Material taking device and material box carrying robot

Abstract

The utility model discloses a material taking device which comprises at least one material taking arm pair, the material taking arm pair comprises two oppositely arranged material taking arms, the material taking device further comprises at least one damping clamping piece, the damping clamping piece is arranged on the inner side of the at least one material taking arm, and the damping clamping piece is arranged on the inner side of the damping clamping piece. The damping clamping piece can be switched between a first state and a second state, in the first state, the damping clamping piece protrudes out of the inner side face of the material taking arm provided with the damping clamping piece, and in the second state, the damping clamping piece does not protrude out of the inner side face of the material taking arm provided with the damping clamping piece. The utility model further provides a workbin carrying robot.

Description

Technical Field

[0001] The utility model relates to the field of material transportation equipment, in particular to a material taking device and a material box transporting robot comprising the material taking device. Background Art

[0002] The material box handling robot generally includes a material taking device, a gantry and a plurality of storage locations, wherein the plurality of storage locations are distributed along the height direction of the gantry. The material taking device can be lifted to a corresponding storage location to take out materials from the storage location or transfer materials to the storage location.

[0003] As mentioned above, multiple storage locations are distributed at different heights, and the reclaiming device needs to carry the materials and move along the height direction when transferring materials. The materials vary in size, and when the materials are small, using a reclaiming device with a relatively large storage space to transfer the materials can easily cause the materials to shake in the reclaiming device, causing the material box to tilt or get stuck. Utility Model Content

[0004] The utility model aims to solve one of the technical problems in the related art to a certain extent. To this end, the utility model provides a material taking device and a material box handling robot including the material taking device, wherein the material taking device can relatively reliably fix the material in the material taking device.

[0005] The utility model provides a material picking device, which comprises at least one material picking arm pair and a plurality of shifting rods, wherein the material picking arm pair comprises two material picking arms which are arranged opposite to each other, the shifting rod is arranged at the front end of the corresponding material picking arm, and the shifting rod can be switched between a first position and a second position, in which the free end of the shifting rod is located between the two material picking arms, and in which the free end of the shifting rod is located outside the corresponding material picking arm, wherein the material picking device also comprises at least one damping clamp, the inner side of at least one of the material picking arms is provided with the damping clamp, and the damping clamp can be switched between a first state and a second state, in which the damping clamp protrudes from the inner side surface of the material picking arm where the damping clamp is arranged, and in the second state, the damping clamp does not protrude from the inner side surface of the material picking arm where the damping clamp is arranged.

[0006] Optionally, the damping clamp includes a damping rod and an electrically-controlled telescopic assembly. A receiving groove is provided on the inner side surface of the material picking arm on which the damping clamp is provided. The damping rod is connected to the electrically-controlled telescopic assembly. At least a portion of the electrically-controlled telescopic assembly is provided in the receiving groove. The electrically-controlled telescopic assembly can be extended or shortened according to the control of a received electrical signal. When the electrically-controlled telescopic assembly is extended, the damping clamp is in the first state. When the electrically-controlled telescopic assembly is shortened, the damping clamp is in the second state.

[0007] Optionally, the first end of the damping rod is rotatably disposed in the accommodating groove, and the electric-controlled telescopic assembly is connected to the second end of the damping rod.

[0008] Optionally, the electric-controlled telescopic assembly includes an electromagnet and an elastic member, the damping rod is made of ferromagnetic material, the electromagnet is arranged in the accommodating groove and corresponds to the second end of the damping rod, one end of the elastic member is connected to the second end of the damping rod, and the other end of the elastic member is fixed in the accommodating groove, and in the second state, the elastic member is in a compressed state.

[0009] Optionally, the material picking device further comprises a support plate, the material picking arm pair is slidably disposed on the support plate, the material picking arm pair and the support plate define a material storage space, and the length direction of the material picking arm is consistent with the sliding direction of the material picking arm.

[0010] Optionally, a pair of fetching arms is provided on the support plate.

[0011] Optionally, the front ends of the two material taking arms are each provided with the shifting rod.

[0012] Optionally, the material picking device further comprises at least one rear push plate, the rear push plate is disposed in at least one of the material picking arm pairs, and the rear push plate is located at the rear end of the corresponding material picking arm pair.

[0013] As a second aspect of the present utility model, a material box handling robot is provided, which includes a material picking device, a gantry and a plurality of storage locations, wherein the plurality of storage locations are arranged on the gantry and arranged along the height direction of the gantry, and the material picking device can move along the height direction of the gantry, wherein the material picking device is the material picking device described in the first aspect of the present utility model, and the material picking arm pair can be inserted into the storage space corresponding to the storage location.

[0014] Optionally, the material box handling robot further includes a lifting device, and the material picking device is arranged on the lifting device, so that the material picking device can move along the height direction of the gantry driven by the lifting device.

[0015] When transferring materials, the materials are set between the two picking arms of the picking arm pair, and the damping clamp is controlled to be in the first state and against the materials. The friction force generated by clamping the materials can fix the materials in the picking device more stably, thus avoiding the occurrence of material box tipping over and material box jamming to a large extent, and improving the safety and reliability of the material transportation process.

[0016] When picking and placing materials whose size specifications match the size of the material taking port, the damping clamp can be controlled to be in the second state; when picking and placing materials whose size specifications are smaller than the size of the material taking port, the damping clamp can be controlled to be in the first state. Therefore, the material taking device provided by the embodiment of the utility model can stably and reliably pick and place materials of at least two different specifications, thereby reducing the overall cost of material transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The utility model is further described below in conjunction with the accompanying drawings:

[0018] Figure 1 It is a schematic diagram of the structure of the box handling robot;

[0019] Figure 2 is a structural schematic diagram of an embodiment of the material taking device provided by the utility model observed from an angle, wherein the damping clamping member is in a first state;

[0020] Figure 3 is a structural schematic diagram of an embodiment of the material taking device provided by the utility model observed from another angle, wherein the damping clamp is in a first state;

[0021] Figure 4 is a structural schematic diagram of an embodiment of the material taking device provided by the utility model observed from another angle, wherein the damping clamping member is in a first state;

[0022] Figure 5 It is a structural schematic diagram of an embodiment of the material taking device provided by the utility model, wherein the damping clamping member is in the second state;

[0023] Figure 6 It is a schematic diagram of a state in which a material picking arm of a material picking device of a material picking robot is inserted into a material storage space of a storage position and hooks a material box;

[0024] Figure 7 It is a schematic diagram showing how the damping rod of the damping clamp is arranged on the material picking arm.

[0025] Description of Reference Numerals

[0026] 100: Retrieving device 110: Retrieving arm

[0027] 120: lever 130: damping clamp

[0028] 131: Damping rod 132: Elastic member

[0029] 140: pallet 200: door frame

[0030] 300: Storage position 131a: Pivot axis

[0031] 133: Electromagnet DETAILED DESCRIPTION

[0032] The following is a detailed description of embodiments of the present invention, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments in the implementation manner are intended to be used to explain the present invention and should not be construed as limiting the present invention.

[0033] References to "one embodiment" or "an example" or "an example" in this specification mean that a particular feature, structure, or characteristic described in conjunction with the embodiment itself may be included in at least one embodiment disclosed in the present utility model. The appearance of the phrase "in one embodiment" in various places in the specification does not necessarily refer to the same embodiment.

[0034] As a first aspect of the present invention, a material taking device is provided, such as Figures 2 to 5 As shown, the material picking device includes at least one material picking arm pair, and the material picking arm pair includes two material picking arms 110 arranged opposite to each other.

[0035] It should be pointed out that in the embodiment of the present utility model, for the convenience of description, the material taking arms are aligned, the sides opposite to the two material taking arms 110 are called inner sides, and the surfaces opposite to the inner sides of the material taking arms are called outer sides. One end of the material taking arm 110 inserted into the material storage space of the storage position is called the front end of the material taking arm 110, and the other end of the material taking arm 110 is called the rear end of the material taking arm 110.

[0036] In the embodiment of the utility model, the material picking device further comprises at least one damping clamp 130, and the inner side of at least one material picking arm 110 is provided with a damping clamp 130, and the damping clamp 130 can be switched between a first state and a second state. In the first state, the damping clamp 130 protrudes from the inner side surface of the material picking arm on which the damping clamp 130 is provided (see Figure 2 , Figure 3 and Figure 5 ), in the second state, the damping clamp 130 does not protrude from the inner surface of the material taking arm on which the damping clamp is provided (see Figure 4 ).

[0037] When transferring materials, the materials are set between the two picking arms 110 of the picking arm pair, and the damping clamp 130 is controlled to be in the first state and against the materials. The friction force generated by clamping the materials can fix the materials more stably in the picking device, thereby avoiding the occurrence of material box tipping, material box jamming, etc. to a large extent, and improving the safety and reliability of the material transportation process.

[0038] For ease of description, the interval between the front ends of the two material taking arms 110 in the material taking arm pair is referred to as the material taking port. When taking and placing materials whose size specifications match the size of the material taking port, the damping clamp 130 can be controlled to be in the second state; when taking and placing materials whose size specifications are smaller than the size of the material taking port, the damping clamp 130 can be controlled to be in the first state. Therefore, the material taking device provided by the embodiment of the utility model can stably and reliably take and place materials of at least two different specifications, thereby reducing the overall cost of material transportation.

[0039] It should be noted that in the embodiment of the present utility model, the first state of the damping clamp 130 may not be uniquely fixed. In other words, the distance that the damping clamp 130 protrudes from the inner side surface of the corresponding material taking arm may not be unique, so that the damping clamp 130 can stably transfer more materials of different sizes.

[0040] The surface of the damping clamp 130 for contacting the material should have a certain degree of roughness to generate friction between the damping clamp 130 and the material, so as to maintain the position of the material in the material taking device during the material transfer process.

[0041] In the embodiment of the utility model, the material can be arranged in the middle of the material taking device to keep the material taking device balanced, thereby preventing the material taking device from tipping over during the material transfer process. To achieve this purpose, the inner side surfaces of the two material taking arms 110 of the material taking arm pair are both provided with damping clamps 130.

[0042] Furthermore, in the first state, the damping clamps 130 on the two oppositely disposed material taking arms 110 protrude from the inner side surfaces of the corresponding material taking arms 110 by the same distance, so that the material can be maintained in the middle of the material taking device.

[0043] In the embodiment of the utility model, there is no special limitation on the specific structure of the damping clamp 130. As long as the damping clamp 130 can be switched between the first state and the second state, for example, the damping clamp 130 can be an airbag or other devices with a changeable volume.

[0044] For the convenience of control, as an optional implementation, Figure 2As shown, the damping clamp 130 includes a damping rod 131 and an electrically-controlled telescopic assembly. A receiving groove is provided on the inner side surface of the material picking arm 110 on which the damping clamp 130 is provided. The damping rod 131 is connected to the electrically-controlled telescopic assembly. At least a portion of the electrically-controlled telescopic assembly is provided in the receiving groove. The electrically-controlled telescopic assembly can be extended or shortened according to the control of the received electrical signal. When the electrically-controlled telescopic assembly is extended, the damping clamp is in the first state. When the electrically-controlled telescopic assembly is shortened, the damping clamp is in the second state.

[0045] By providing a control signal to the electric telescopic assembly, the state of the electric telescopic assembly can be changed, and the degree of protrusion of the damping rod 131 from the receiving groove can be driven. When the damping rod 131 protrudes more from the receiving groove, it can contact the material to achieve clamping of the material.

[0046] The surface of the end of the damping rod 131 that contacts the material may be an arc surface, so that it can maintain good contact with material boxes of different shapes and at different angles. In addition, the surface of the end of the damping rod 131 that contacts the material should also be rough to generate sufficient friction during the transfer process to maintain the position of the material.

[0047] As an optional implementation, Figure 2 and Figure 3 As shown, the first end of the damping rod 131 is rotatably disposed in the accommodating groove, and the electric-controlled telescopic assembly is connected to the second end of the damping rod 131 .

[0048] In the embodiment of the utility model, the first end of the damping rod 131 is hingedly arranged in the receiving groove. It should be noted that the damping rod 131 can completely enter the receiving groove. By pushing the second end of the damping rod 131 through the electric control telescopic assembly, the second end of the damping rod 131 can be pushed out of the receiving groove, and the damping clamp 130 is switched to the first state.

[0049] In the embodiment of the utility model, there is no special limitation on the specific structure of the electrically controlled telescopic component. For example, the electrically controlled telescopic component can be an electrically controlled lead screw nut, or an electric push rod or other device that can be extended and retracted under the control of an electrical signal.

[0050] In order to ensure that the electric-controlled component can be retracted and extended reliably, as an optional implementation, the electric-controlled retractable component includes an electromagnet and an elastic member 132, the damping rod 131 is made of ferromagnetic material, the electromagnet is arranged in the accommodating groove and corresponds to the second end of the damping rod 131, one end of the elastic member 132 is connected to the second end of the damping rod 131, and the other end of the elastic member 132 is fixed in the accommodating groove, and in the second state, the elastic member 132 is in a compressed state.

[0051] Providing an electrical signal to the electromagnet can cause the electromagnet to generate a magnetic field, attract the second end of the damping rod 131, and compress the elastic member 132. After the electromagnet is powered off, the second end of the damping rod 131 is no longer subject to magnetic attraction and is pushed out of the receiving groove during the recovery of the elastic member 132.

[0052] In the embodiment of the utility model, there is no special limitation on how to rotatably set the first end of the damping rod 131 in the receiving groove. For example, the first end of the damping rod 131 can be rotatably set in the receiving groove by any method such as ball joint, chain joint, pivot joint, etc.

[0053] like Figure 7 As shown in , a shaft hole is provided on the first end of the damping rod 131, and the pivot shaft 131a is provided in the receiving groove, with both ends protruding from the shaft hole and connected to the top wall and the bottom wall of the receiving groove through bearings. It should be pointed out that the pivot shaft 131a is interference fit with the shaft hole of the damping rod 131, or the pivot shaft 131a is fixed in the shaft hole of the damping rod 131 by key connection. In the embodiment of the utility model, the electromagnet 133 is embedded in the side wall of the receiving groove, and the setting position of the elastic member 132 corresponds to the setting position of the electromagnet 133.

[0054] In the embodiment of the utility model, the specific structure of the material taking device is not particularly limited, as long as it can define a material storage space together with the material taking arm pair. Figure 2 As shown, the material picking device also includes a support plate 140, and the material picking arm pair is slidably arranged on the support plate 140. The material picking arm pair and the support plate 140 define a material storage space, and the length direction of the material picking arm 110 is consistent with the sliding direction of the material picking arm 110.

[0055] In the embodiment of the utility model, there is no special limitation on how to pull the material on the storage position to the support plate 140 of the material picking device. As an optional embodiment, the material picking device may include a lever 120, which is arranged at the front end of the corresponding material picking arm 110, and the lever 120 can be switched between a first position and a second position. In the first position, the free end of the lever 120 is located between the two material picking arms 110, and in the second position, the free end of the lever 120 is located outside or at the front end of the corresponding material picking arm 110. After the material picking device moves to the storage position, the material picking arm 110 is controlled to slide forward and enter the storage space corresponding to the storage position. After the lever is controlled to hook the material, the material picking arm 110 is controlled to slide backward and move to the support plate 140. As an optional embodiment, the lever 120 in the second position can be attached to the front end surface of the material picking arm 110.

[0056] In the embodiment of the utility model, there is no special limitation on the number of the material taking arm pairs provided on the support plate 140. Figure 2 In the illustrated embodiment, one of the fetching arms is disposed on the support plate 140 .

[0057] In order to facilitate the operation of the materials in the storage location, optionally, a lever 120 is provided at the front end of each of the two material taking arms 110 .

[0058] In order to facilitate pushing the material out of the material picking device, optionally, the material picking device also includes at least one rear push plate 150, and the rear push plate 150 is arranged in at least one of the material picking arm pairs, and the rear push plate 150 is located at the rear end of the corresponding material picking arm pair.

[0059] As a second aspect of the present invention, Figure 1 and Figure 6 As shown, a material box handling robot is provided, which includes a material picking device 100, a gantry 200 and a plurality of storage locations 300, wherein the plurality of storage locations 300 are arranged on the gantry 200 and arranged along the height direction of the gantry 200, and the material picking device 100 can move along the height direction of the gantry, wherein the material picking device is the material picking device provided in the first aspect of the utility model, and the material picking arm pair can be inserted into the storage space corresponding to the storage location 300.

[0060] As described above, when transferring materials, the materials are set between the two picking arms 110 of the picking arm pair, and the damping clamp 130 is controlled to be in the first state and against the materials. The friction force generated by clamping the materials can fix the materials more stably in the picking device, thereby avoiding the occurrence of material box tipping, material box jamming, etc. to a large extent, and improving the safety and reliability of the material transportation process.

[0061] When picking and placing materials whose size specifications match the size of the material taking port, the damping clamp 130 can be controlled to be in the second state; when picking and placing materials whose size specifications are smaller than the size of the material taking port, the damping clamp 130 can be controlled to be in the first state. Therefore, the material taking device provided by the embodiment of the utility model can stably and reliably pick and place materials of at least two different specifications, thereby reducing the overall cost of material transportation.

[0062] It should be noted that in the embodiment of the present utility model, the first state of the damping clamp 130 may not be uniquely fixed. In other words, the distance that the damping clamp 130 protrudes from the inner side surface of the corresponding material taking arm may not be unique, so that the damping clamp 130 can stably transfer more materials of different sizes.

[0063] As described above, the damping clamp 130 may include an electromagnet and an elastic member. The following takes the damping clamp 130 including an electromagnet and an elastic member as an example to introduce the process of picking up and placing materials by the material box handling robot provided by the embodiment of the utility model. In the power-on state, the electromagnet of the damping clamp 130 generates a magnetic force, generates a magnetic attraction force on the damping rod 131, and compresses the elastic member 132. In the power-off state, the magnetic force of the electromagnet of the damping clamp 130 disappears, and the magnetic attraction force on the damping rod 131 is also small, and the elastic member 132 pushes the second end of the damping rod 131 to a state where it protrudes from the inner side of the material picking arm 110.

[0064] Before taking the material, the electromagnet of the damping clamp 130 is in the power-on state. When taking the material, the control lever 120 is rotated to the second position, and the material taking arm 110 of the material taking device moves forward from the support plate 140 and extends into the material box. When the material taking arm 110 reaches both sides of the material box and is opposite to the side wall of the material box, the electromagnet of the damping clamp 130 is powered off, so as to use the restoring force of the elastic member 132 to push out the second end of the damping rod 131, and make the damping rods 131 on the two material taking arms 110 clamp the material, and the control lever 120 is rotated to the first position. Then the material taking arm 110 is controlled to move backward, and drive the material to the support plate 140, and is located in the middle position of the support plate 140.

[0065] When transferring materials, the lever 120 is maintained at the first position, and the electromagnet of the damping clamp 130 is de-energized.

[0066] When discharging the material, the material picking arm 110 of the material picking device is controlled to move forward from the support plate 140, and the lever is controlled to rotate to the second position. Before the material is placed in place, the electromagnet of the damping clamp 130 is maintained in a power-off state so that the damping rod 131 clamps the material. After the material picking arm 110 places the material in place, the electromagnet of the damping clamp 130 is powered on, and the electromagnet is used to absorb the damping rod 131 back into the receiving groove, and the material picking arm 110 is controlled to return to the support plate 140.

[0067] As an optional embodiment, the material box handling robot further includes a lifting device, and the material picking device is arranged on the lifting device, so that the material picking device can move along the height direction of the gantry driven by the lifting device.

[0068] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes but is not limited to the contents described in the drawings and the above specific embodiments. Any modification that does not deviate from the functional and structural principles of the present invention shall be included in the scope of the claims.

Claims

1. A material taking device, comprising at least one material taking arm pair, wherein the material taking arm pair comprises two material taking arms arranged opposite to each other, characterized in that: The material picking device also includes at least one damping clamp, and the damping clamp is arranged on the inner side of at least one of the material picking arms. The damping clamp can be switched between a first state and a second state. In the first state, the damping clamp protrudes from the inner side surface of the material picking arm where the damping clamp is arranged, and in the second state, the damping clamp does not protrude from the inner side surface of the material picking arm where the damping clamp is arranged.

2. The material taking device according to claim 1, characterized in that: The damping clamp includes a damping rod and an electrically-controlled telescopic assembly. A receiving groove is provided on the inner side surface of the material picking arm on which the damping clamp is provided. The damping rod is connected to the electrically-controlled telescopic assembly. At least a portion of the electrically-controlled telescopic assembly is provided in the receiving groove. The electrically-controlled telescopic assembly can be extended or shortened according to the control of a received electrical signal. When the electrically-controlled telescopic assembly is extended, the damping clamp is in the first state. When the electrically-controlled telescopic assembly is shortened, the damping clamp is in the second state.

3. The material taking device according to claim 2, characterized in that: The first end of the damping rod is rotatably arranged in the accommodating groove, and the electric-controlled telescopic assembly is connected to the second end of the damping rod.

4. The material taking device according to claim 3, characterized in that: The electric-controlled telescopic assembly includes an electromagnet and an elastic member. The damping rod is made of ferromagnetic material. The electromagnet is arranged in the accommodating groove and corresponds to the second end of the damping rod. One end of the elastic member is connected to the second end of the damping rod, and the other end of the elastic member is fixed in the accommodating groove. In the second state, the elastic member is in a compressed state.

5. The material taking device according to any one of claims 1 to 4, characterized in that: The damping clamping member is arranged on the inner side surfaces of the two material picking arms of the material picking arm pair.

6. The material taking device according to claim 5, characterized in that: In the first state, the damping clamps on the two oppositely disposed material picking arms protrude from the inner side surfaces of the corresponding material picking arms by the same distance.

7. The material taking device according to any one of claims 1 to 4, characterized in that: The material picking device also includes at least one lever, which is arranged at the front end of the corresponding material picking arm, and the lever can be switched between a first position and a second position. In the first position, the free end of the lever is located between the two material picking arms, and in the second position, the free end of the lever is located on the outside or front end of the corresponding material picking arm.

8. The material taking device according to any one of claims 1 to 4, characterized in that: The material taking device further comprises at least one rear push plate, and the rear push plate is arranged in at least one of the material taking arm pairs, and the rear push plate is located at the rear end of the corresponding material taking arm pair.

9. A material box handling robot, comprising a material picking device, a gantry and a plurality of storage locations, wherein the plurality of storage locations are arranged on the gantry and arranged along the height direction of the gantry, and the material picking device can move along the height direction of the gantry, characterized in that: The material picking device is the material picking device according to any one of claims 1 to 8, and the pair of material picking arms can be inserted into the storage space corresponding to the storage position.

10. The container handling robot according to claim 9, characterized in that: The material box handling robot also includes a lifting device, and the material picking device is arranged on the lifting device, so that the material picking device can move along the height direction of the gantry under the drive of the lifting device.

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