A pick-up box device

Abstract

The present invention provides a pick-up box device, which includes: a main body, a telescopic device, a control device and a driving device; a cargo compartment is arranged inside the main body, and the cargo compartment has a loading inlet; the telescopic device includes telescopic arms arranged on opposite sides of the loading inlet; each telescopic arm includes three arms that can slide relative to each other, and the three arms can telescopically move along a first direction, and the first direction is the loading and unloading direction of the cargo compartment; wherein, the first section arms of the three arms are slidably connected to the main body, and a finger-poking structure is arranged at the end of the last section arm away from the main body; the driving device includes a driving component for driving the first section arm in each telescopic arm to slide relative to the main body, and a linkage mechanism for driving the adjacent arms in each telescopic arm to be linked; the control device is used to control the finger-poking structure to rotate to a position where it can poke the cargo box to be carried. In the above technical solution, by using three arms to pick up the cargo box, it is possible to take out the goods from a deeper cargo compartment.

Description

Technical Field

[0001] The present invention relates to the field of logistics, and particularly to a pick-up box device. Background Art

[0002] In the process of robot handling in the existing logistics field, the initial AGV robots were in the mode of handling shelves. With technological progress, most manufacturers now start to handle equipment for storing goods such as bins or cartons. The existing telescopic forks for pick-up boxes and cartons are mostly in the mode of 1-level fixed and 2-level telescopic. However, with the change of the shelf arrangement method, the handling equipment in the prior art cannot pick up the bins inside and outside the shelves and can no longer meet the handling requirements. Summary of the Invention

[0003] In view of this, the present invention provides a pick-up box device to improve the handling effect.

[0004] The present invention provides a pick-up box device, which includes: a body, a telescopic device, a control device and a driving device; wherein,

[0005] A storage bin is arranged inside the body, and the storage bin has an inlet.

[0006] The telescopic device includes telescopic arms arranged on opposite sides of the inlet; each telescopic arm includes three arms that can slide relative to each other, and the three arms can be telescoped along a first direction, and the first direction is the loading and unloading direction of the storage bin; wherein, the first section arm of the three arms is slidably connected to the body, and a finger-poking structure is arranged at the end of the last section arm away from the body.

[0007] The driving device includes a driving component for driving the first section arm in each telescopic arm to slide relative to the body, and a linkage mechanism for driving the linkage between adjacent arms in each telescopic arm;

[0008] The control device is used to control the finger-poking structure to rotate to a position where it can poke the bin to be handled.

[0009] In the above technical solution, by using three arms to pick up the pick-up box, goods can be taken out from a deeper storage bin.

[0010] In a specific feasible implementation, the linkage mechanism is a closed-loop synchronous belt. The closed-loop synchronous belt drives the linkage between the arms.

[0011] In a specific feasible implementation, the closed-loop synchronous belt includes a first synchronous belt and a second synchronous belt;

[0012] The first synchronous belt is arranged on the first section arm, and the first synchronous belt is respectively fixedly connected to the body and the middle arm of the three arms, and is used to drive the middle arm to slide relative to the body;

[0013] The second synchronous belt is arranged on the middle arm, and the second synchronous belt is fixedly connected to the first arm and the last arm respectively, and is used to drive the last arm to slide relative to the first arm; wherein,

[0014] The last arm is provided with a selection mechanism, and the selection mechanism is used to selectively connect the last arm to the second synchronous belt and the middle arm; when the last arm is fixedly connected to the middle arm through the selection mechanism, the last arm is disconnected from the second synchronous belt. By setting the selection mechanism, it is possible to selectively extend three arms or two arms, so as to take out goods from warehouses at different depths.

[0015] In a specific feasible implementation, the selection mechanism includes: a first magnetic member arranged on the second synchronous belt, a second magnetic member arranged on the middle arm; a first electromagnet and a second electromagnet arranged on the last arm, wherein, when the first electromagnet is powered on, it can adsorb the first magnetic member; when the second electromagnet is powered on, it can adsorb the second magnetic member. It realizes the selective fixed connection of the last arm to the second synchronous belt or the middle arm.

[0016] In a specific feasible implementation, the first arm is provided with a first limiting rib for limiting the horizontal shaking of the first synchronous belt;

[0017] The middle 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;

[0018] The last arm is provided with a fourth limiting rib for limiting the horizontal shaking of the second synchronous belt. By setting the limiting ribs, the stability of the synchronous belt during movement can be improved.

[0019] In a specific feasible implementation, the first limiting rib and the second limiting rib are arranged oppositely, and there is a gap for accommodating the first synchronous belt between the first limiting rib and the second limiting rib; the third limiting rib and the fourth limiting rib are arranged oppositely, and there is a gap for accommodating the second synchronous belt between the third limiting rib and the fourth limiting rib. By setting the limiting ribs, the stability of the synchronous belt during movement can be improved.

[0020] In a specific feasible implementation, the second limiting rib is provided with two guiding protrusions for limiting the vertical shaking of the first synchronous belt;

[0021] The fourth limiting rib is provided with two guiding protrusions for limiting the vertical shaking of the second synchronous belt. By setting the limiting ribs, the stability of the synchronous belt during movement can be improved.

[0022] In a specific feasible implementation, along the second direction: the setting position of the first synchronous belt is lower than that of the second synchronous belt;

[0023] The second direction is perpendicular to the first direction. Leave space for the cable to move.

[0024] In a specific feasible implementation, the heights of the three arms of each telescopic arm along the second direction satisfy:

[0025] H2 ≤ H1 < H3; where H1 is the height of the first section 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 section arm in the second direction. Leave space for the cable to move.

[0026] In a specific feasible implementation, a power supply device is provided on the body; the finger-poking structure includes a servo motor fixed at the end of the last section arm, a finger-poking connected to the servo motor, and a cable connected to the servo motor, and the cable is connected to the power supply device. Driving the finger-poking structure by the servo motor reduces mechanical wear.

[0027] In a specific feasible implementation, the cable includes a first cable and a second cable; the first cable and the second cable are respectively chain cables.

[0028] A transfer module is provided on the middle arm of the three arms;

[0029] 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 transfer module;

[0030] The first end of the second cable is connected to the transfer module, and the second end of the second cable is connected to the servo motor and the sensor assembly. Facilitate cable setting.

[0031] In a specific feasible implementation, in each telescopic arm, the first cable and the second cable are arranged offset in the third direction; where

[0032] The third direction is perpendicular to the first direction and the second direction. Facilitate cable setting.

[0033] In a specific feasible implementation, the last section arm is provided with a sensor assembly for detecting the cargo box to be carried;

[0034] The sensor assembly is connected to the control device through the cable;

[0035] The control device is further configured to control the finger-poking structure to rotate to a position where it can poke the cargo box to be carried when the sensor assembly detects the cargo box to be carried, thereby improving the accuracy of carrying.

[0036] In a specific implementable embodiment, the sensor assembly includes opposed sensors disposed on the two end arms of the two opposed telescopic arms; and forward detectors disposed on the end arms of the two telescopic arms, thereby improving the accuracy during picking up goods. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 Schematic diagram of the application scenario of the goods picking box device provided by an embodiment of the present invention;

[0038] Figure 2 Schematic diagram of the application scenario of the goods picking box device provided by an embodiment of the present invention;

[0039] Figure 3 Schematic diagram of the state of the goods picking box device provided by an embodiment of the present invention without picking up goods;

[0040] Figure 4 Schematic diagram of the state of the goods picking box device provided by an embodiment of the present invention when picking up goods;

[0041] Figure 5 Schematic diagram of the structure of the driving device provided by an embodiment of the present invention;

[0042] Figure 6 Schematic diagram of the cooperation between the telescopic arm and the driving device provided by an embodiment of the present invention;

[0043] Figure 7 Schematic diagram of the structure of the telescopic arm provided by an embodiment of the present invention;

[0044] Figure 8 Schematic diagram of the application of the goods picking box device provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0045] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0046] To facilitate understanding of the goods picking box device provided by the embodiments of the present application, the following Figure 1 and Figure 2 will be used to describe in detail the goods picking box device provided by the embodiments of the present application. As Figure 1 and Figure 2As shown, the pick-up box device provided in the embodiments of the present application is applied to handling boxes in a warehouse. In the warehouse, the boxes are stored in the shelf 100. However, when the shelf 100 is placed in the warehouse, it needs to be placed according to the environmental adaptability of the warehouse. For example, Figure 1 As shown in Figure 1 , the shelf 100 is arranged in two rows, and a pick-up passage is provided between the two rows of shelves 100. However, as the requirement for the utilization of the warehouse area is getting higher and higher, in the prior art, the 4-row shelves 100 are arranged as shown in Figure 2 Figure 2 , and pick-up passages are provided between the 4 rows of shelves 100. To adapt to the pick-up method in the warehouse with 4-row shelves 100 arranged, the embodiments of the present application provide a pick-up box device, which will be described in detail below with reference to specific drawings.

[0047] First, the box is described. The box in the present application refers to a box used to hold products or semi-finished products in the logistics industry, including but not limited to common boxes such as plastic boxes, cardboard boxes, and wooden boxes.

[0048] With reference to Figure 3 and Figure 4 , Figure 3 and Figure 4 schematically illustrate the structures of the pick-up box device provided in the embodiments of the present application in different states.

[0049] First, with reference to Figure 3 , Figure 3 schematically illustrates the structure of the pick-up box device when the telescopic arm 20 is not extended. To facilitate the understanding of the pick-up box device provided in the embodiments of the present application, a three-dimensional XYZ coordinate system is established with reference to the placement direction of the shelf. Among them, the Z direction is the vertical direction, the X direction and the Y direction are the horizontal directions, and the X direction points to the direction where goods can be picked up on the shelf, and the Y direction is perpendicular to the X direction. To be consistent with the description of the first direction, the second direction, and the third direction in the following text, the first direction in the following text refers to the X direction, the second direction refers to the Z direction, and the third direction refers to the Y direction.

[0050] Continuing to refer to Figure 3 , the main structure of the pick-up box device at least includes the body 10 and the telescopic device. First, the body 10 is described. In Figure 3 the body 10 is a cuboid structure, and a corresponding cuboid cargo compartment 11 is provided inside. The cargo compartment 11 has a loading inlet 12, which can also be used as an unloading outlet. Boxes can enter the cargo compartment 11 from the loading inlet 12, or can be removed from the cargo compartment 11 through the loading inlet 12. With reference to Figure 3In the structure, the main body 10 includes a cuboid-shaped structure surrounded by three side walls and a bottom plate. The side without a side wall serves as the inlet 12 of the cargo hold 11, and the opening direction of the inlet 12 faces the X direction, so that the goods taken out from the shelf can enter the cargo hold 11 of the main body 10 through the inlet 12. It should be understood that Figure 3 In the example, the side main body 10 being cuboid-shaped is only a specific example of the main body 10 in this application. The main body 10 provided in the embodiments of this application can also adopt other shapes, such as a cylinder, an elliptical cylinder, a polyhedron, etc. The shape of the cargo hold 11 can also adopt other shapes, such as an ellipse or a polyhedron, as long as it matches the cargo box.

[0051] Continuing to refer to Figure 3 , the telescopic device provided in the embodiments of this application includes telescopic arms 20 arranged on opposite sides of the inlet 12. Combining Figure 3 with the structure shown in Figure 4 , the two telescopic arms 20 are symmetrically arranged on both sides of the inlet 12, and each telescopic arm 20 is connected to a side wall of the main body 10. Among them, the space between the two telescopic arms 20 is the space where the cargo box to be carried is located. The cargo box to be carried is limited in this space by the two telescopic arms 20, and when the telescopic arms 20 contract, the cargo box to be carried can be pulled into the cargo hold 11. To facilitate understanding of the structure of the telescopic arms 20, the following will be described in combination with

[0052] Figure 4 shows the state of the telescopic arms 20 when the cargo box removing device picks up the goods. The structures of the two telescopic arms 20 are the same, so one of the telescopic arms 20 will be taken as an example for description. The telescopic arm 20 includes three arms that can slide relative to each other. Combining Figure 3 and Figure 4 , the three arms include: a first-stage arm 21, an intermediate arm 22, and a last-stage arm 23. The first-stage arm 21, the intermediate arm 22, and the last-stage arm 23 are arranged in the direction from the side wall of the main body 10 to which the first-stage arm 21 is slidably connected towards the inside of the cargo hold 11. The first-stage arm 21 is slidably connected to the main body 10, the intermediate arm 22 is slidably connected to the first-stage arm 21, and the last-stage arm 23 is slidably connected to the intermediate arm 22, and the sliding directions of the three arms are along the first direction (X direction), that is, the three arms can slide along the goods-taking direction to realize the telescopic movement of the telescopic arm 20 along the goods-taking direction. Combining Figure 3 , when the three arms contract, the three arms overlap and are located inside the cargo hold 11; combining Figure 4 , when the three arms extend, the three arms extend along the first direction, and the three arms extend outside the cargo hold 11.

[0053] Continuing to refer to Figure 4The end of the end arm 23 away from the body 10 is provided with a finger structure 30, and the finger structure 30 is used to move the cargo box to be transported. As a specific example, the finger structure 30 includes a steering gear 31 fixed at the end of the end arm 23 and a finger 32 connected to the steering gear 31. Figure 4 The steering gear 31 is fixed at the end of the end arm 23, and the finger 32 is connected to the steering gear 31 and can be driven by the steering gear 31 to rotate. The finger 32 has two positions: a working position and an avoidance position. When the finger 32 is working, the steering gear 31 drives the finger 32 to rotate to a horizontal position, and the length direction of the finger 32 is along the Y direction. The fingers 32 of the two telescopic arms 20 are opposite to each other and extend into the space defined by the two telescopic arms 20, so that the cargo box to be transported can be pulled when the telescopic arms 20 are retracted. When the telescopic arms 20 are inserted into the shelf, the finger 32 does not need to work. At this time, the finger 32 is in the avoidance position. The finger 32 is driven by the steering gear 31 to rotate to its length direction along the Z direction, thereby preventing the telescopic arms 20 from blocking the cargo box to be transported 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 that 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.

[0054] When the servo 31 is in use, the servo 31 is powered by a cable, and the cable is 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 switching 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 switching module 53; the first end of the second cable 52 is connected to the switching module 53, and the second end of the second cable 52 is connected to the steering gear 31; wherein the switching module 53 can electrically connect the first cable 51 and the second cable 52. 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-section cables are adopted, it is ensured that the cables follow the movement of the three arms when they are extended and retracted, and the reliability of the cables connecting the power supply device and the steering gear 31 is ensured. 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 arranged in a staggered manner, interference does not occur between the first cable 51 and the second cable 52 during telescoping, ensuring that the movement space of the two cables can be realized within a limited space, and ensuring the reliability of the connection between the cables and the power supply device and the steering gear 31 when the telescopic arm 20 telescopes.

[0055] When the finger-pulling structure 30 provided in the embodiment of the present application is powered by a cable, as an alternative embodiment, a sensor assembly 40 for detecting the cargo box may be provided at the end of the last joint arm 23 away from the body 10. The sensor assembly 40 can be connected to the control device of the cargo box picking device through a cable. When using two-stage cables, the second cable 52 is not only connected to the steering gear 31 but also connected to the sensor assembly 40 to send the signal of the sensor assembly 40 to the control device. The control device can be used to control the steering gear 31 to drive the finger 32 to rotate to a position where the to-be-carried cargo box can be pulled when the sensor assembly 40 detects the to-be-carried cargo box. Thereby improving the accuracy when handling the cargo box. When setting the sensor assembly 40, the sensor assembly 40 can include different sensors. Exemplarily, the sensor assembly 40 includes a pair of sensors 41 arranged on the two last joint arms 23 of the two opposite telescopic arms 20; and a forward detector 42 arranged on the last joint arms 23 of the two telescopic arms 20. The accuracy during cargo picking is improved. During use, through the forward detector 42, the situation in the telescoping direction of the telescopic arm 20 can be detected to ensure that when the telescopic arm 20 telescopes, it is located on both sides of the to-be-carried cargo box to ensure the accuracy of the telescopic arm 20 during telescoping; in addition, through the detection between the pair of sensors 41, it can be determined whether the position of the finger 32 is in place and whether the to-be-carried cargo box can be clamped when the finger 32 rotates. After receiving the above signals, the control device can control the steering gear 31 of the finger-pulling structure 30 to work, so as to accurately clamp the to-be-carried cargo box. It can be seen from the above description that when using a cable, 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.

[0056] It should be understood that the above control device can be a single-chip microcomputer, a PLC or an industrial control computer, and the above control device controlling the components to work according to the detection signal of the sensor assembly 40 is a common function of the above control device. Therefore, the signal interaction between the sensor assembly 40 and the control device will not be elaborated in detail in this application.

[0057] In an alternative embodiment, when the cargo box picking device does not include a sensor assembly, the control device can also be used to control the finger-pulling structure to rotate to a position where the to-be-carried cargo box can be pulled. At this time, the control device directly sends a control instruction to the finger-pulling structure without collecting data through the sensor assembly.

[0058] In an alternative embodiment, the control device can also control the telescopic movement of the telescopic arm 20. Specifically, the control device is connected to the driving device and controls the telescopic movement of the telescopic arm 20 through the driving device.

[0059] As Figure 5 shown, when the telescopic arm is working, its telescopic movement is controlled by the driving device. The driving device includes a driving component 63 for driving the first section arm 21 in each telescopic arm to slide relative to the body 10, and a linkage mechanism for driving the linkage between adjacent arms in each telescopic arm. The linkage mechanism can drive the linkage between the arms. Exemplarily, the linkage mechanism can adopt different structures such as a synchronous belt and a transmission belt. As a specific example, the linkage mechanism adopts a closed-loop synchronous belt.

[0060] As Figure 5 shown in an example of a specific driving component 63 includes a driving motor (not labeled in the figure) provided on the body 10, a transmission shaft (not labeled in the figure) connected to the driving motor through a belt (not labeled in the figure). The transmission shaft is used to synchronously drive two synchronous belts 64 provided on the body 10. The two synchronous belts are respectively used to drive the first section arms 21 of the two telescopic arms to slide relative to the body 10. In addition, the driving device also includes a closed-loop synchronous belt for driving the linkage between adjacent arms in each telescopic arm. As Figure 5 shown, the closed-loop synchronous belt includes a first synchronous belt 61 and a second synchronous belt 62. Among them, the first synchronous belt 61 is provided on the first section arm 21, and the first synchronous belt 61 is fixedly connected to the body 10 and the intermediate arm 22 respectively, and is used to drive the intermediate arm 22 to slide relative to the body 10. The second synchronous belt 62 is provided on the intermediate arm 22, and the second synchronous belt 62 is fixedly connected to the first section arm 21 and the end arm 23 respectively, and is used to drive the end arm 23 to slide relative to the first section arm 21. As Figure 5 shown, along the second direction (Z direction): the installation position of the first synchronous belt 61 is lower than the installation 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, thus reasonably utilizing the space of the telescopic arm and reducing the space occupied by the cable and the synchronous belt.

[0061] Refer to Figure 6 , Figure 6 which shows a schematic diagram of the cooperation between the synchronous belt and the three arms. As an alternative solution, the first section arm 21 is provided with a first limiting rib for limiting the horizontal shaking of the first synchronous belt 61; the intermediate arm 22 is provided with a second limiting rib 71 for limiting the horizontal shaking of the first synchronous belt 61; among them, the first limiting rib (due to the shielding of the first synchronous belt 61, so in Figure 6The first limiting rib (not shown in the figure) is located within 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 surface of the middle arm 22 facing the first arm 21, and the first limiting rib and the second limiting rib 71 are arranged oppositely. A gap for accommodating the first synchronous belt 61 is left between the first limiting rib and the second limiting rib 71. Through the cooperation of the first limiting rib and the second limiting rib 71, the sway of the first synchronous belt 61 in the horizontal direction (Y direction) is limited, ensuring the reliability of the transmission of the first synchronous belt 61. Additionally, as an alternative solution, the second limiting rib 71 is provided with two guiding protrusions for limiting the sway of the first synchronous belt 61 in the vertical direction (Z direction), so that the sway of the first synchronous belt 61 can be limited in both the horizontal and vertical directions, improving the reliability of the transmission of the first synchronous belt 61.

[0062] Continue to refer to Figure 6 , as an alternative solution, the middle arm 22 is provided with a third limiting rib for limiting the horizontal sway of the second synchronous belt 62; the last arm 23 is provided with a fourth limiting rib 73 for limiting the horizontal sway of the second synchronous belt 62. Among them, the third limiting rib is located within the space enclosed by the second synchronous belt 62 (since the second synchronous belt 62 blocks it, the third limiting rib is not shown in Figure 6 ), to support the second synchronous belt 62 from the inside. The fourth limiting rib 73 is provided on the surface of the last arm 23 facing the middle arm 22, and the third limiting rib and the fourth limiting rib 73 are arranged oppositely. A gap for accommodating the second synchronous belt 62 is left between the third limiting rib and the fourth limiting rib 73. Through the cooperation of the third limiting rib and the fourth limiting rib 73, the sway of the second synchronous belt 62 in the horizontal direction (Y direction) is limited, ensuring the reliability of the transmission of the second synchronous belt 62. Additionally, as an alternative solution, the fourth limiting rib 73 is provided with two guiding protrusions for limiting the sway of the second synchronous belt 62 in the vertical direction (Z direction), so that the sway of the second synchronous belt 62 can be limited in both the horizontal and vertical directions, improving the reliability of the transmission of the second synchronous belt 62.

[0063] In an alternative solution, the first arm 21 is provided with a fifth limiting rib for limiting the second synchronous belt 62. The fifth limiting rib is provided on the surface of the first arm 21 facing the middle arm 22, and the fifth limiting rib and the third limiting rib together limit the sway of the second synchronous belt 62 in the horizontal direction.

[0064] Furthermore, when using the above-mentioned limiting ribs, by setting the limiting ribs, the thickness of the arm can be increased in the horizontal direction (Y direction), thereby increasing the structural strength of each arm and improving the reliability of the telescopic arm during use.

[0065] As Figure 7 shown, Figure 7The side view of the telescopic arm is shown. As an optional solution, the height of the three arms of each telescopic arm along the second direction satisfies: H2≤H1<H3; wherein H1 is the height of the first arm 21 in the second direction, H2 is the height of the middle arm 22 in the second direction, and H3 is the height of the last arm 23 in the second direction. Leave room for the cable to move. When the above structure is adopted, the setting positions of the first synchronous belt and the second synchronous belt, as well as the setting positions of the first cable and the second cable are combined. By adopting the height change of the three arms in the Z direction, it is ensured that there is enough space in the last arm 23 to set the above-mentioned finger structure, sensor assembly, second cable and other structures. At the same time, the last arm 23 adopts a higher height to improve the stability of the cargo box when pulling the belt. By adopting a lower height of the middle arm 22, there is enough space under the middle arm 22 to set the switching module, the first cable and the second cable foldable space. When the first arm 21 adopts the above height, it can stably support the middle arm 22 and the end arm, and at the same time leave space to set the above-mentioned first cable and first synchronous belt and other structures.

[0066] In order to improve the versatility of the pickup box device provided in the embodiment of the present application, so as to adapt to Figure 1 and Figure 2 The arrangement of the shelves shown is an extended example. The telescopic arm provided in the embodiment of the present application is set as an adjustable telescopic arm. Exemplarily, the end arm may be 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. In a specific implementation scheme, the selection mechanism includes: a first magnetic member arranged on the second synchronous belt, a second magnetic member arranged on the intermediate arm; a first electromagnet and a second electromagnet arranged on the end arm, wherein the first electromagnet can adsorb the first magnetic member when powered; and the second electromagnet can adsorb the second magnetic member when powered. Among them, the first electromagnet and the second electromagnet can be connected to the control device through a cable, and the working state of the first electromagnet and the second electromagnet is controlled by the control device. When the three-section arm needs to be extended, the control device controls the first electromagnet to adsorb the first magnetic member and controls the second electromagnet to be powered off. At this time, the second synchronous belt is fixedly connected to the end arm, the end arm and the intermediate arm are unlocked, and the end arm 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 together, 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 cargo boxes located inside the shelves 100 can be taken out, such as Figure 8The pick-up box device 1 shown in []. When it is necessary to extend two arms, the control device controls the second electromagnet to adsorb the second magnetic part, and the first electromagnet is powered off. 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 disconnected from the fixed connection. When the telescopic arm is driven by the driving device, only the first arm and the middle arm extend, and the end arm does not extend outside the middle arm, thus achieving the effect of extending two arms, which can be applied to Figure 1 the shelf arrangement method in [], and is applied to taking out Figure 2 the pick-up box on the outer shelf 100 in [], such as Figure 8 the pick-up box device 2 shown in [].

[0067] It can be seen from the above description that by setting the selection mechanism, the end arm can be selectively fixedly connected to the second synchronous belt or the middle arm. Thus, different working modes can be selected according to different working environments, improving the adaptability of the pick-up box device.

[0068] In an alternative solution, the first magnetic part and the second magnetic part can be iron blocks embedded in the second synchronous belt and the middle arm, or other materials that can be magnetically adsorbed. In addition, for the setting positions of the first magnetic part and the second magnetic part, they can be set according to actual needs, and the setting positions of the corresponding first electromagnet and the second electromagnet can be set according to actual situations to ensure that the corresponding two can be adsorbed and connected, and meet the above-mentioned movement requirements after adsorption.

[0069] It can be seen from the above description that the pick-up box device provided by the embodiment of the present application can use three arms to pick up the pick-up box, and can take out goods from a deeper warehouse. In addition, through the provided sensor assembly and control device, accurate picking can be achieved.

[0070] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these changes and modifications.

Claims

1. A pick-up box device, characterized in that, it includes: a body, a telescopic device, a control device and a driving device; wherein, a cargo hold is arranged inside the body, and the cargo hold has a loading opening; a power supply device is arranged on the body; the telescopic device includes telescopic arms arranged on opposite sides of the loading opening; each telescopic arm includes three arms that can slide relative to each other, and the three arms can be telescoped along a first direction, and the first direction is the loading and unloading direction of the cargo hold; wherein, the first section arm of the three arms is slidably connected to the body, and a finger-poking structure is arranged at the end of the last section arm far from the body; the driving device includes a driving component for driving the first section arm in each telescopic arm to slide relative to the body, and a linkage mechanism for driving the linkage between adjacent arms in each telescopic arm; the control device is used to control the finger-poking structure to rotate to a position where it can poke the cargo box to be carried; the linkage mechanism is a closed-loop synchronous belt, and the closed-loop synchronous belt includes a first synchronous belt and a second synchronous belt; the first synchronous belt is arranged on the first section arm, and the first synchronous belt is fixedly connected to the body and the middle arm of the three arms respectively, and is used to drive the middle arm to slide relative to the body; the second synchronous belt is arranged on the middle 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, a selection mechanism is arranged on the last section arm, and the selection mechanism is used to selectively connect the last section arm to the second synchronous belt and the middle arm; when the last section arm is fixedly connected to the middle arm through the selection mechanism, the last section arm is disconnected from the second synchronous belt.

2. The pick-up box device according to claim 1, characterized in that, the first section arm is provided with a first limiting rib for limiting the horizontal shaking of the first synchronous belt; the middle 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; the last section arm is provided with a fourth limiting rib for limiting the horizontal shaking of the second synchronous belt.

3. The pick-up box device according to claim 2, characterized in that, the first limiting rib and the second limiting rib are arranged oppositely, and a gap for accommodating the first synchronous belt is left between the first limiting rib and the second limiting rib; the third limiting rib and the fourth limiting rib are arranged oppositely, and a gap for accommodating the second synchronous belt is left between the third limiting rib and the fourth limiting rib.

4. The pick-up box device according to claim 2 or 3, characterized in that, the second limiting rib is provided with two guiding protrusions for limiting the vertical shaking of the first synchronous belt; or / and, the fourth limiting rib is provided with two guiding protrusions for limiting the vertical shaking of the second synchronous belt.

5. The pick-up box device according to claim 1, characterized in that, along a second direction: the installation position of the first synchronous belt is lower than the installation position of the second synchronous belt; the second direction is perpendicular to the first direction.

6. The pick-up box device according to claim 5, characterized in that the heights of the three arms of each telescopic arm in the second direction satisfy: H2 ≤ H1 < H3; wherein, H1 is the height of the first section 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 section arm in the second direction.

7. The pick-up box device according to claim 5, characterized in that the finger-pushing structure includes a servo motor fixed at the end of the last section arm, a finger pushed by the servo motor, and a cable connected to the servo motor, and the cable is connected to the power supply device; the finger-pushing structure is connected to the servo motor and can drive the finger to rotate through the servo motor, 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.

8. The pick-up box device according to claim 7, characterized in that the cable includes a first cable and a second cable; the first cable and the second cable are respectively chain cables; a transfer module is arranged on the middle arm of the three arms; the first end of the first cable is fixed on the side wall of the body; the second end of the first cable is connected to the transfer module; the first end of the second cable is connected to the transfer module, and the second end of the second cable is connected to the servo motor.

9. The pick-up box device according to claim 8, characterized in that in each telescopic arm, the first cable and the second cable are arranged in a staggered manner in the third direction; wherein, the third direction is perpendicular to the first direction and the second direction.

10. The pick-up box device according to claim 7, characterized in that a sensor assembly for detecting the to-be-carried box is arranged on the last section arm; the sensor assembly is connected to the control device through the cable; the control device is further configured to control the finger-pushing structure to rotate to a position where the to-be-carried box can be pushed when the sensor assembly detects the to-be-carried box.

11. The pick-up box device according to claim 10, characterized in that the sensor assembly includes a pair of photoelectric sensors arranged on the last section arms of two relatively telescopic arms; and a forward detector arranged on the last section arms of the two telescopic arms.

Images