WO2024001731A1 - Pickup device and transport robot - Google Patents

Abstract

A pickup device (300) and a transport robot, which relate to the technical field of intelligent warehousing logistics. The pickup device (300) comprises a bottom plate (10), a width-adjustment driving mechanism (20), a connector (30) and two fork arms (40), wherein the bottom plate (10) is provided with a first through groove (110); at least one of the two fork arms (40) is slidably connected to the bottom plate (10); the width-adjustment driving mechanism (20) comprises a width adjustment transmission assembly (220) and a width-adjustment power member (210); the width-adjustment transmission assembly (220) is mounted on the side of the bottom plate (10) away from the fork arm (40); the width-adjustment power member (210) is mounted on the bottom plate (10), and is connected to the width-adjustment transmission assembly (220); and the connector (30) penetrates the first through groove (110), a first end of the connector is connected to the width-adjustment transmission assembly (220), and a second end thereof is connected to the fork arm (40), which is slidably connected to the bottom plate (10). The utilization rate of the internal space of the pickup device (300) can be improved by means of the pickup device (300).

Description

Pick-up devices and handling robots

This application claims priority to the Chinese patent application filed with the China Patent Office on June 30, 2022, with the application number 202221704566.9 and the application name "pickup device and handling robot", the entire content of which is incorporated into this application by reference.

Technical field

Embodiments of the present disclosure belong to the field of intelligent logistics technology, and particularly relate to a pickup device and a handling robot.

Background technique

In warehousing and logistics systems, transport robots are usually used to transport cargo boxes. The transport robot has a pickup device for picking up and placing goods. The pickup device usually has the function of adjusting the pickup width to pick up and place boxes of different sizes, thereby increasing the scope of application of the handling robot.

In the related art, a pickup device usually includes a base plate, a width-adjusting driving mechanism and two fork arms. The two fork arms are opposite and spaced apart, and are both slidingly connected to the base plate along the first direction. The width adjustment mechanism is installed on the bottom plate. The width adjustment mechanism connects the two fork arms to drive the two fork arms toward or away from each other along the first direction, thereby adjusting the width between the two fork arms to pick and place different widths. cargo box.

However, in the pick-up device in the related art, the adjustment drive mechanism occupies the space above the bottom plate for storing the cargo box, which reduces the utilization of the internal space of the pick-up device, thereby increasing the volume of the pick-up device.

Application content

In view of this, embodiments of the present disclosure provide a picking device and a transport robot to solve the technical problem of adjusting the driving mechanism to occupy the space above the bottom plate for transporting cargo boxes, thereby reducing the internal space utilization of the picking device.

A first aspect of an embodiment of the present disclosure provides a pickup device, which includes a base plate, a width-adjusting driving mechanism, a connector, and two fork arms. The base plate is provided with a first through slot along a first direction; and the two fork arms Both are located on the same side of the bottom plate and are arranged along the second direction. There is a first interval between the two fork arms along the first direction. At least one of the fork arms and the bottom plate are arranged along the first direction. One direction is slidingly connected; the second direction is perpendicular to the first direction and parallel to the bottom plate; the width-adjusting driving mechanism includes a width-adjusting transmission assembly and a width-adjusting power part, and the width-adjusting transmission assembly is installed on the The side of the bottom plate facing away from the fork arm; the width-adjusting power component is installed on the bottom plate and connected to the width-adjusting transmission assembly; the connecting piece is installed in the first through slot, and its third One end is connected to the width-adjusting transmission assembly, and its second end is connected to the fork arm slidingly connected to the base plate; the width-adjusting power part drives the width-adjusting transmission assembly, and the width-adjusting transmission assembly passes The connecting piece drives the fork arms to slide relative to the bottom plate along the first direction, so that the two fork arms move away from or approach each other.

In the pick-up device according to the embodiment of the present disclosure, when the width-adjusting power part moves, it drives the width-adjusting transmission assembly to move. The width-adjusting transmission assembly drives the fork arms to slide in the first direction relative to the bottom plate through the connecting piece passed through the first through slot, thereby adjusting the distance between the two fork arms in the first direction, so that the disclosure can be implemented The pickup device of the example can pick up and place cargo boxes of different sizes, which increases the scope of application of the pickup device. In addition, the width-adjusting transmission assembly is located below the bottom plate to prevent the width-adjusting transmission assembly from occupying the space above the bottom plate for storing cargo boxes, thereby improving the space utilization inside the pickup device, reducing the volume of the pickup device, and thus enabling Reduce the energy consumption of handling robots.

In some implementations that may include the above embodiments, the width-adjusting power component includes a first motor, the first motor is installed on the base plate, the base plate is provided with a first through hole, and the first motor The motor shaft passes through the first through hole and extends out of the bottom plate; the width-adjusting transmission assembly includes a first main transmission wheel, a first slave transmission wheel and a first transmission belt, and the first main transmission wheel sleeve Connected to the motor shaft of the first motor; there is a second interval between the first slave transmission wheel and the first main transmission wheel along the first direction, and the axis of the first slave transmission wheel is The axis of the first main transmission wheel is parallel; the first transmission belt is sleeved on the first main transmission wheel and the first slave transmission wheel, and the first end of the connecting piece is connected to the first transmission belt ; The first motor drives the first transmission belt to move through the first main transmission wheel, and the first transmission belt drives the fork arm to slide along the first direction relative to the base plate through the connecting piece.

In some implementations that may include the above embodiments, the connector includes a first connection plate and a second connection plate that are oppositely arranged, the first connection plate has a second through-slot, and the first connection plate passes through the second through-slot. The second through slot is sleeved on the first transmission belt and connected to the second connecting plate. connected to clamp the first transmission belt; the second connecting plate is passed through the first through groove, and one end of the second connecting plate is connected to the fork arm.

In some implementations that may include the above embodiments, the first transmission belt has transmission teeth meshed with the first main transmission wheel and the first slave transmission wheel; the second connecting plate is located on the first transmission wheel. A transmission belt has one side of transmission teeth. The side of the second connecting plate facing the first transmission belt is provided with a plurality of mutually parallel and spaced-apart pressing teeth. The transmission teeth mesh with the pressing teeth. .

In some implementations that may include the above embodiments, the first transmission belt has a first moving section and a second moving section opposite to each other, and both the first moving section and the second moving section are located on the first main between the transmission wheel and the first slave transmission wheel; when the first transmission belt moves, the moving directions of the first moving section and the second moving section are opposite; there are two first through-slots, one The first through slot is opposite to the first moving section, and the other first through slot is opposite to the second moving section; both forks slide with the bottom plate in the first direction. For connection, one of the fork arms passes through one of the first through slots and is connected to the first moving section, and the other of the fork arms passes through the other of the first through slots and is connected to the second moving section.

In some implementations that may include the above embodiments, there are two connecting members, one connecting member is passed through one of the first through slots, and its first end is connected to the first moving section, Its second end is connected to one of the fork arms; the other connecting piece is inserted into the other first through groove, its first end is connected to the second moving section, and its second end is connected to the other first through-slot. One of the fork arm connections.

In some implementations that may include the above embodiments, the pickup device further includes a position adjustment component located between the two fork arms for adjusting the position of the cargo box.

In some implementations that may include the above embodiments, the pickup device further includes a sliding assembly that connects the base plate and the fork arm so that the fork arm and the base plate move along the first Directional sliding connection.

In some implementations that may include the above embodiments, the sliding assembly includes a linear guide rail and a slide block, the linear guide rail is disposed along the first direction and is installed on a side of the base plate facing the fork arm; The slide block is slidably mounted on the linear guide rail, and the fork arm is connected to the slide block.

In some implementations that may include the above embodiments, one fork arm is provided with two sliding assemblies corresponding to each other, and the two linear guide rails of the two sliding assemblies are arranged at intervals along the second direction. Both slide blocks of the sliding assembly are connected to the fork arm and the bottom plate.

In some implementations that may include the above embodiments, the fork arm includes a first section arm and at least one second section arm, and the first section arm is slidably connected to the base plate along the first direction; at least one The second section arm is slidingly connected to the first section arm along the second direction; the pickup device also includes a telescopic driving mechanism, the telescopic driving mechanism includes a telescopic power part and a telescopic transmission assembly; the telescopic The transmission assembly connects the first section arm and at least one of the second section arms; the telescopic power part is located between the two first section arms and is connected to the telescopic transmission assembly; the telescopic power part drives The telescopic transmission assembly operates, and the telescopic transmission assembly drives at least one of the second joint arms to slide in the second direction relative to the first joint arm.

In some implementations that may include the above embodiments, the telescopic power member includes a third motor, the third motor is located between the two fork arms and is installed on the base plate; the telescopic transmission assembly It includes a spline shaft, a spline sleeve, a third main transmission wheel, a third transmission belt and a third slave transmission wheel; the spline shaft is arranged along the first direction, and the third motor is connected to the spline shaft, To drive the spline shaft to rotate; the spline sleeve is sleeved on one end of the spline shaft; the third main transmission wheel is sleeved on the spline sleeve and is installed on the spline sleeve. On the first joint arm; the third slave transmission wheel and the third main transmission wheel are arranged at intervals along the second direction, and the axis of the third slave transmission wheel and the axis of the third main transmission wheel Parallel; the third transmission belt is sleeved on the third slave transmission wheel and the third main transmission wheel, and the second joint arm is connected to the third transmission belt.

A second aspect of the embodiment of the present disclosure provides a handling robot, including the pickup device described in any one of the above.

Since the transportation robot in the embodiment of the present disclosure includes the pickup device described in any one of the above, the transportation robot also has the advantages of the pickup device in any of the above embodiments, which will not be described again in the embodiment of the disclosure.

Description of drawings

In order to explain the embodiments of the present disclosure or the technical solutions in the prior art more clearly, the following will The drawings needed to be used in the description of the embodiments or prior art are briefly introduced. It is easy to see that the drawings in the following description are some embodiments of the present disclosure. For those of ordinary skill in the art, without paying any attention to the drawings, Under the premise of creative work, other drawings can also be obtained based on these drawings.

Figure 1 is a schematic structural diagram of a handling robot provided by an embodiment of the present disclosure;

Figure 2 is a schematic structural diagram of the pickup device in Figure 1 from a first perspective;

Figure 3 is a schematic structural diagram of the pickup device in Figure 2 from a second perspective;

Figure 4 is a schematic structural diagram of the pickup device in Figure 2 from a third perspective;

Figure 5 is a schematic structural diagram of the pickup device in Figure 2 from a fourth perspective;

FIG. 6 is an exploded structural diagram of the connector in FIG. 2 .

Explanation of reference symbols:
100-mobile chassis;
200-Support device;
300-pickup device;
400-temporary storage device;
10-base plate;
110-first slot; 120-sliding component;
121-Linear guide rail; 122-Sliding block;
130-mounting frame; 131-bearing;
132-inner ring; 133-outer ring;
20-Width-adjusting drive mechanism;
210-Width-adjusting power parts; 220-Width-adjusting transmission components;
221-The first main transmission wheel; 222-The first slave transmission wheel;
223-the first transmission belt; 224-the first moving section;
225-Second moving segment;
30-Connecting pieces;
310-the first connecting plate; 311-the second through slot;
320-second connection plate; 321-connection part;
322-first connection through hole; 323-pressing teeth;
40- wishbone;
410-The first section of the arm; 420-The second section of the arm;
421-pickup rod; 422-threaded hole;
430-Pushing goods; 431-Connecting plate;
432-second connection through hole; 433-push plate;
440-Adjusting plate; 441-Guide surface;
442-limiting surface;
50-Telescopic drive mechanism;
510-Telescopic power parts; 520-Telescopic transmission components;
521-spline shaft; 522-spline sleeve;
523-The third main transmission wheel; 524-The third transmission belt;
60-Telescopic pallet;
610-butting part; 620-blocking part;
630-Support component; 631-Support frame;
632-Roller; 640-Camera;
70-rotary drive mechanism;
710-Rotating power parts; 720-Rotating transmission components;
721-the second main transmission wheel; 722-the second transmission belt.

Detailed ways

In the related art, the picking device of a handling robot usually includes a base plate, a width-adjusting driving mechanism and two fork arms. The two fork arms are opposite and spaced apart, and are both slidingly connected to the base plate along the first direction. The width adjustment mechanism is installed on the bottom plate. The width adjustment mechanism connects the two fork arms to drive the two fork arms toward or away from each other along the first direction, thereby adjusting the interval between the two fork arms to pick and place different sizes. cargo box. However, in the pick-up device in the related art, the adjustment drive mechanism occupies the space above the bottom plate for storing the cargo box, which reduces the utilization of the internal space of the pick-up device, thereby increasing the volume of the pick-up device.

In view of this, embodiments of the present disclosure provide a cargo pickup device in which the width-adjusting transmission assembly in the width-adjusting driving mechanism is arranged below the bottom plate to prevent the width-adjusting transmission assembly from occupying the space above the bottom plate for storing cargo boxes, thereby The utilization rate of the internal space of the pickup device is improved, and the volume of the pickup device is reduced, thereby reducing the energy consumption of the handling robot.

In order to make the purpose, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments These are some embodiments of the present disclosure, but not all embodiments. Based on the embodiments in this disclosure, those of ordinary skill in the art can obtain the results without any creative efforts. All other embodiments obtained fall within the protection scope of this disclosure.

Referring to FIG. 1 , an embodiment of the present disclosure provides a handling robot, including a mobile chassis 100 , a support device 200 and a pickup device 300 . The mobile chassis 100 has a movement function and can move in response to a signal that the handling robot needs to move. A support device 200 is installed on the mobile chassis 100, and the pickup device 300 is slidably connected to the support device 200 in the vertical direction, that is, along the third direction z shown in Figure 1. The support device 200 is provided with a lifting mechanism (not shown in the drawings). The lifting mechanism is connected to the pickup device 300 and can drive the pickup device 300 to lift along the third direction z. The picking device 300 has the function of picking up and placing cargo boxes, and can pick up and place cargo boxes of different heights driven by a lifting mechanism.

Exemplarily, the handling robot may further include a temporary storage device 400 installed on the mobile chassis 100. The temporary storage device 400 has a plurality of partitions spaced along the third direction z for placing cargo boxes. When picking up and placing cargo boxes, the picking device 300 can place the boxes on the partitions of the temporary storage device 400 for temporary storage, so that the transport robot can transport multiple boxes at the same time during a single transport, which improves the efficiency of transport. Robot handling efficiency.

It can be understood that the items that the transport robot can transport are not limited to cargo boxes. In the embodiment of the present disclosure, cargo boxes are only used as an example. The transport robot in the embodiment of the present disclosure can also be used to transport packaging bags containing goods, or directly transport goods, etc., which will not be described again in the embodiment of the present disclosure.

The picking device 300 also has the function of adjusting the picking width to pick and place cargo boxes of different widths, thereby increasing the applicable scope of the handling robot. Referring to FIGS. 2 and 3 , the picking device 300 may include a base plate 10 , a width-adjusting driving mechanism 20 , a connecting piece 30 and two fork arms 40 . The bottom plate 10 is provided with a first through groove 110 along the first direction x. The two fork arms 40 are located on the same side of the base plate 10 . For example, as shown in FIG. 2 , the two fork arms 40 are both located above the base plate 10 . The two fork arms 40 are both arranged along the second direction y. The second direction y is perpendicular to the first direction x and parallel to the bottom plate 10 . There is a first interval between the two fork arms 40 along the first direction x. That is to say, the two fork arms 40 are spaced apart in the first direction x. At least one fork arm 40 is slidingly connected to the base plate 10 along the first direction x.

The width adjustment drive mechanism 20 includes a width adjustment power part 210 and a width adjustment transmission assembly 220. The width adjustment transmission assembly 220 is installed on the side of the base plate 10 facing away from the fork arm 40. For example, as shown in FIG. 3, the width adjustment transmission assembly 220 is located on the base plate 10. below. The width-adjusting power component 210 is installed on the base plate 10 and connected to the width-adjusting transmission assembly 220 . The connecting piece 30 is inserted into the first through slot 110 , its first end is connected to the width-adjusting transmission assembly 220 , and its second end is connected to the fork arm 40 that is slidingly connected to the base plate 10 . When the width-adjusting power component 210 moves, it can drive the width-adjusting transmission assembly 220 to move. The width-adjusting transmission assembly 220 drives the fork arms 40 to slide relative to the base plate 10 along the first direction The intervals are adjusted so that the two fork arms 40 can pick up cargo boxes of different widths, thereby enabling the picking device 300 to pick up and place cargo boxes of different sizes, thereby increasing the applicable scope of the handling robot.

In addition, in the pick-up device 300 of the embodiment of the present disclosure, the width-adjusting transmission assembly 220 is located on the bottom plate. 10, the width-adjusting transmission assembly 220 can be prevented from occupying the space above the bottom plate 10 for storing cargo boxes, thereby improving the utilization of the internal space of the pickup device 300, reducing the volume of the pickup device 300, and thereby reducing the performance of the handling robot. Consumption.

In some implementations of the embodiments of the present disclosure, one fork arm 40 may be slidably connected to the base plate 10 along the first direction x, and the other fork arm 40 may be fixedly connected to the base plate 10 . When adjusting the pickup width of the pickup device 300 , the distance between two fork arms 40 can be adjusted by changing the relative position between one fork arm 40 and the base plate 10 .

In other implementations of the embodiments of the present disclosure, the two fork arms 40 may also be slidingly connected to the base plate 10 along the first direction x. When adjusting the picking width of the picking device 300, the relative positions between the two fork arms 40 and the base plate 10 can be changed at the same time to adjust the distance between the two fork arms 40, which can reduce the time spent adjusting the fork arms 40. , improve the working efficiency of the handling robot. Moreover, in the process of adjusting the positions of the two fork arms 40, the two fork arms 40 can always be symmetrical with respect to the center line of the base plate 10, so that when picking up the cargo box, the cargo box can always be located on the center line of the base plate 10. The container is less likely to shake, which can improve the stability of the handling robot when handling the container.

For example, referring to FIG. 2 , a sliding assembly 120 is provided between the fork arm 40 and the base plate 10 . The sliding assembly 120 connects the fork arm 40 and the base plate 10 to realize a sliding connection along the first direction x. For example, the sliding assembly 120 may include a linear guide rail 121 and a slide block 122. The linear guide rail 121 is disposed along the first direction x and is installed on a side of the base plate 10 facing the fork arm 40. The slider 122 is slidably mounted on the linear guide rail 121 , and the fork arm 40 is connected to the slider 122 . The linear guide 121 can guide the slider 122 and the fork arm 40 connected to the slider 122 so that the fork arm 40 can slide in the first direction x relative to the base plate 10 .

The number of sliding components 120 may be one or multiple. For example, one fork arm 40 may be provided with two sliding assemblies 120 corresponding to each other. The two linear guide rails 121 of the two sliding assemblies 120 are spaced apart along the second direction y. The two sliding blocks 122 of the two sliding assemblies 120 are connected to the two sliding assemblies 120 . Fork arms 40 and base plate 10 . Both sliding assemblies 120 can guide the sliding of the fork arm 40 along the first direction x to prevent the fork arm 40 from being deflected when sliding under the action of the width-adjusting driving mechanism 20 , thereby improving the sliding of the fork arm 40 time stability.

The width-adjusting driving mechanism 20 is used to drive the fork arm 40 to slide. The width-adjusting driving mechanism 20 includes a width-adjusting power part 210 and a width-adjusting transmission assembly 220 . For example, with reference to FIGS. 2 and 3 , the width-adjusting power member 210 may include a first motor, the first motor is installed on the base plate 10 , the base plate 10 is provided with a first through hole (not shown in the drawings), and the first through hole (not shown in the drawings) is provided with the first motor. The motor shaft of the motor passes through the first through hole and extends out of the base plate 10 to connect to the width-adjusting transmission assembly 220 located below the base plate 10 .

The width-adjusting transmission assembly 220 may include a first main transmission wheel 221 , a first slave transmission wheel 222 and a first transmission belt 223 . The first main transmission wheel 221 is sleeved on the motor shaft of the first motor. There is a second distance between the first slave transmission wheel 222 and the first main transmission wheel 221 along the first direction x. The first slave transmission wheel 222 is The axis of 222 is parallel to the axis of the first main transmission wheel 221. The first transmission belt 223 is sleeved on the first main transmission wheel 221 and the first slave transmission wheel 222 . The first transmission belt 223 connects the first end of the connector 30 .

When adjusting the distance between the two fork arms 40, the first motor operates, the motor shaft of the first motor drives the first main transmission wheel 221 to rotate, and the first main transmission wheel 221 drives the first transmission belt 223 to revolve around the first main transmission wheel 221 and the first slave transmission wheel 222 moves, and the first slave transmission wheel 222 rotates under the action of the first transmission belt 223 . When the first transmission belt 223 moves, the connecting member 30 drives the fork arms 40 to slide relative to the base plate 10 along the first direction Adjustment.

For example, the width adjustment transmission assembly 220 may be a synchronous belt transmission assembly, that is, the first main transmission wheel 221 is the main synchronous wheel, the first slave transmission wheel 222 is the slave synchronous wheel, and the first transmission belt 223 is a synchronous belt. The width adjustment transmission component 220 may also be a chain transmission component. For example, the first main transmission wheel 221 is a driving sprocket, the first slave transmission wheel 222 is a driven sprocket, and the first transmission belt 223 is a chain. It can be understood that the width-adjusting transmission component 220 can also be other transmission components, which will not be described again in this embodiment of the disclosure.

Referring to Figure 3, the first transmission belt 223 has a first moving section 224 and a second moving section 225 that are opposite to each other. The first moving section 224 and the second moving section 225 are located between the first main transmission wheel 221 and the first slave transmission wheel 222. between. When the first transmission belt 223 moves, the first moving section 224 and the second moving section 225 move in opposite directions.

When both forks 40 are slidingly connected to the base plate 10 along the first direction A first through slot 110 is opposite to the second moving section 225 . Both fork arms 40 are slidingly connected with the base plate 10 along the first direction 110 is connected to the second moving section 225.

When the first transmission belt 223 moves under the action of the width adjusting power part 210, the first main transmission wheel 221 and the first slave transmission wheel 222, the first moving section 224 and the second moving section 225 move in opposite directions. The moving section 224 and the second moving section 225 respectively drive the two fork arms 40 toward or away from each other to adjust the distance between the two fork arms 40 so that the two fork arms 40 can handle cargo boxes of different sizes. Clamping is performed, thereby enabling the picking device 300 to pick up and place cargo boxes of different sizes.

Referring to FIG. 3 , there may be two connectors 30 . One connector 30 is inserted into a first through slot 110 , its first end is connected to the first moving section 224 , and its second end is connected to a fork arm 40 connect. Another connecting piece 30 is inserted into the other first through groove 110 , its first end is connected to the second moving section 225 , and its second end is connected to the other fork arm 40 . When the first moving section 224 and the second moving section 225 move in opposite directions, the first moving section 224 and the second moving section 225 respectively drive the two fork arms 40 toward or away from each other through the two connecting members 30 .

For example, referring to FIG. 6 , the connector 30 may include a first connecting plate 310 and a second connecting plate 320 arranged oppositely. The first connecting plate 310 has a second through-slot 311 , and the first connecting plate 310 passes through a second through-slot 311 . The two through grooves 311 are sleeved on the first transmission belt 223 and connected with the second connecting plate 320 to clamp the first transmission belt 223 . The second connecting plate 320 is inserted into the first through slot 110 , and one end of the second connecting plate 320 is connected to the fork arm 40 . For example, as shown in FIG. 6 , a connecting portion 321 is provided at the top of the second connecting plate 320 , and a first connecting through hole 322 is provided on the connecting portion 321 . The connecting portion 321 can be connected to the fork arm 40 through connecting bolts that pass through the first connecting through hole 322 .

When the width-adjusting transmission assembly 220 is a synchronous belt transmission assembly, the first transmission belt 223 has transmission teeth that mesh with the first main transmission wheel 221 and the first slave transmission wheel 222 . Referring to Figure 6, the second connecting plate 320 is located on the side of the first transmission belt 223 with transmission teeth. The second connecting plate 320 is provided with a plurality of parallel and spaced apart pressing teeth 323 on the side facing the first transmission belt 223. The transmission The teeth mesh with the pressing teeth 323 . The meshing pressing teeth 323 and the transmission teeth can increase the contact area between the second connecting plate 320 and the first transmission belt 223, increase the connection strength between the second connecting plate and the first transmission belt 223, thereby ensuring that the connecting parts 30 and the first transmission belt 223.

The width-adjusting transmission assembly 220 drives the fork arm 40 to slide along the first direction x relative to the base plate 10 through the connecting member 30 . When the distance between the two fork arms 40 is adjusted to a suitable width, for example, to match the width of the container to be transported, the fork arms 40 can be controlled to extend or retract to pick up and place the container.

For example, referring to FIGS. 2 and 4 , the fork arm 40 may include a first section arm 410 and at least one second section arm 420 . The first section arm 410 is slidingly connected to the base plate 10 along the first direction x. At least one second section arm 420 is slidingly connected to the first section arm 410 along the second direction y. The pickup device 300 also includes a telescopic driving mechanism 50 , which includes a telescopic power part 510 and a telescopic transmission assembly 520 . The telescopic transmission assembly 520 connects the first section arm 410 and at least one second section arm 420 . The telescopic power member 510 is located between the two first joint arms 410 and is connected to the telescopic transmission assembly 520 . The telescopic power part 510 drives the telescopic transmission assembly 520 to move. The telescopic transmission assembly 520 drives at least one second section arm 420 to slide relative to the first section arm 410 in the second direction y, so as to control the second section arm 420 to move relative to the first section arm 420 . The position of the arm 410 is used to pick and place the cargo box.

For example, referring to FIG. 2 , since the second section arm 420 is slidingly connected to the first section arm 410 along the second direction y, the second section arm 420 can extend relative to the first section arm 410 , that is, the second section arm 420 Able to extend in the negative direction of the second direction y. The extended end of the second joint arm 420 is provided with a pickup rod 421, and the pickup rod 421 is rotationally connected to the extended end of the second joint arm 420. A pushing piece 430 is also connected to the side of the second section arm 420 away from its extended end.

When the picking device 300 picks up the cargo box, for example, when placing the cargo box on the shelf on the bottom plate 10, the telescopic power part 510 drives the telescopic transmission assembly 520 to move, and the telescopic transmission assembly 520 drives the second joint arm 420 relative to the first The joint arms 410 extend toward the direction of the shelf, so that the two second joint arms 420 of the two fork arms 40 are respectively located on both sides of the cargo box, and the extended ends of the two second joint arms 420 exceed the cargo box. The back. The pickup lever 421 rotates to a horizontal position relative to the extended end of the second joint arm 420 . Then, the telescopic power part 510 drives the telescopic transmission assembly 520 to act again, and the telescopic transmission assembly 520 drives the second The joint arm 420 and the picking rod 421 are retracted in a direction away from the shelf relative to the first joint arm 410 . During the retraction process, the horizontal pickup rod 421 contacts the back of the cargo box and pulls the cargo box, so that the cargo box can follow the pickup rod 421 and the second joint arm 420 to slide in the direction close to the first joint arm 410. Until the cargo box is pulled onto the base plate 10.

The picking device 300 may also include a position adjustment assembly located between the two fork arms 40 for adjusting the position of the cargo box when picking up the cargo box. For example, referring to FIG. 2 , the position adjustment assembly includes two adjustment plates 440 that are both perpendicular to the base plate 10 . The two adjustment plates 440 are symmetrically arranged with respect to the center line between the base plates 10 , and the two adjustment plates 440 are respectively connected with the two adjustment plates 440 . A fork arm 40 is connected. Each adjustment plate 440 has a connecting limiting surface 442 and a guiding surface 441 on one side facing the center line of the base plate 10 . The guide surface 441 is connected to one end of the limiting surface 442 and has an included angle with the limiting surface 442 . The distance between the guide surfaces 441 of the two adjustment plates 440 gradually decreases along the pickup direction of the pickup device 300 , that is, toward the positive direction of the second direction y. When the picking device 300 picks up the cargo box, when the picking rod 421 pulls the cargo box, the two guide surfaces 441 guide the cargo box so that the cargo box can enter the two limits under the action of the two guide surfaces 441. Between planes 442, the container is prevented from deflecting during the pulling process, which affects the stability of the handling robot when picking up the container.

When the picking device 300 places the cargo box, for example, the cargo box on the bottom plate 10 is placed on the shelf, the picking rod 421 rotates to a vertical position relative to the second joint arm 420 to prevent the picking rod 421 from blocking the cargo box. . The telescopic power part 510 drives the telescopic transmission assembly 520 to move. The telescopic transmission assembly 520 drives the second arm 420 and the pushing piece 430 to extend toward the shelf. The pushing piece 430 pushes the cargo box located on the bottom plate 10 until the cargo box is moved. Push it to the shelf.

For example, the pushing piece 430 may include a connecting plate 431 and a pushing plate 433 that are perpendicular to each other. The connecting plate 431 is arranged along the first direction x. A plurality of second connection through holes 432 are provided on the connection plate 431 . The pushing plate 433 is arranged along the second direction y for pushing the cargo box. A plurality of threaded holes 422 may be provided on the side of the second joint arm 420 facing the connecting plate 431, and the plurality of threaded holes 422 are arranged along the second direction y. The connecting plate 431 is connected to the second joint arm 420 through connecting bolts that pass through the second connecting through hole 432 and are connected in the threaded hole 422 . Since the second joint arm 420 is provided with a plurality of threaded holes 422, the connecting bolts can be connected to any one of the threaded holes 422. Therefore, the connecting plate 431 and the second joint plate 431 can be adjusted by connecting the connecting bolts to different threaded holes 422. The relative position between the two arms 420 can further adjust the position of the push plate 433 so that the push plate 433 can be adapted to cargo boxes of different sizes.

The number of the second section arm 420 may be one, so as to be suitable for a shelf with a single row of storage positions, that is, a single-deep shelf. For example, referring to FIG. 4 , the telescopic power member 510 may include a third motor located between the two fork arms 40 and installed on the base plate 10 . When the number of the second joint arm 420 is one, the telescopic transmission assembly 520 may include a spline shaft 521, a spline sleeve 522, a third main transmission wheel 523, a third transmission belt 524 and a third slave transmission wheel (not shown in the drawings). Shows). The spline shaft 521 is arranged along the first direction x, and the third motor is connected to the spline shaft 521 to drive the spline shaft 521 to rotate. spline The sleeve 522 is sleeved on one end of the spline shaft 521. The third main transmission wheel 523 is sleeved on the spline sleeve 522 and installed on the first joint arm 410 . The third slave transmission wheel and the third main transmission wheel 523 are arranged at intervals along the second direction y, and the axis of the third slave transmission wheel is parallel to the axis of the third main transmission wheel 523 . The third transmission belt 524 is sleeved on the third slave transmission wheel and the third main transmission wheel 523 , and the second joint arm 420 is connected to the third transmission belt 524 .

The third motor operates, and the motor shaft of the third motor drives the third main transmission wheel 523 to rotate. The third main transmission wheel 523 drives the third transmission belt 524 to move around the third main transmission wheel 532 and the third slave transmission wheel. The wheel rotates under the action of the third transmission belt 524. When the third transmission belt 524 moves, it can drive the second arm 420 to move relative to the first arm 410, so that the second arm 420 extends or retracts relative to the first arm 410 for picking up and placing the cargo box.

The number of the second section arms 420 can also be two. The first section arm 410 and a second section arm 420 are slidingly connected along the second direction y. The second section arm 420 can extend relative to the first section arm 410 or Take back. Another second section arm 420 is slidably connected to the second section arm 420 along the second direction y. The other second section arm 420 can extend or retract relative to the second section arm 420 to be suitable for double-row storage. 3-position shelves, that is, double-deep shelves. When the number of the second section arms 420 is two, the specific structure of the telescopic transmission assembly 520 may refer to the above-mentioned technical solution when the number of the second section arms 420 is one, which will not be described again in the embodiment of this application.

Referring to FIG. 2 , when the fork arm 40 is suitable for a double-deep shelf, a telescopic pallet 60 may also be provided on the base plate 10 , and the telescopic pallet 60 is slidably disposed on the base plate 10 along the second direction y. The telescopic pallet 60 can cooperate with the second section arm 420 of the fork arm 40 and can be extended or retracted relative to the base plate 10 to support the cargo box.

In the double-deep position of the shelf, the storage position close to the handling robot is the first storage position, and the storage position far away from the handling robot is the second storage position. When the picking device 300 picks up the cargo box from the second storage position, the second arm 420 extends to the second storage position in the negative direction of the second direction y, and the telescopic pallet 60 moves toward the second storage position relative to the bottom plate 10 . The negative direction of y extends out. When the pickup rod 421 pulls the cargo box, the cargo box is first placed on the extended telescopic pallet 60, and then the telescopic pallet 60 drives the cargo box to follow the pickup rod 421 and the second joint arm 420 to retract to the base plate 10. Referring to Figure 2, the extended end of the telescopic pallet 60 is also provided with a contact portion 610. When the telescopic pallet 60 extends in the negative direction of the second direction y, the contact portion 610 can be used to contact the shelf, thereby improving the efficiency of the transport robot. stability.

When the picking device 300 places the cargo box on the second storage position, the telescopic pallet 60 , a second joint arm 420 and the picking rod 421 all extend in the negative direction of the second direction y relative to the base plate 10 . For example, a blocking portion 620 is provided on the side of the telescopic pallet 60 away from the abutment portion 610 . The blocking portion 620 can push the cargo box to follow the telescopic pallet 60 to move in the negative direction of the second direction y. Then the second section arm 420 continues to extend in the negative direction of the second direction y, and the pushing piece 430 pushes the cargo box located on the telescopic pallet 60 until the cargo box is pushed to the second storage position of the shelf.

Referring to FIG. 5 , a support assembly 630 is also provided at the bottom of the telescopic pallet 60 . The support assembly 630 may include a support frame 631 and rollers 632 . The support frame 631 is installed on the end of the bottom plate 10 where the cargo box comes in and out, that is, the cargo box entry and exit end. The roller 632 is installed on the support frame 631, the axis of the roller 632 is arranged along the first direction x, and the telescopic tray 60 is pressed against the outer circumferential surface of the roller 632. When the telescopic pallet 60 slides along the second direction y relative to the bottom plate 10 , the rollers 632 can support the telescopic pallet 60 and prevent the telescopic pallet 60 from tipping under the action of the cargo box.

For example, a camera 640 is also provided below the telescopic pallet 60. The camera 640 is located at the goods entry and exit end of the pickup device 300 and can be used to obtain label information attached to the shelf.

Referring to FIG. 3 , the picking device 300 may further include a rotational driving mechanism 70 , which can drive the bottom plate 10 to rotate, so that the picking device 300 can pick up and place goods located in different directions. Referring to Figure 1, a mounting frame 130 may be provided below the base plate 10. The mounting frame 130 is slidably connected to the support device 200 of the handling robot along the third direction z, and is connected to the lifting mechanism in the supporting device 200. The lifting mechanism can drive the mounting frame. 130 and the bottom plate 10 are raised and lowered relative to the supporting device 200 .

The base plate 10 and the mounting bracket 130 can be connected to rotate around the third direction z. For example, referring to FIG. 3 , a bearing 131 may be provided between the base plate 10 and the mounting frame 130 , and the base plate 10 and the mounting frame 130 may be rotationally connected through the bearing 131 . For example, the axis of the bearing 131 is parallel to the third direction z, the inner ring 132 of the bearing 131 is connected to the base plate 10 , and the outer ring 133 of the bearing 131 is connected to the mounting bracket 130 . The rotation driving mechanism 70 is installed on the base plate 10 and connected to the outer ring 133 of the bearing 131 . The rotation drive mechanism 70 can drive the bottom plate 10 to rotate relative to the mounting bracket 130 around the third direction z to adjust the orientation of the cargo box inlet and outlet end of the bottom plate 10 so that the picking device 300 can pick up and place cargo boxes located in different directions.

For example, referring to FIG. 3 , the rotation driving mechanism 70 may include a rotation power part 710 and a rotation transmission assembly 720 . The rotation transmission assembly 720 is located between the base plate 10 and the mounting bracket 130 and is connected to the outer ring 133 of the bearing 131 . The rotating power component 710 is installed on the base plate 10 . The base plate 10 is provided with a second through hole. The motor shaft of the second motor passes through the second through hole and extends out of the base plate 10 to connect with the rotation transmission assembly 720 .

The rotation transmission assembly 720 may include a second main transmission wheel 721, a second slave transmission wheel (not shown in the drawings) and a second transmission belt 722. The second main transmission wheel 721 is sleeved on the motor shaft of the second motor. The two slave transmission wheels are sleeved on the outer ring 133 of the bearing 131. The second transmission belt 722 is sleeved on the second main transmission wheel 721 and the second secondary transmission wheel.

When the base plate 10 is rotated and the second motor operates, the motor shaft of the second motor drives the second main transmission wheel 721 to rotate, the second main transmission wheel 721 drives the second transmission belt 722 to move, the second transmission belt 722 drives the second slave transmission wheel and The outer ring 133 rotates, causing relative rotation between the mounting bracket 130 connected to the outer ring 133 and the bottom plate 10 connected to the inner ring 132 , thereby realizing the rotation of the bottom plate 10 .

For example, the rotation transmission assembly 720 may be a synchronous belt transmission assembly, that is, the second main transmission wheel 721 is the main synchronous wheel, the second slave transmission wheel is the slave synchronous wheel, and the second transmission belt 711 is the synchronous belt. The rotation transmission component 720 may also be a chain transmission component. For example, the second main transmission wheel 721 is a driving sprocket, the second slave transmission wheel is a driven sprocket, and the second transmission belt 711 is a chain. It can be understood that the rotation transmission component 720 can also be other transmission components, which will not be described again in this embodiment of the disclosure.

Referring to Figures 2 and 3, the rotating power component 610 can be arranged symmetrically with the width-adjusting power component relative to the rotation center of the base plate, which can balance the weight distribution of the pickup device 300 so that the center of gravity of the pickup device 300 can be aligned with the rotation center of the base plate 10 overlap, thereby improving the stability of the base plate 10 when rotating and preventing the handling robot from shaking.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present disclosure, but not to limit it; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or substitutions do not deviate from the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present disclosure. scope.

Claims (13)

1. A pick-up device, characterized in that it includes a base plate, a width-adjusting driving mechanism, a connector and two fork arms, and the base plate is provided with a first through slot along a first direction;

   The two fork arms are located on the same side of the bottom plate and are arranged along the second direction. There is a first interval between the two fork arms along the first direction. At least one of the fork arms is connected to the first fork arm. The bottom plate is slidingly connected along the first direction; the second direction is perpendicular to the first direction and parallel to the bottom plate;

   The width-adjusting drive mechanism includes a width-adjusting transmission assembly and a width-adjusting power part. The width-adjusting transmission assembly is installed on the side of the base plate facing away from the fork arm; the width-adjusting power part is installed on the base plate. , and connect the width-adjusting transmission assembly;

   The connecting piece is installed in the first through slot, its first end is connected to the width-adjusting transmission assembly, and its second end is connected to the fork arm slidingly connected to the bottom plate; the width-adjusting power The width-adjusting transmission assembly drives the width-adjusting transmission assembly to move, and the width-adjusting transmission assembly drives the fork arms to slide along the first direction relative to the base plate through the connecting piece, so that the two fork arms move away from or move away from each other. near.
2. The pick-up device according to claim 1, characterized in that the width-adjusting power component includes a first motor, the first motor is installed on the bottom plate, the bottom plate is provided with a first through hole, and the The motor shaft of the first motor passes through the first through hole and extends out of the bottom plate;

   The width-adjusting transmission assembly includes a first main transmission wheel, a first slave transmission wheel and a first transmission belt. The first main transmission wheel is sleeved on the motor shaft of the first motor; the first slave transmission wheel is connected to the first transmission wheel. There is a second interval between the first main transmission wheels along the first direction, the axis of the first slave transmission wheel is parallel to the axis of the first main transmission wheel; the first transmission belt is sleeved on the On the first main transmission wheel and the first slave transmission wheel, the first end of the connecting piece is connected to the first transmission belt;

   The first motor drives the first transmission belt to move through the first main transmission wheel, and the first transmission belt drives the fork arm to slide relative to the base plate in the first direction through the connecting piece.
3. The pick-up device according to claim 2, wherein the connecting piece includes a first connecting plate and a second connecting plate that are oppositely arranged, the first connecting plate has a second through slot, and the first connecting plate The plate is sleeved on the first transmission belt through the second through slot and connected with the second connecting plate to clamp the first transmission belt; the second connecting plate is inserted through the first In the through slot, one end of the second connecting plate is connected to the fork arm.
4. The pickup device according to claim 3, wherein the first transmission belt has transmission teeth meshing with the first main transmission wheel and the first slave transmission wheel;

   The second connecting plate is located on the side of the first transmission belt with transmission teeth, and the second connecting plate is provided with a plurality of pressing teeth parallel to each other and arranged at intervals on the side facing the first transmission belt. The transmission teeth mesh with the pressing teeth.
5. The pick-up device according to claim 2, characterized in that the first transmission belt has a first moving section and a second moving section opposite to each other, and both the first moving section and the second moving section are located on the Between the first main transmission wheel and the first slave transmission wheel; when the first transmission belt moves, the first moving section and the second moving section move in opposite directions;

   There are two first through-slots, one first through-slot is opposite to the first moving section, and the other first through-slot is opposite to the second moving section;

   Both of the fork arms are slidingly connected to the bottom plate along the first direction, one of the fork arms passes through one of the first through slots and is connected to the first moving section, and the other of the fork arms passes through Connected to the second moving section through another first through slot.
6. The pick-up device according to claim 5, characterized in that there are two connecting members, one of the connecting members is inserted into one of the first through slots, and its first end is connected to the first moving member. segment connection, its second end is connected to one of the fork arms; the other connecting member is inserted into the other first through slot, its first end is connected to the second moving segment, and its second The end is connected to the other said fork arm.
7. The pick-up device according to claim 5, characterized in that the pick-up device further includes a position adjustment component, the position adjustment component is located between the two fork arms and is used to adjust the position of the cargo box.
8. The pick-up device according to any one of claims 1 to 7, characterized in that the pick-up device further includes a sliding assembly, the sliding assembly connects the bottom plate and the fork arm, so that the fork arm and The bottom plate is slidably connected along the first direction.
9. The picking device according to claim 8, characterized in that the sliding assembly includes a linear guide rail and a slide block, the linear guide rail is arranged along the first direction and is installed on the bottom plate facing the fork arm. On one side; the slider is slidably mounted on the linear guide rail, and the fork arm is connected to the slider.
10. The picking device according to claim 9, characterized in that one pair of fork arms Two sliding assemblies should be provided, the two linear guide rails of the two sliding assemblies are arranged at intervals along the second direction, and the two sliding blocks of the two sliding assemblies are connected to the fork. arms and the base plate.
11. The picking device according to any one of claims 1 to 7, characterized in that the fork arm includes a first section arm and at least one second section arm, and the first section arm and the bottom plate extend along the Slidingly connected in the first direction; at least one second section arm and the first section arm are slidingly connected along the second direction;

    The pickup device also includes a telescopic drive mechanism, which includes a telescopic power part and a telescopic transmission assembly; the telescopic transmission assembly connects the first section arm and at least one of the second section arms; the telescopic transmission assembly connects the first section arm and at least one of the second section arms; The power component is located between the two first joint arms and is connected to the telescopic transmission component; the telescopic power component drives the telescopic transmission component to move, and the telescopic transmission component drives at least one of the second joint arms to face each other. The first section arm slides in the second direction.
12. The pickup device according to claim 11, wherein the telescopic power member includes a third motor, the third motor is located between the two fork arms and is installed on the bottom plate;

    The telescopic transmission assembly includes a spline shaft, a spline sleeve, a third main transmission wheel, a third transmission belt and a third slave transmission wheel; the spline shaft is arranged along the first direction, and the third motor is connected to the The spline shaft is used to drive the spline shaft to rotate; the spline sleeve is sleeved on one end of the spline shaft; the third main transmission wheel is sleeved on the spline sleeve , and is installed on the first joint arm; the third slave transmission wheel and the third main transmission wheel are arranged at intervals along the second direction, and the axis of the third slave transmission wheel is in contact with the third main transmission wheel. The axes of the main transmission wheels are parallel; the third transmission belt is sleeved on the third slave transmission wheel and the third main transmission wheel; the second joint arm is connected to the third transmission belt.
13. A handling robot, characterized by including the pickup device according to any one of claims 1-12.