Container taking equipment
By designing a pickup box equipment containing three slidable telescopic arms, the problem that existing equipment cannot be taken out of the inside and outside of the shelf is solved, and efficient and flexible cargo handling is achieved, adapting to the needs of high-density shelf arrangement in modern warehouses.
Patent Information
- Application Number
- CN202510854761.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2020-04-27
- Publication Date
- 2025-08-15
AI Technical Summary
The existing pick-up box equipment cannot effectively remove the inner and outer cargo boxes of the shelves, and cannot meet the handling requirements of high-density shelf arrangement in modern warehouses.
The pickup box equipment including a body, a telescopic device and a driving device is adopted. The telescopic device consists of three slidable telescopic arms. A variety of telescopic modes are realized through the linkage mechanism and the selection mechanism, and the combination of the sensor and finger structure improves the pickup accuracy and stability.
It realizes efficient removal of goods from warehouses of different depths, adapts to a variety of shelf arrangement methods, and improves the flexibility and accuracy of handling.
Smart Images
Figure CN120482588A_ABST
Abstract
Description
[0001] This application is a divisional application. The application number of the original application is 202010345452.9, and the original application date is April 27, 2020. The entire content of the original application is incorporated into this application by reference. Technical Field
[0002] The present invention relates to the field of logistics, and in particular to a cargo box picking device. Background Art
[0003] In existing robotic handling in the logistics sector, AGVs initially handled shelves. With technological advancements, most manufacturers are now moving to handling storage devices such as bins and cartons. Existing telescopic forks for retrieving bins and cartons typically feature a single-stage fixed position and a second-stage retractable position. However, with changes in shelf layouts, existing handling equipment is unable to reach bins inside or outside the shelves, making it unsuitable for handling. Summary of the Invention
[0004] In view of this, the present invention provides a cargo box picking device to improve the handling effect.
[0005] The present invention provides a cargo box device, which includes: a body, a telescopic device, a control device and a driving device; wherein,
[0006] A cargo warehouse is provided in the body, and the cargo warehouse has a cargo inlet;
[0007] The telescopic device includes telescopic arms arranged on opposite sides of the cargo inlet; each telescopic arm includes three arms that can slide relative to each other, and the three arms can be extended and retracted along a first direction, which is the direction of cargo in and out of the warehouse; wherein the first arm of the three arms is slidably connected to the body, and the end of the last arm away from the body is provided with a finger structure;
[0008] The driving device includes a driving assembly for driving the first arm of each telescopic arm to slide relative to the body, and a linkage mechanism for driving the adjacent arms of each telescopic arm to move in linkage;
[0009] The control device is used to control the finger structure to rotate to a position where the cargo box to be transported can be moved.
[0010] In the above technical solution, by using three arms to pick up cargo boxes, it is possible to take out cargo from a deeper cargo hold.
[0011] In a specific embodiment, the linkage mechanism is a closed-loop synchronous belt, which drives the arms to link with each other.
[0012] In a specific embodiment, the closed-loop synchronous belt includes a first synchronous belt and a second synchronous belt;
[0013] The first synchronous belt is provided on the first arm, and the first synchronous belt is fixedly connected to the main body and the middle arm of the three arms respectively, and is used to drive the middle arm to slide relative to the main body;
[0014] The second synchronous belt is provided on the intermediate arm, and the second synchronous belt is fixedly connected to the first section arm and the last section arm respectively, and is used to drive the last section arm to slide relative to the first section arm; wherein,
[0015] The final arm section is equipped with a selection mechanism for selectively connecting the final arm section to the second synchronous belt and the intermediate arm. When the final arm section and the intermediate arm are fixedly connected by the selection mechanism, the final arm section and the second synchronous belt section are released. The selection mechanism allows for selective extension of three arms or two arms, enabling cargo to be retrieved from cargo holds at varying depths.
[0016] In one specific embodiment, the selection mechanism includes: a first magnetic member provided on the second synchronous belt, a second magnetic member provided on the intermediate arm; and a first electromagnet and a second electromagnet provided on the terminal arm. When energized, the first electromagnet can attract the first magnetic member, and when energized, the second electromagnet can attract the second magnetic member. This allows the terminal arm to be selectively fixedly connected to the second synchronous belt or the intermediate arm.
[0017] In a specific embodiment, the first arm is provided with a first limiting rib for limiting the horizontal shaking of the first synchronous belt;
[0018] The intermediate arm is provided with a second limiting rib for limiting the horizontal shaking of the first synchronous belt; and a third limiting rib for limiting the horizontal shaking of the second synchronous belt;
[0019] The end arm is provided with a fourth limiting rib for limiting the horizontal shaking of the second synchronous belt. The setting of the limiting rib can improve the stability of the synchronous belt during movement.
[0020] In one specific embodiment, the first and second limiting ribs are disposed opposite each other, with a gap therebetween to accommodate the first synchronous belt; the third and fourth limiting ribs are disposed opposite each other, with a gap therebetween to accommodate the second synchronous belt. The provision of these limiting ribs can improve the stability of the synchronous belt during movement.
[0021] In a specific embodiment, the second limiting rib is provided with two guide protrusions for limiting the shaking of the first synchronous belt in the vertical direction;
[0022] The fourth limiting rib is provided with two guide protrusions for limiting the vertical shaking of the second synchronous belt. The setting of the limiting rib can improve the stability of the synchronous belt during movement.
[0023] In a specific embodiment, along the second direction: the setting position of the first synchronous belt is lower than the setting position of the second synchronous belt;
[0024] The second direction is perpendicular to the first direction, leaving space for the cable to move.
[0025] In a specific embodiment, the heights of the three arms of each telescopic arm along the second direction satisfy:
[0026] H2≤H1<H3; where H1 is the height of the first arm in the second direction, H2 is the height of the middle arm in the second direction, and H3 is the height of the last arm in the second direction. Leave space for the cable to move.
[0027] In one specific embodiment, the main body is provided with a power supply device; the finger shifting structure includes a servo fixed to the end of the distal arm, a finger shifting structure connected to the servo, and a cable connected to the servo, wherein the cable is connected to the power supply device. The servo driving the finger shifting structure reduces mechanical wear.
[0028] In a specific embodiment, the cable includes a first cable and a second cable; the first cable and the second cable are tank chain cables;
[0029] The middle arm of the three arms is provided with a switching module;
[0030] The first end of the first cable is fixed to the side wall of the body; the second end of the first cable is connected to the adapter module;
[0031] The first end of the second cable is connected to the adapter module, and the second end of the second cable is connected to the steering gear and the sensor assembly, thereby facilitating cable installation.
[0032] In a specific embodiment, in each telescopic arm, the first cable and the second cable are staggered along the third direction; wherein,
[0033] The third direction is perpendicular to the first direction and the second direction, which facilitates cable installation.
[0034] In a specific embodiment, the end arm is provided with a sensor assembly for detecting the cargo box to be transported;
[0035] The sensor assembly is connected to the control device via the cable;
[0036] The control device is further configured to control the finger structure to rotate to a position where the cargo box to be transported can be moved when the sensor assembly detects the cargo box to be transported, thereby improving the accuracy of transport.
[0037] In a specific embodiment, the sensor assembly includes two opposing telescopic arms provided with two distal arms and a forward detector provided with the distal arms of the two telescopic arms, thereby improving the accuracy of picking up goods. BRIEF DESCRIPTION OF THE DRAWINGS
[0038] Figure 1 A schematic diagram of an application scenario of a pickup box device provided by an embodiment of the present invention;
[0039] Figure 2 A schematic diagram of an application scenario of a pickup box device provided by an embodiment of the present invention;
[0040] Figure 3 A schematic diagram of a pickup box device in an unpicked state provided by an embodiment of the present invention;
[0041] Figure 4 A schematic diagram of the state of picking up goods by the picking box device provided in an embodiment of the present invention;
[0042] Figure 5 A schematic structural diagram of a driving device provided in an embodiment of the present invention;
[0043] Figure 6 A schematic diagram of the cooperation between the telescopic arm and the driving device provided in an embodiment of the present invention;
[0044] Figure 7 A schematic structural diagram of a telescopic arm provided in an embodiment of the present invention;
[0045] Figure 8 This is a schematic diagram of the application of the cargo box device provided in an embodiment of the present invention. DETAILED DESCRIPTION
[0046] To make the objectives, technical solutions, and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings. It is apparent that the embodiments described are only some, not all, of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are intended to fall within the scope of protection of the present invention.
[0047] To facilitate understanding of the pickup box device provided in the embodiment of the present application, the following Figure 1 and Figure 2 The following describes in detail the pickup box device provided in the embodiment of the present application. Figure 1 and Figure 2 As shown, the cargo box picking device provided in the embodiment of the present application is used for transporting cargo boxes in a warehouse. In the warehouse, cargo boxes are stored in the shelves 100, but when the shelves 100 are placed in the warehouse, they need to be placed according to the environmental adaptability of the warehouse, such as Figure 1 As shown in FIG, the shelves 100 are arranged in two rows, and a pickup channel is provided between the two rows of shelves 100. However, as the utilization requirements of warehouse area become higher and higher, the existing technology adopts the following method: Figure 2 As shown in FIG, four rows of shelves 100 are arranged, and a pickup channel is set between the four rows of shelves 100. In order to adapt to the pickup method in a warehouse with four rows of shelves 100, the embodiment of the present application provides a pickup box device, which is described in detail below with reference to specific drawings.
[0048] First, let’s explain the cargo box. The cargo box in this application refers to the box used to hold products or semi-finished products in the logistics industry, including but not limited to common cargo boxes such as plastic boxes, cardboard boxes, and wooden boxes.
[0049] For reference Figure 3 and Figure 4 , Figure 3 and Figure 4 The structural diagram of the different states of the pickup box device provided in the embodiment of the present application is illustrated.
[0050] First reference Figure 3 , Figure 3 The following example illustrates a schematic diagram of the structure of the pickup box device when the telescopic arm 20 is not extended. To facilitate understanding of the pickup box device provided in the embodiments of the present application, an XYZ three-dimensional coordinate system is established with the shelf placement orientation as a reference, wherein the Z direction is the vertical direction, the X and Y directions are horizontal directions, and the X direction points in the direction in which items can be picked up from the shelf, and the Y direction is perpendicular to the X direction. To be consistent with the descriptions of the first, second, and third directions below, the first direction below refers to the X direction, the second direction refers to the Z direction, and the third direction refers to the Y direction.
[0051] Continue to refer Figure 3 The main structure of the pickup box device at least includes a body 10 and a telescopic device. First, the body 10 is described. Figure 3 The middle body 10 is a rectangular parallelepiped structure, and a corresponding rectangular parallelepiped cargo hold 11 is provided inside the cargo hold 11. The cargo hold 11 has a cargo inlet 12, which can also be used as a cargo outlet. The cargo box can enter the cargo hold 11 from the cargo inlet 12, and can also be moved out of the cargo hold 11 from the cargo inlet 12. Figure 3 In the structure, the main body 10 includes a rectangular parallelepiped structure surrounded by three side walls and a bottom plate. The side without the side wall is used as the cargo inlet 12 of the cargo compartment 11, and the opening direction of the cargo inlet 12 faces the X direction so that the goods taken out from the shelf can be put into the cargo compartment 11 of the main body 10 through the cargo inlet 12. It should be understood that Figure 3 The rectangular parallelepiped shape of the body 10 in the example is merely a specific example of the body 10 in this application. The body 10 provided in the embodiment of the application can also adopt other shapes, such as cylinder, elliptical cylinder, polygon, etc. The shape of the cargo compartment 11 can also adopt other shapes, such as elliptical or polygonal, as long as it matches the cargo box.
[0052] Continue to refer Figure 3 The telescopic device provided in the embodiment of the present application includes telescopic arms 20 arranged on opposite sides of the cargo inlet 12, combined with Figure 3 In the structure shown in FIG, two telescopic arms 20 are symmetrically arranged on both sides of the cargo inlet 12, and each telescopic arm 20 is connected to a side wall of the body 10. The space between the two telescopic arms 20 is the space where the cargo box to be transported is located. The cargo box to be transported is confined within the space by the two telescopic arms 20, and when the telescopic arms 20 are retracted, the cargo box to be transported can be pulled into the cargo hold 11. To facilitate understanding of the structure of the telescopic arms 20, the following is combined with Figure 4 Provide corresponding explanations.
[0053] Figure 4 The figure shows the state of the telescopic arm 20 of the cargo box removal device when picking up cargo. The two telescopic arms 20 have the same structure, so one of the telescopic arms 20 is used as an example for description. The telescopic arm 20 includes three arms that can slide relative to each other. Figure 3 and Figure 4 , the three arms include: a first arm 21, an intermediate arm 22 and a final arm 23. The first arm 21, the intermediate arm 22 and the final arm 23 are arranged along the side wall of the main body 10 to which the first arm 21 is slidably connected, pointing to the direction inside the cargo hold 11. The first arm 21 is slidably connected to the main body 10, the intermediate arm 22 is slidably connected to the first arm 21, and the final arm 23 is slidably connected to the intermediate arm 22. The sliding direction of the three arms slides along the first direction (X direction), that is, the three arms can slide along the direction of picking up goods, so as to realize the telescopic arm 20 extending and retracting along the direction of picking up goods. Combined with Figure 3 When the three arms are retracted, the three arms are arranged in an overlapping manner and are located in the cargo hold 11; Figure 4 When the three arms are extended, the three arms extend along the first direction, and the three arms extend to the outside of the cargo hold 11.
[0054] Continue to refer Figure 4The end of the end arm 23 away from the body 10 is provided with a finger structure 30, which is used to move the cargo box to be transported. As a specific example, the finger structure 30 includes a steering gear 31 fixed to the end of the end arm 23 and a finger 32 connected to the steering gear 31. Figure 4 A steering gear 31 is fixed to the end of the distal arm 23. A shift finger 32 is connected to the steering gear 31 and can be rotated by the steering gear 31. The shift finger 32 has two positions: an operating position and a avoidance position. During operation, the steering gear 31 drives the shift finger 32 to a horizontal position, with its length oriented along the Y direction. The shift fingers 32 of the two telescopic arms 20 are positioned opposite each other and extend into the space defined by the two telescopic arms 20, allowing them to pull the container to be transported when the telescopic arms 20 are retracted. When the telescopic arms 20 are inserted into a shelf, the shift fingers 32 are no longer required to operate. In this position, the shift fingers 32 are in the avoidance position. Driven by the steering gear 31, they rotate to their length oriented along the Z direction, preventing the container from being blocked from entering the space between the telescopic arms 20 when the telescopic arms 20 are inserted into the shelf. When the steering gear 31 is used to drive the finger 32, compared with the prior art where a mechanical structure is used to drive the finger 32, there is no wear of the mechanical structure in the prior art, thereby improving the reliability of the finger structure 30. Of course, the finger structure provided in the embodiment of the present application can also adopt other structures that can move the cargo box to be transported.
[0055] When the servo 31 is in use, the servo 31 is powered by a cable connected to a power supply device. The power supply device can be a battery or other power supply, and the power supply device is arranged in the body 10. Figure 4 As shown in , the cables include a first cable 51 and a second cable 52; the first cable 51 and the second cable 52 are tank chain cables; the middle arm 22 is provided with a transfer module 53, the first end of the first cable 51 is fixed to the side wall of the body 10, and is connected to the power supply device; the second end of the first cable 51 is connected to the transfer module 53; the first end of the second cable 52 is connected to the transfer module 53, and the second end of the second cable 52 is connected to the servo 31; wherein, the transfer module 53 can electrically connect the first cable 51 and the second cable 52. When the above structure is adopted, the second cable 52 can be extended and retracted following the extension and retraction of the last arm 23, and the second cable 52 can be extended and retracted following the extension and retraction of the first arm 21 and the middle arm 22. When two cables are adopted, it is ensured that the cables follow the movement of the three arms when they are extended and retracted, and it is also ensured that the cables are connected to the power supply device and the servo 31 reliably. In a specific feasible implementation scheme, in each telescopic arm 20, the first cable 51 and the second cable 52 are staggered along the third direction; wherein, the third direction is perpendicular to the first direction and the second direction. As Figure 4As shown in the figure, when the first cable 51 and the second cable 52 are staggered, there will be no interference between the first cable 51 and the second cable 52 during extension and retraction, ensuring that the movement space of the two cables can be realized within a limited space, and ensuring the reliability of the cable connection with the power supply equipment and the servo 31 when the telescopic arm 20 is extended and retracted.
[0056] When the finger mechanism 30 provided in the present embodiment is powered by a cable, as an optional embodiment, a sensor assembly 40 for detecting cargo boxes can be provided at the end of the distal arm 23, away from the main body 10. This sensor assembly 40 can be connected to the control device of the cargo box retrieval device via a cable. When a two-stage cable is used, the second cable 52 is connected not only to the servo 31 but also to the sensor assembly 40, transmitting signals from the sensor assembly 40 to the control device. The control device can then control the servo 31 to rotate the finger mechanism 32 to a position that allows the cargo box to be moved when the sensor assembly 40 detects the cargo box to be moved. This improves the accuracy of cargo box removal. When the sensor assembly 40 is provided, it can include different sensors. For example, the sensor assembly 40 includes a beam sensor 41 provided on each distal arm 23 of the two opposing telescopic arms 20, and a forward-facing detector 42 provided on each distal arm 23 of the two telescopic arms 20. This improves the accuracy of cargo retrieval. During use, the forward detector 42 can detect the direction of extension and retraction of the telescopic arm 20, ensuring that the telescopic arm 20 is located on both sides of the cargo box to be transported when it is extended and retracted, so as to ensure the accuracy of the telescopic arm 20 when it is extended and retracted; in addition, through the detection between the corresponding sensors 41, it can be determined whether the position of the finger 32 is in place, and whether the cargo box to be transported can be clamped when the finger 32 rotates. After receiving the above signal, the control device can control the servo 31 of the finger structure 30 to work, so as to accurately clamp the cargo box to be transported. It can be seen from the above description that when using cables, the telescopic arm 20 provided in the embodiment of the present application can be provided with a sensor assembly 40 to improve the reliability of the entire cargo box picking device during operation.
[0057] It should be understood that the above-mentioned control device can be a single-chip microcomputer, a PLC or an industrial computer, and the above-mentioned control device controls the operation of the components according to the detection signal of the sensor component 40 as a common function of the above-mentioned control device. Therefore, the signal interaction between the sensor component 40 and the control device will not be elaborated in detail in this application.
[0058] In an alternative embodiment, when the container-picking device does not include a sensor assembly, the control device can also be used to control the finger mechanism to rotate to a position that can move the container to be moved. In this case, the control device directly sends control instructions to the finger mechanism without the need for data collected by the sensor assembly.
[0059] In an optional embodiment, the control device can also control the extension and retraction of the telescopic arm 20. Specifically, the control device is connected to the driving device and controls the extension and retraction of the telescopic arm 20 through the driving device.
[0060] like Figure 5 As shown, the telescopic arm is controlled to extend and retract during operation by a drive device. The drive device includes a drive assembly 63 that drives the first arm section 21 of each telescopic arm to slide relative to the main body 10, and a linkage mechanism that drives the linkage between adjacent arms in each telescopic arm. The linkage mechanism can drive the linkage between the arms. For example, the linkage mechanism can adopt different structures such as synchronous belts and transmission belts. As a specific example, the linkage mechanism adopts a closed-loop synchronous belt.
[0061] like Figure 5 A specific drive assembly 63 shown in the example includes a drive motor (not shown) provided on the body 10, and a transmission shaft (not shown) connected to the drive motor via a belt (not shown). The transmission shaft is used to synchronously drive two timing belts 64 provided on the body 10. The two timing belts are used to drive the first arms 21 of the two telescopic arms to slide relative to the body 10. In addition, the drive device also includes a closed-loop timing belt that drives the linkage between adjacent arms in each telescopic arm. Figure 5 The closed-loop synchronous belt shown in the figure includes a first synchronous belt 61 and a second synchronous belt 62. The first synchronous belt 61 is provided on the first arm 21, and the first synchronous belt 61 is fixedly connected to the body 10 and the middle arm 22, and is used to drive the middle arm 22 to slide relative to the body 10. The second synchronous belt 62 is provided on the middle arm 22, and the second synchronous belt 62 is fixedly connected to the first arm 21 and the last arm 23, and is used to drive the last arm 23 to slide relative to the first arm 21. Figure 5 As shown in the figure, along the second direction (Z direction): the setting position of the first synchronous belt 61 is lower than the setting position of the second synchronous belt 62; thereby leaving space for the above-mentioned first cable and second cable, so that the first cable and the second cable can be arranged along the second direction with the two synchronous belts, thereby rationally utilizing the space of the telescopic arm and reducing the space occupied by the cables and synchronous belts.
[0062] For reference Figure 6 , Figure 6 The diagram of the coordination between the synchronous belt and the three arms is shown as an example. As an optional solution, the first arm 21 is provided with a first limiting rib for limiting the horizontal swing of the first synchronous belt 61; the middle arm 22 is provided with a second limiting rib 71 for limiting the horizontal swing of the first synchronous belt 61; wherein, the first limiting rib (due to the obstruction of the first synchronous belt 61, Figure 6The first limiting rib (not shown) is located in the space enclosed by the first synchronous belt 61 to support the first synchronous belt 61 from the inside. The second limiting rib 71 is provided on the side of the intermediate arm 22 facing the first section arm 21, and the first limiting rib and the second limiting rib 71 are arranged relative to each other. A gap is left between the first limiting rib and the second limiting rib 71 to accommodate the first synchronous belt 61. Through the cooperation of the first limiting rib and the second limiting rib 71, the shaking of the first synchronous belt 61 in the horizontal direction (Y direction) is limited, thereby ensuring the reliability of the transmission of the first synchronous belt 61. In addition, as an optional solution, the second limiting rib 71 is provided with two guide protrusions for limiting the shaking of the first synchronous belt 61 in the vertical direction (Z direction), thereby limiting the shaking of the first synchronous belt 61 in the horizontal and vertical directions, thereby improving the reliability of the transmission of the first synchronous belt 61.
[0063] Continue to refer Figure 6 As an optional solution, the middle arm 22 is provided with a third limiting rib for limiting the horizontal swing of the second synchronous belt 62; the end arm 23 is provided with a fourth limiting rib 73 for limiting the horizontal swing of the second synchronous belt 62. Among them, the third limiting rib is located in the space surrounded by the second synchronous belt 62 (due to the obstruction of the second synchronous belt 62, Figure 6 The third limiting rib is not shown in the figure to support the second synchronous belt 62 from the inside. The fourth limiting rib 73 is provided on the side of the end arm 23 facing the middle arm 22, and the third limiting rib and the fourth limiting rib 73 are arranged relative to each other. A gap is left between the third limiting rib and the fourth limiting rib 73 to accommodate the second synchronous belt 62. Through the cooperation of the third limiting rib and the fourth limiting rib 73, the shaking of the second synchronous belt 62 in the horizontal direction (Y direction) is limited, thereby ensuring the reliability of the transmission of the second synchronous belt 62. In addition, as an optional solution, the fourth limiting rib 73 is provided with two guide protrusions for limiting the shaking of the second synchronous belt 62 in the vertical direction (Z direction), thereby limiting the shaking of the second synchronous belt 62 in the horizontal and vertical directions, thereby improving the reliability of the transmission of the second synchronous belt 62.
[0064] In an optional solution, the first arm section 21 is provided with a fifth limiting rib for limiting the second synchronous belt 62. The fifth limiting rib is provided on the side of the first arm section 21 facing the middle arm 22, and the fifth limiting rib and the third limiting rib together limit the horizontal swing of the second synchronous belt 62.
[0065] In addition, when the above-mentioned limiting ribs are used, the thickness of the arm can be increased in the horizontal direction (Y direction) by providing the limiting ribs, thereby increasing the structural strength of each arm and improving the reliability of the telescopic arm during use.
[0066] like Figure 7 As shown, Figure 7A side view of a telescopic arm is shown. As an optional solution, the height of each of the three arms along the second direction satisfies the following: H2 ≤ H1 < H3; where H1 is the height of the first arm 21 in the second direction, H2 is the height of the intermediate arm 22 in the second direction, and H3 is the height of the final arm 23 in the second direction. This provides space for cable movement. When adopting this structure, the placement of the first and second synchronous belts, as well as the placement of the first and second cables, is considered. By varying the height of the three arms in the Z direction, sufficient space is ensured within the final arm 23 for the aforementioned finger mechanism, sensor assembly, and second cable. The higher height of the final arm 23 also improves stability when transporting cargo boxes on the pull belt. The lower height of the intermediate arm 22 leaves sufficient space beneath the intermediate arm 22 for the adapter module and the foldable space for the first and second cables. When the first arm 21 adopts this height, it can stably support the intermediate arm 22 and final arm, while also leaving space for the aforementioned first cable, first synchronous belt, and other structures.
[0067] In order to improve the versatility of the pickup box device provided in the embodiment of the present application, Figure 1 and Figure 2 As an extended example of the shelf arrangement shown, the telescopic arm provided in the embodiments of the present application is configured as an adjustable telescopic arm. For example, the end arm segment may be equipped with a selection mechanism for selectively connecting the end arm segment to the second synchronous belt and the intermediate arm. When the end arm segment and the intermediate arm are connected via the selection mechanism, the end arm segment is disconnected from the second synchronous belt. In one specific embodiment, the selection mechanism includes: a first magnetic member provided on the second synchronous belt, a second magnetic member provided on the intermediate arm, and a first electromagnet and a second electromagnet provided on the end arm segment. When the first electromagnet is energized, it attracts the first magnetic member; when the second electromagnet is energized, it attracts the second magnetic member. The first and second electromagnets may be connected to a control device via a cable, and the control device controls the operating states of the first and second electromagnets. When the three-segment arm segment needs to be extended, the control device controls the first electromagnet to attract the first magnetic member and de-energizes the second electromagnet. At this point, the second synchronous belt is fixedly connected to the end arm segment, the end arm segment and the intermediate arm are unlocked, and the end arm segment can slide relative to the intermediate arm. When the drive device is working, the second synchronous belt can drive the first arm and the last arm to move in conjunction, and all three arms can be extended. At this time, it can be used for Figure 2 In the arrangement of the shelves shown, the boxes located inside the shelves 100 can be taken out, such as Figure 8The cargo box picking device 1 shown in FIG. When the two arms need to be extended or retracted, the control device controls the second electromagnet to attract the second magnetic part, and the first electromagnet is de-energized. At this time, the end arm and the middle arm are fixed by the adsorption effect of the second electromagnet and the second magnetic part. At the same time, the end arm and the second synchronous belt are released from the fixed connection. When the drive device drives the telescopic arm, only the first arm and the middle arm are extended, and the end arm does not extend beyond the middle arm, thereby achieving the effect of extending both arms. It can be applied to Figure 1 In the shelf arrangement, and used for taking out Figure 2 The cargo box located on the outer shelf 100, such as Figure 8 The picking box device 2 shown in .
[0068] As can be seen from the above description, the selection mechanism can realize the selective fixed connection between the end arm and the second synchronous belt or the intermediate arm, thereby selecting different working modes according to different working environments, thereby improving the adaptability of the cargo box picking device.
[0069] In an optional solution, the first magnetic member and the second magnetic member can be iron blocks embedded in the second synchronous belt and the intermediate arm, or other materials that can be magnetically attracted. In addition, the placement of the first magnetic member and the second magnetic member can be set according to actual needs, and the placement of the corresponding first electromagnet and the second electromagnet can be set according to actual conditions to ensure that the two can be adsorbed and connected, and that the above-mentioned movement requirements are met after adsorption.
[0070] It can be seen from the above description that the cargo box picking device provided in the embodiment of the present application can use three arms to pick up cargo boxes, so as to realize the retrieval of goods from deeper warehouses. In addition, accurate cargo picking can be achieved through the provision of sensor components and control devices.
[0071] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.
Claims
1. A box picking device, characterized in that: include: Main body, telescopic device, control device and driving device; wherein, A cargo warehouse is provided in the body, and the cargo warehouse has a cargo inlet; The telescopic device includes telescopic arms arranged on opposite sides of the cargo inlet; each of the telescopic arms includes three arms that can slide relative to each other, and the three arms can be extended and retracted along a first direction, which is the direction of cargo in and out of the warehouse; wherein the first arm of the three arms is slidably connected to the body, and the end of the last arm away from the body is provided with a finger structure; The driving device includes a driving assembly for driving the first arm of each telescopic arm to slide relative to the body, and a linkage mechanism for driving the adjacent arms of each telescopic arm to move in linkage; The control device is used to control the finger structure to rotate to a position where the cargo box to be transported can be moved; the linkage mechanism includes a first synchronous belt and a second synchronous belt; The first synchronous belt is provided on the first arm, and the first synchronous belt is respectively connected to the main body and the middle arm of the three arms, and is used to drive the middle arm to slide relative to the main body; The second synchronous belt is arranged on the middle arm, and the second synchronous belt is connected to the first section arm and the last section arm respectively, and is used to drive the last section arm to slide relative to the first section arm.
2. The cargo box picking device according to claim 1, characterized in that: The first arm section is provided with a first limiting rib for limiting the horizontal shaking of the first synchronous belt; or / and, The intermediate arm is provided with a second limiting rib for limiting the horizontal shaking of the first synchronous belt; or / and, The intermediate arm is provided with a third limiting rib for limiting the horizontal shaking of the second synchronous belt; or / and, The end arm is provided with a fourth limiting rib for limiting the horizontal shaking of the second synchronous belt.
3. The cargo box picking device according to claim 2, characterized in that: The first limiting rib on the first arm and the second limiting rib on the intermediate arm are arranged opposite to each other, and a gap for accommodating the first synchronous belt is left between the first limiting rib and the second limiting rib; or / and, The third limiting rib on the intermediate arm and the fourth limiting rib on the end arm are arranged opposite to each other, and a gap for accommodating the second synchronous belt is left between the third limiting rib and the fourth limiting rib.
4. The cargo box picking device according to claim 2 or 3, characterized in that: The second limiting rib on the intermediate arm is provided with two guide protrusions for limiting the vertical shaking of the first synchronous belt; or / and, The fourth limiting rib on the end arm is provided with two guide protrusions for limiting the shaking of the second synchronous belt in the vertical direction.
5. The cargo box picking device according to claim 1, characterized in that: Along the second direction: the setting position of the first synchronous belt is lower than the setting position of the second synchronous belt; The second direction is perpendicular to the first direction.
6. The cargo box picking device according to claim 1, characterized in that: The heights of the three arms of each telescopic arm along the second direction satisfy: H2≤H1<H3; wherein, H1 is the height of the first arm in the second direction, H2 is the height of the middle arm in the second direction, and H3 is the height of the last arm in the second direction.
7. The cargo box picking device according to claim 1, characterized in that: The end arm is provided with a selection mechanism, which is used to selectively connect the end arm with the second synchronous belt and the intermediate arm; when the end arm is connected to the intermediate arm through the selection mechanism, the end arm is disconnected from the second synchronous belt.
8. The cargo box picking device according to claim 1, characterized in that: The pickup box device also includes a power supply device; The finger structure includes a servo, a finger connected to the servo, and a cable connected to the servo, wherein the cable is connected to the power supply device; the finger is connected to the servo and can be driven to rotate by the servo, and the finger has two positions: a working position and an avoidance position; wherein the fingers of the two telescopic arms are arranged opposite to each other.
9. The cargo box picking device according to claim 8, characterized in that: The steering gear is fixed on the terminal arm; The cables include a first cable and a second cable; the middle arm of the three arms is provided with a switching module; The first end of the first cable is fixed to the side wall of the body; the second end of the first cable is connected to the adapter module; The first end of the second cable is connected to the adapter module, and the second end of the second cable is connected to the steering gear.
10. The cargo box picking device according to claim 9, characterized in that: In each of the telescopic arms, the first cable and the second cable are staggered along the third direction; wherein, The third direction is perpendicular to the first direction and the second direction.
11. The cargo box picking device according to claim 8, characterized in that: The end arm is provided with a sensor assembly for detecting the cargo box to be transported; The sensor assembly is connected to the control device via the cable; The control device is further configured to control the finger structure to rotate to a position where the cargo box to be transported can be moved when the sensor assembly detects the cargo box to be transported.
12. The cargo box picking device according to claim 11, characterized in that: The sensor assembly includes a through-shooting sensor arranged on two end arms of two opposite telescopic arms; and a forward detector arranged on the end arms of the two telescopic arms.
13. The cargo box picking device according to claim 12, wherein: The forward controller is used to detect the extension and retraction direction of the telescopic arm, so that the telescopic arm is located on both sides of the cargo box to be transported when it is extended and retracted; the through-beam sensor is used to detect whether the position of the finger structure is in place, and to detect whether the cargo box to be transported is stuck when the finger structure rotates.
14. The cargo box picking device according to claim 1, wherein: The drive assembly includes a drive motor arranged on the body and a transmission shaft connected to the drive motor. The transmission shaft is used to drive two synchronous belts arranged on the body, and the two synchronous belts are respectively used to drive the first sections of the two opposite telescopic arms to slide relative to the body.