12或者第二夹持板13连接。固定条149的一端可以与连接臂147的第二端铰接，固定条149的第二端可以与第一夹持板12或者第二夹持板13固定连接，以便通过连接臂147可以带动第一夹持板12和第二夹持板13相对于固定件11的移动。
示例性的，连接臂147可以为弧形臂或者其他形状的连接结构。
为了实现对驱动电机141的固定，驱动电机141还可以通过支架19固定在固定件11上。在本实施例中，对于支架19的结构并不做进一步限定。
本公开提供的取货机构，通过在第一夹持板和第二夹持板上设置卡合部，在能够对不同尺寸的待移物件进行夹持，缩小相邻待移物件之间的间距的同时，能够使得取货机构的结构更加多样化。
在本公开的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本公开和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本公开的限制。
在本公开的描述中，需要理解的是，本文中使用的术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等应做广义理解，例如可以是固定连接，也可以是可拆卸连接，或成为一体；可以是直接相连，也可以通过中间媒介间接相连，可以使两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本公开中的具体含义。此外，术语“第一”、“第二”等仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。
最后应说明的是：以上各实施例仅用以说明本公开的技术方案，而非对其限制；尽管参照前述各实施例对本公开进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本公开各实施例技术方案的范围。

Claims (27)

  1. 一种取货机构，其特征在于，包括固定件、第一夹持板、第二夹持板和驱动组件，所述第一夹持板和所述第二夹持板在所述固定件上相对设置，并与所述驱动组件连接，所述第一夹持板和所述第二夹持板可在所述驱动组件的作用下相对于所述固定件移动，以作用在待移物件的相对两侧。
  2. 根据权利要求1所述的取货机构，其特征在于，所述第一夹持板和所述第二夹持板可相对于所述固定件朝着相反的方向移动。
  3. 根据权利要求2所述的取货机构，其特征在于，所述第一夹持板和所述第二夹持板可相对于所述固定件水平移动。
  4. 根据权利要求1所述的取货机构，其特征在于，所述第一夹持板和所述第二夹持板夹设在所述待移物件的相对两侧；
    或者，所述第一夹持板和所述第二夹持板与所述待移物件相卡合。
  5. 根据权利要求1所述的取货机构，其特征在于，所述第一夹持板和所述第二夹持板均与所述固定件滑动连接。
  6. 根据权利要求1-5中任意一项所述的取货机构，其特征在于，所述第一夹持板包括夹持部和装配部，所述夹持部通过所述装配部设在所述固定件上，并作用在所述待移物件的侧壁，所述第二夹持板与所述第一夹持板的结构相同。
  7. 根据权利要求6所述的取货机构，其特征在于，所述夹持部与所述装配部相互垂直。
  8. 根据权利要求6所述的取货机构，其特征在于，还包括第一连接件，所述第一夹持板和所述第二夹持板的装配部均与所述第一连接件铰接，所述装配部和所述第一连接件之间具有铰接部，所述第一夹持板和所述第二夹持板均可绕着所述铰接部朝向所述待移物件的方向旋转，以夹设在所述待移物件的相对两侧。
  9. 根据权利要求8所述的取货机构，其特征在于，所述装配部通过所述第一连接件与所述固定件滑动连接。
  10. 根据权利要求8所述的取货机构，其特征在于，所述取货机构还包括限位组件，所述限位组件用于对所述第一夹持板和所述第二夹持板的移动进行限位。
  11. 根据权利要求10所述的取货机构，其特征在于，所述限位组件包括第二连接件、第三连接件和固定在所述固定件上的滑动件；所述第二连接件上具有第一滑槽，并与所述第一夹持板连接；所述第三连接件上具有第二滑槽，并与所述第二夹持板连接，所述滑动件贯穿所述第一滑槽和所述第二滑槽。
  12. 根据权利要求11所述的取货机构，其特征在于，所述限位组件还包括设在所述固定件上的固定架，所述固定架具有两个相对设置的第三滑槽，所述第二连接件和所述第三连接件的部分穿设在所述固定架内，所述滑动件贯穿所述第一滑槽、所述第二滑槽和所述第三滑槽，并固定在所述固定架内。
  13. 根据权利要求12所述的取货机构，其特征在于，所述限位组件还包括限位轴，所述滑动件通过所述限位轴固定在所述固定架内。
  14. 根据权利要求12所述的取货机构，其特征在于，所述第一滑槽和所述第二滑槽平行且相互重叠，所述第三滑槽与所述第一滑槽和所述第二滑槽垂直。
  15. 根据权利要求11所述的取货机构，其特征在于，所述第二连接件通过所述第一连接件与所述第一夹持板连接，所述第三连接件通过所述第一连接件与所述第二夹持板连接。
  16. 根据权利要求6所述的取货机构，其特征在于，所述第一夹持板还包括卡合部，所述卡合部设在所述夹持部远离所述装配部的一端，并朝向所述待移物件的一面，以与所述待移物件的侧壁相卡合。
  17. 根据权利要求16所述的取货机构，其特征在于，所述待移物件相对的两侧上分别设有与所述卡合部结构相适配的凹陷部。
  18. 根据权利要求17所述的取货机构，其特征在于，所述卡合部为卡勾，所述凹陷部为卡槽。
  19. 根据权利要求5所述的取货机构，其特征在于，包括滑动组件，所述第一夹持板和所述第二夹持板均通过所述滑动组件与所述固定件滑动连接。
  20. 根据权利要求19所述的取货机构，其特征在于，所述滑动组件包括滑轨和与所述滑轨相适配的滑块，所述滑轨和所述滑块的其中一者位于所述固定件上，另一者位于所述第一夹持板和所述第二夹持板朝向所述固定件的一面上。
  21. 根据权利要求1-5中任意一项所述的取货机构，其特征在于，所述驱动组件包括驱动电机和传动组，所述驱动电机通过传动组分别与所述第一夹持板和所述第二夹持板连接，所述传动组用于在所述驱动电机的驱动下，以使所述第一夹持板和所述第二夹持板可相对于所述固定件移动。
  22. 根据权利要求21所述的取货机构，其特征在于，所述传动组包括齿轮和两个齿条，所述齿轮与所述驱动电机的输出轴连接；两个所述齿条分别与所述第一夹持板和所述第二夹持板连接，并与所述齿轮的相对两侧啮合；在所述齿轮的转动下，两个所述齿条可带动所述第一夹持板和所述第二夹持板在所述固定件上朝着相互靠近或者远离的方向移动。
  23. 根据权利要求22所述的取货机构，其特征在于，所述传动组还包括减速箱，所述减速箱的一端与所述驱动电机的输出轴连接，所述减速箱的另一端与所述齿轮连接。
  24. 根据权利要求22所述的取货机构，其特征在于，所述传动组还包括第四连接件，所述第一夹持板和所述第二夹持板均通过所述第四连接件与所述齿条固定连接，所述传动组位于所述固定件上与所述第一夹持板和所述第二夹持板相对的一侧。
  25. 根据权利要求22所述的取货机构，其特征在于，所述传动组包括传动件和两个相对设置的连接臂，所述传动件与所述驱动电机的输出轴连接，并可绕所述输出轴转动；两个所述连接臂位于所述传动件的相对两侧，以分别对应所述第一夹持板和所述第二夹持板；
    所述连接臂的第一端连接至所述传动件，所述连接臂在所述传动件上的连接点和所述输出轴之间具有间距，所述连接臂的第二端连接所述第一夹持板或者所述第二夹持板。
  26. 根据权利要求25所述的取货机构，其特征在于，所述连接臂为弧形臂。
  27. 一种搬运装置，其特征在于，包括本体和设在所述本体上的如权利要求1-26中任意一项中所述的取货机构。
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