Sealing mechanism, mechanical arm device and unpacking system

Abstract

The invention provides a sealing mechanism, a robot arm device and an unpacking system. The sealing mechanism is used for achieving sealing between the mechanical arm and an open window of the bin gate, and the mechanical arm can be arranged at the open window in a penetrating mode. The sealing mechanism comprises a sealing piece, the sealing piece is arranged on a preset part of the mechanical arm in a sealing and sleeving mode, the preset part is at least part of a mechanical arm body, right opposite to the window, of the mechanical arm when the mechanical arm is arranged at the window in a penetrating mode, and the sealing piece is used for generating elastic deformation when the mechanical arm is arranged at the window in a penetrating mode. Further, the inner peripheral wall of the open window is extruded and contacted. According to the sealing mechanism, dynamic sealing between the mechanical arm and the opening window of the bin door can be achieved, external dust can be prevented from entering the bin door, and materials in the bin door can be prevented from escaping outwards.

Description

Technical Field

[0001] The present invention relates to the field of sealing technology, and in particular to a sealing mechanism, a robotic arm device and an unpacking system. Background Art

[0002] In the related art, in the unpacking system using a robotic arm to transfer the material bags, it is necessary to set a door with a window in the air shower room, bag breaking room and other chambers so that the robotic arm can extend into the chamber through the window. However, the existing unpacking system cannot achieve a seal between the robotic arm and the window when the robotic arm extends into the chamber, and has the defects of being unable to prevent external dust from entering the chamber and preventing the material in the chamber from spilling out. Summary of the invention

[0003] The present invention aims to solve at least one of the problems existing in the prior art. To this end, the present invention provides a sealing mechanism, a mechanical arm device and an unpacking system, wherein the sealing mechanism includes a sealing member which is sealed on the outer peripheral wall of the mechanical arm, and the sealing member can be elastically deformed to press and contact the inner peripheral wall of the window of the warehouse door, thereby realizing dynamic sealing between the mechanical arm and the window, which can not only prevent external dust from entering the warehouse door, but also prevent the material in the warehouse door from escaping to the outside.

[0004] In order to achieve the above-mentioned object, in a first aspect, the present invention provides a sealing mechanism for sealing between a mechanical arm and a window of a warehouse door, wherein the mechanical arm can be arranged at the window, and the sealing mechanism comprises:

[0005] A sealing member and a sealing sleeve are arranged at a preset position of the robotic arm, and the preset position is at least a portion of the robotic arm body that is opposite to the window where the robotic arm passes through the window. The sealing member is used to elastically deform when the robotic arm passes through the window, thereby squeezing and contacting the inner peripheral wall of the window.

[0006] In some embodiments, the sealing mechanism further comprises:

[0007] A frame, used for the sealing sleeve to be arranged at the preset position, the frame being adapted to the preset position;

[0008] Wherein, the sealing sleeve of the sealing element is arranged on the frame.

[0009] In some embodiments, the frame is an annular frame, and the annular frame is sleeved on the preset position from one end of the robotic arm.

[0010] In some embodiments, the frame is a plate-shaped frame made of a bendable material, and the plate-shaped frame bends under the action of an external force to wrap around and be fixed to the preset position.

[0011] In some embodiments, the sealing mechanism also includes two fixing rings, one of which is fixedly sleeved on the outer peripheral wall of one end of the skeleton in the axial direction, and the other fixing ring is fixedly sleeved on the outer peripheral wall of the other end of the skeleton in the axial direction, and the sealing member is located between the two fixing rings.

[0012] In some embodiments, the sealing mechanism further comprises:

[0013] A sealing sleeve, one end of which is connected to the frame, and the other end of which extends to cover the end of the mechanical arm.

[0014] In some embodiments, an annular limiting groove is provided on the outer peripheral wall of the skeleton, and the two fixing rings are located in the annular limiting groove.

[0015] In some embodiments, the sealing member is an annular airbag, the annular airbag is provided with an inflation interface, the inflation interface is used to connect to an air source to receive the gas provided by the air source, and the annular airbag undergoes elastic deformation after inflation to squeeze and contact the inner peripheral wall of the window;

[0016] The frame is provided with a through hole, the through hole passes through the inner circumferential wall and the outer circumferential wall of the frame, and the inflation interface is installed from the outer circumferential wall of the frame to the inner circumferential wall of the frame through the through hole.

[0017] In some embodiments, the sealing mechanism further comprises:

[0018] A first connection structure is arranged on the frame;

[0019] The robotic arm is provided with a second connection structure corresponding to the first connection structure, and the first connection structure cooperates with the second connection structure to fix the skeleton at the preset position.

[0020] In some embodiments, the first connection structure is provided on the inner peripheral wall of the frame, and the second connection structure is provided on the preset position;

[0021] And / or, the sealing mechanism includes at least two first connecting structures distributed at intervals along the circumference of the skeleton, and the robotic arm includes at least two second connecting structures distributed at intervals along the circumference of the robotic arm, and each first connecting structure is adapted to a corresponding second connecting structure.

[0022] In some embodiments, the first connection structure includes a clamping member and a connecting member, the second connection structure includes a clamping groove and a connecting hole, the clamping member is connected to the inner peripheral wall of the frame, the clamping groove is opened at the preset position, and the connecting hole is opened on the inner wall of the clamping groove;

[0023] Wherein, the engaging member is engaged in the corresponding engaging groove, and the connecting member is inserted into the corresponding connecting hole and is configured to press and fix the engaging member in the engaging groove.

[0024] In some embodiments, the sealing member is an annular airbag, which is provided with an inflation interface for connecting to an air source to receive gas provided by the air source. After inflation, the annular airbag undergoes elastic deformation and squeezes and contacts the inner wall of the window.

[0025] In some embodiments, after the annular airbag is inflated, the annular airbag abuts against a portion of the inner surface of the door adjacent to the window, and / or the annular airbag abuts against a portion of the outer surface of the door adjacent to the window.

[0026] In some embodiments, an annular convex purlin is provided on the inner circumferential wall of the window; the annular airbag covers the annular convex purlin after being inflated, and abuts against a portion of the inner circumferential wall of the window adjacent to the annular convex purlin.

[0027] In some embodiments, the inner peripheral wall of the window is provided with an annular receiving groove, and the annular airbag is at least partially received in the annular receiving groove after being inflated.

[0028] In some embodiments, the sealing member is an elastic sealing ring in a conical shape, and the outer diameter of the elastic sealing ring gradually increases from an end close to the window opening to an end away from the window opening.

[0029] In a second aspect, the present invention provides a robot arm device, comprising a robot arm and the sealing mechanism as described above.

[0030] In a third aspect, the present invention provides an unpacking system, comprising the robotic arm device as described above.

[0031] In the sealing mechanism, robotic arm device and unpacking system provided by the present invention, the sealing mechanism includes a sealing member which is sealed on the outer peripheral wall of the robotic arm, and the sealing member is used to elastically deform at the window where the robotic arm passes through the warehouse door, and then squeeze and contact the inner peripheral wall of the window, so as to achieve dynamic sealing between the robotic arm and the window, which can not only block external dust from entering the warehouse door, but also prevent materials in the warehouse door from escaping to the outside.

[0032] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description or learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solution of the embodiment of the present invention, the drawings required for use in the implementation mode will be briefly introduced below. Obviously, the drawings described below are some implementation modes of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1 It is a three-dimensional structural schematic diagram of a sealing mechanism provided by one embodiment of the present invention.

[0035] Figure 2 yes Figure 1 The application scenario diagram of the sealing mechanism and the warehouse door is shown.

[0036] Figure 3 yes Figure 2 A partial cross-sectional view of the sealing mechanism and the compartment door in one embodiment is shown.

[0037] Figure 4 yes Figure 2 A partial cross-sectional view of the sealing mechanism and the compartment door in another embodiment is shown.

[0038] Figure 5 yes Figure 2 A partial cross-sectional view of the sealing mechanism and the compartment door in yet another embodiment is shown.

[0039] Figure 6 It is a schematic diagram of an unpacking system provided by one embodiment of the present invention.

[0040] Description of main reference numerals:

[0041] 1- unpacking system; 10- mechanical arm; 20- bag breaking device; 30- material bag; 40- transport track;

[0042] 1000-sealing mechanism; 2000-door; 2100-window; 2110-annular convex rafter; 2120-annular receiving groove; 100-sealing member; 150-inflating interface; 200-skeleton; 210-annular limiting groove; 220-through hole; 310-first fixing ring; 320-second fixing ring; 400-first connecting structure; 410-connecting member; 420-locking member.

[0043] The following specific implementation modes will further illustrate the present invention in conjunction with the accompanying drawings. DETAILED DESCRIPTION

[0044] Embodiments of the present invention are described in detail below, 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 described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0045] It should be noted that in the description of the present invention, the terms "first", "second", etc. are used to distinguish different objects rather than to describe a specific order, and the term "multiple" refers to at least two, and therefore cannot be understood as a limitation on the present application. In addition, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through other elements, or the internal connection of two elements; it can be a communication connection or an electrical connection, wherein both communication connection and electrical connection also include direct connection or indirect connection through other elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0046] Please also read Figure 1 and Figure 2 The embodiment of the present invention provides a sealing mechanism 1000 for implementing a mechanical arm 10 (see Figure 6 ) and the window 2100 of the warehouse door 2000, the mechanical arm 10 can be installed at the window 2100. Specifically, the sealing mechanism 1000 includes a sealing member 100 which is sealed at a preset position of the mechanical arm 10, and the preset position is at least a portion of the mechanical arm body where the mechanical arm 10 is installed at the window 2100 and the mechanical arm 10 is directly opposite to the window 2100. The sealing member 100 is used to elastically deform at the position where the mechanical arm 10 is installed at the window 2100, and then squeeze and contact the inner peripheral wall of the window 2100, so that the sealing member 100 and the inner peripheral wall of the window 2100 are in sealed contact. In this way, the sealing member 100 which can be elastically deformed is simultaneously sealed and connected to the outer peripheral wall of the mechanical arm 10 and the inner peripheral wall of the window 2100, so as to realize dynamic sealing between the mechanical arm 10 and the window 2100, which can not only prevent external dust from entering the warehouse door 2000, but also prevent the material in the warehouse door 2000 from escaping to the outside.

[0047] Optionally, in an embodiment of the present invention, the seal 100 can be bonded to the robot arm 10 by glue, so that the seal sleeve is directly and sealingly mounted on a preset position of the robot arm 10; the seal 100 can also be movably mounted on the robot arm 10, and when the seal 100 undergoes elastic deformation, the seal 100 is squeezed and contacted with the robot arm 10, so that the seal 100 is sealingly mounted on the preset position of the robot arm 10; of course, the seal 100 can also be indirectly and sealingly mounted on the preset position of the robot arm 10 by using a transition connector.

[0048] Preferably, if Figure 1 As shown, in one embodiment of the present invention, the sealing mechanism 1000 further includes a skeleton 200, and the skeleton 200 is used for sealingly sleeved on a preset position of the robot arm 10, and the skeleton 200 is adapted to the preset position, specifically, the inner contour of the skeleton 200 is adapted to the outer contour of the preset position of the robot arm 10. It can be understood that in this embodiment, no matter whether the outer contour of the preset position of the robot arm 10 is regular or irregular, as long as the inner contour of the skeleton 200 is adaptively designed, the seal 100 can be sealingly sleeved on the preset position of the robot arm 10 through the skeleton 200, that is, by setting the skeleton 200 at the preset position of the robot arm 10, the seal 100 can adapt to robot arms 10 with different contour shapes, thereby expanding the application range of the sealing mechanism 1000; furthermore, the outer contour of the skeleton 200 can be designed in a regular manner, for example, designed to be Figure 1 The cylindrical outer contour shown is conducive to quickly putting the seal 100 on the outer wall of the skeleton 200; in addition, compared with directly bonding to the outer wall of the robot arm 10 with glue, the seal 100 is sealed and put on a preset position of the robot arm 10 through the skeleton 200. In this way, when the seal 100 is damaged, the seal 100 on the skeleton 200 can be quickly replaced by disassembling the skeleton 200.

[0049] The skeleton 200 can be fixedly mounted on a preset position of the robot arm 10, and a sealing ring or a sealing gasket is provided between the skeleton 200 and the robot arm 10, so as to achieve a sealed mounting between the skeleton 200 and the robot arm 10. Of course, the skeleton 200 can also be sealed and mounted on the preset position of the robot arm 10 in other ways, as long as the skeleton 200 can be detachably mounted on the preset position of the robot arm 10, there is no limitation on this. Similarly, the seal 100 can be bonded to the frame 200 by glue so that the seal 100 can be sealingly sleeved on the frame 200. When the seal 100 is damaged, the frame 200 and the seal 100 need to be replaced together; alternatively, the seal 100 can also be detachably sleeved on the frame 200 and squeezed and contacted with the outer wall of the frame 200 by elastic deformation. Similarly, the seal 100 can be sealingly sleeved on the frame 200. When the seal 100 is damaged, only the seal 100 needs to be replaced without replacing the frame 200, which is beneficial to improving the efficiency of replacing the seal 100 and reducing costs.

[0050] In some embodiments of the present invention, the outer contour of the robot arm 10 remains consistent along the axial direction of the robot arm 10, that is, the radial dimension of the robot arm 10 at any position does not change along the axial direction of the robot arm 10, and the skeleton 200 may be an annular skeleton, and the annular skeleton is sleeved from one end of the robot arm 10 to a preset position of the robot arm 10. In this embodiment, since the outer contour of the robot arm 10 does not change, the skeleton 200 may be an annular skeleton with an integral structure, which is simple to manufacture and can be quickly sleeved to a preset position of the robot arm 10. Among them, the skeleton 200 may be made of, but not limited to, non-metallic materials or metal materials coated with a wear-resistant layer to avoid introducing metal contamination.

[0051] In other embodiments of the present invention, the outer contour of the preset part of the robot arm 10 is different from the outer contour of other parts of the robot arm 10, that is, the radial dimensions of the robot arm 10 at different parts will change along the axial direction of the robot arm 10, which will cause the skeleton 200 to be unable to be directly sleeved from one end of the robot arm 10 to the outer peripheral wall of the preset part of the robot arm 10. Figure 1 As shown, the frame 200 is a plate-like frame made of a bendable material (not limited to rubber and resin), and the plate-like frame bends under the action of an external force and wraps around and is fixed to a preset position of the robot arm 10 .

[0052] like Figure 1As shown, in one embodiment of the present invention, the sealing mechanism 1000 further includes two fixing rings (a first fixing ring 310 and a second fixing ring 320), wherein one fixing ring (such as the first fixing ring 310) is fixedly sleeved on the outer peripheral wall of one end of the skeleton 200 in the axial direction, and the other fixing ring (such as the second fixing ring 320) is fixedly sleeved on the outer peripheral wall of the other end of the skeleton 200 in the axial direction, and the sealing member 100 is located between the two fixing rings. In this embodiment, by sleeved a fixing ring at each of the two axial ends of the skeleton 200, the skeleton 200 is fixed to the preset position of the mechanical arm 10, the connection reliability of the skeleton 200 sleeved on the mechanical arm 10 is improved, and the structural stability of the skeleton 200 is also improved, and the skeleton 200 is not easily deformed; furthermore, the two fixing rings can also limit the sealing member 100 between them, so as to prevent the sealing member 100 from shifting in the axial direction of the skeleton 200, and ensure that the sealing member 100 can accurately press and contact the inner peripheral wall of the window 2100. The fixing ring can be, but is not limited to, a clamp or a pipe throat clamp.

[0053] Preferably, Figure 1 In the example, the outer peripheral wall of the skeleton 200 is provided with an annular limiting groove 210, and the two fixing rings are located in the annular limiting groove 210. In this embodiment, by providing the annular limiting groove 210 on the outer peripheral wall of the skeleton 200, the two fixing rings can be prevented from moving along the axial direction of the skeleton 200.

[0054] Of course, in other embodiments of the present invention, after the skeleton 200 is wrapped around the preset position of the robot arm 10, the opposite ends of the skeleton 200 can be glued together, so as to fix the skeleton 200 to the preset position of the robot arm 10, without the need for an additional fixing ring, thereby simplifying the structure of the sealing mechanism 1000.

[0055] Optionally, in another embodiment of the present invention, the sealing mechanism 1000 further includes a sealing sleeve, one end of which is connected to the frame 200, and the other end of which extends to cover the end of the robotic arm 10. In this embodiment, by providing the sealing sleeve to cover the end of the robotic arm 10, the inner circumferential wall of the frame 200 and the outer circumferential wall of the robotic arm 10 can be sealed, thereby preventing dust from escaping to the gap between the robotic arm 10 and the frame 200. The number of the sealing sleeves may be one, one end of which is connected to the side of the frame 200 facing the interior of the door 2000, and the other end of which may cover the end of the end of the robot arm 10 that can be inserted into the door 2000, or the end of the end of the robot arm 10 that does not extend into the door 2000; the number of the sealing sleeves may be two, one end of which is connected to opposite sides of the frame 200, one end of which covers the end of the end of the robot arm 10 that can be inserted into the door 2000, and the other end of which covers the end of the end of the robot arm 10 that does not extend into the door 2000. The sealing sleeves may be, but are not limited to, existing sealing sleeves such as film sleeves and cloth sleeves, and are not limited thereto.

[0056] As mentioned above, in the embodiment of the present invention, the frame 200 can be detachably mounted on a preset position of the robot arm 10. Figure 1 As shown, in one embodiment of the present invention, the sealing mechanism 1000 further includes a first connection structure 400 disposed on the frame 200, and the robotic arm 10 is provided with a second connection structure corresponding to the first connection structure 400, and the first connection structure 400 cooperates with the second connection structure to fix the frame 200 to a preset position of the robotic arm 10. In this embodiment, the frame 200 is fixedly sleeved on the outer peripheral wall of the robotic arm 10 through the first connection structure 400, which can enhance the connection strength between the frame 200 and the robotic arm 10.

[0057] Optionally, the first connection structure 400 can be arranged on the inner peripheral wall of the skeleton 200, or on the end face of the skeleton 200 in the axial direction, or on the outer peripheral wall of the skeleton 200, as long as it does not affect the arrangement of the seal 100 and the fixing ring. Accordingly, the second connection structure is arranged at a preset position of the robot arm 10. Figure 1 In the example, in order to reduce the axial dimension of the sealing mechanism 1000 and not hinder the arrangement of the sealing member 100 and the fixing ring, the first connecting structure 400 is preferably arranged on the inner circumferential wall of the skeleton 200 .

[0058] Optionally, in Figure 1In the example, the sealing mechanism 1000 includes at least two first connection structures 400 that are circumferentially spaced apart along the circumference of the skeleton 200. The robotic arm 10 includes at least two second connection structures that are circumferentially spaced apart along the circumference of the robotic arm 10. Each first connection structure 400 is adapted to a corresponding second connection structure. In this embodiment, the skeleton 200 is fixedly sleeved on the outer peripheral wall of the robotic arm 10 through the cooperation of multiple groups of first connection structures 400 and second connection structures, which can further enhance the connection strength between the skeleton 200 and the robotic arm 10.

[0059] As Figure 1 shown, in one embodiment of the present invention, the first connection structure 400 includes a clamping member 420 and a connecting member 410. The second connection structure includes a clamping groove and a connection hole. The clamping member 420 is connected to the inner peripheral wall of the skeleton 200. The clamping groove is opened at a preset position of the robotic arm 10, and the connection hole is opened on the inner wall of the clamping groove. Among them, the clamping member 420 is clamped in the corresponding clamping groove, and the connecting member 410 is inserted into the corresponding connection hole and is configured to press and fix the clamping member 420 in the clamping groove. In this embodiment, the first connection structure 400 and the second connection structure adopt a double connection method of clamping and pressing, which is beneficial to improving the connection reliability between the skeleton 200 and the robotic arm 10. It is not difficult to understand that when the skeleton 200 and the robotic arm 10 are connected through the first connection structure 400 and the second connection structure, the sealing sleeve sleeved on the outer peripheral wall of the robotic arm 10 can also achieve the sealing between the first connection structure 400 and the second connection structure.

[0060] Specifically, in Figure 1 the example, the clamping member 420 is a connecting steel plate with a cross-sectional shape approximately in the shape of a "several" character. The two free ends of the connecting steel plate are connected to the skeleton 200. The middle part of the connecting steel plate extends towards the axis of the skeleton 200, and a through hole corresponding to the connection hole on the robotic arm 10 is opened in the middle part of the connecting steel plate. The connecting member 410 is a plug with a clamping edge at one end. The other end of the plug is inserted into the corresponding through hole and connection hole, and the clamping edge of the plug presses and fixes the connecting steel plate in the clamping groove. It is not difficult to understand that in other embodiments of the present invention, the clamping member 420 can also adopt clamping members with other structures, and the connecting member 410 can also adopt other connecting members such as bolts, which are not limited herein. Among them, the clamping member 420 can be an integral structure with the skeleton 200, or can be detachably connected to the skeleton 200 after being separately formed, which is not limited herein.

[0061] Please refer back to Figure 1 and Figure 2In one embodiment of the present invention, the seal 100 is an annular airbag, and the annular airbag is provided with an inflation interface 150, and the inflation interface 150 is used to connect to the gas source to receive the gas provided by the gas source. After inflation, the annular airbag undergoes elastic deformation and squeezes and contacts the inner peripheral wall of the window 2100. In this embodiment, the seal 100 adopts an annular airbag, and by controlling the gas source to inflate and deflate the annular airbag, dynamic sealing and unsealing between the robot arm 10 and the window 2100 can be achieved, the operation is simple and quick, and the manufacturing cost of the seal 100 is low.

[0062] like Figure 1 As shown, in one embodiment of the present invention, the frame 200 is provided with a through hole 220, and the through hole 220 passes through the inner circumferential wall and the outer circumferential wall of the frame 200, and the inflation interface 150 is installed from the outer circumferential wall of the frame 200 to the inner circumferential wall of the frame 200 through the through hole 220. In this embodiment, the inflation interface 150 is installed in the through hole 220 of the frame 200 and is arranged on one side of the inner circumferential wall of the frame 200, which is convenient for connecting the air source through the inflation interface 150 for inflation, and can also protect the inflation interface 150. In other embodiments of the present invention, the inflation interface 150 can also be installed at other reasonable positions of the frame 200, such as at any end face of the frame 200 in the axial direction.

[0063] Optionally, combine Figure 2 and Figure 3 In one embodiment of the present invention, after the annular airbag (i.e., the sealing element 100) is inflated, the annular airbag abuts against a portion of the inner surface of the door 2000 adjacent to the window 2100, and / or the annular airbag abuts against a portion of the outer surface of the door 2000 adjacent to the window 2100. The annular airbag abuts against a portion of the inner surface and / or a portion of the outer surface of the door 2000 adjacent to the window 2100, which is equivalent to increasing the contact area between the annular airbag and the window 2100, which is conducive to improving the sealing effect of the annular airbag on the mechanical arm 10 and the window 2100.

[0064] Optionally, combine Figure 2 and Figure 4 In another embodiment of the present invention, an annular convex 2110 is provided on the inner circumferential wall of the window 2100, and the annular airbag (i.e., the sealing element 100) covers the annular convex 2110 after being inflated, and abuts against the portion of the inner circumferential wall of the window 2100 adjacent to the annular convex 2110. In this way, the contact area between the annular airbag and the window 2100 can also be increased, and the sealing effect of the annular airbag on the mechanical arm 10 and the window 2100 can be improved.

[0065] Optionally, combine Figure 2 and Figure 5In another embodiment of the present invention, an annular receiving groove 2120 is provided on the inner peripheral wall of the window 2100, and the annular airbag (i.e., the sealing element 100) is at least partially received in the annular receiving groove 2120 after being inflated. In this way, the contact area between the annular airbag and the window 2100 can also be increased, and the sealing effect of the annular airbag on the mechanical arm 10 and the window 2100 can be improved.

[0066] Of course, in other embodiments of the present invention, the seal 100 may also be other seals. For example, in one possible embodiment, the seal 100 is an annular cone-shaped elastic sealing ring, and the outer diameter of the elastic sealing ring gradually increases from the end close to the window 2100 to the end away from the window 2100. When the elastic sealing ring is subjected to external force and contacts the window edge of the window 2100 close to the outside of the warehouse door 2000, the elastic sealing ring can also achieve dynamic sealing between the robot arm 10 and the window 2100, and the annular cone-shaped elastic sealing ring can adapt to windows 2100 of different sizes.

[0067] It should be noted that, in an embodiment of the present invention, the warehouse door 2000 can be a complete door panel with a window 2100, or it can be composed of two door panels, each of which has a concave notch, and the concave notches on the two door panels together constitute the window 2100. The specific structure of the warehouse door 2000 is not limited or elaborated here.

[0068] Furthermore, an embodiment of the present invention further provides a mechanical arm device, comprising a mechanical arm 10 and a sealing mechanism 1000. The sealing mechanism 1000 may be the sealing mechanism 1000 in any of the aforementioned embodiments, and thus at least has all the beneficial effects brought by the technical solutions of the aforementioned embodiments. For a more specific description, reference may be made to the relevant contents in the aforementioned embodiments, which will not be repeated here.

[0069] For further information, see Figure 6 The embodiment of the present invention further provides an unpacking system 1, comprising a robot arm device, the robot arm device comprising a robot arm 10 and a sealing mechanism 1000. The sealing mechanism 1000 can be the sealing mechanism 1000 in any of the aforementioned embodiments, and thus at least has all the beneficial effects brought by the technical solutions of the aforementioned embodiments. For more specific descriptions, reference can be made to the relevant contents in the aforementioned embodiments, which will not be repeated here one by one.

[0070] It is understandable that, similar to the existing unpacking system, the unpacking system 1 provided in the embodiment of the present invention may also include other devices such as a bag breaking device 20, an air shower device (not shown in the figure), and a transport track 40. The robot arm 10 is mounted on the transport track 40 to clamp and transport the material bag 30 to the bag breaking device 20 for bag breaking operation, or to clamp and transport the material bag 30 to the air shower device for air shower operation. This will not be elaborated. Of course, the robot arm device provided in the embodiment of the present invention can also be applied to other scenarios other than the unpacking system, such as but not limited to the production line, and this is not limited to this.

[0071] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0072] In the description of this specification, the description with reference to the terms "embodiment", "specific embodiment", "example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0073] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A sealing mechanism (1000) for achieving sealing between a mechanical arm (10) and a window (2100) of a door (2000), wherein the mechanical arm (10) can be inserted through the window (2100), and wherein: The sealing mechanism (1000) comprises: A sealing member (100) and a sealing sleeve are arranged at a preset position of the robot arm (10), wherein the preset position is at least a portion of the robot arm body where the robot arm (10) passes through the window (2100) and the robot arm (10) is directly opposite to the window (2100). The sealing member (100) is used to elastically deform at the position where the robot arm (10) passes through the window (2100), thereby pressing and contacting the inner peripheral wall of the window (2100).

2. The sealing mechanism (1000) according to claim 1, characterized in that: The sealing mechanism (1000) further comprises: A frame (200) is used for the sealing sleeve to be arranged at the preset position, and the frame (200) is adapted to the preset position; Wherein, the sealing member (100) is sealed and sleeved on the frame (200).

3. The sealing mechanism (1000) according to claim 2, characterized in that: The frame (200) is an annular frame (200), and the annular frame (200) is sleeved on the preset position from one end of the mechanical arm (10).

4. The sealing mechanism (1000) according to claim 2, characterized in that: The frame (200) is a plate-shaped frame (200) made of a bendable material, and the plate-shaped frame (200) bends under the action of an external force to wrap around and be fixed at the preset position.

5. The sealing mechanism (1000) according to claim 4, characterized in that: The sealing mechanism (1000) further comprises two fixing rings, one of which is fixedly sleeved on the outer peripheral wall of one end of the frame (200) in the axial direction, and the other of which is fixedly sleeved on the outer peripheral wall of the other end of the frame (200) in the axial direction, and the sealing member (100) is located between the two fixing rings.

6. The sealing mechanism (1000) according to claim 2, characterized in that: The sealing mechanism (1000) further comprises: A sealing sleeve, one end of which is connected to the frame (200), and the other end of which extends to cover the end of the mechanical arm (10).

7. The sealing mechanism (1000) according to claim 5, characterized in that: An annular limiting groove (210) is provided on the outer peripheral wall of the frame (200), and the two fixing rings are located in the annular limiting groove (210).

8. The sealing mechanism (1000) according to claim 3 or 4, characterized in that: The sealing member (100) is an annular airbag, and the annular airbag is provided with an inflation interface (150), and the inflation interface (150) is used to connect to an air source to receive gas provided by the air source, and the annular airbag undergoes elastic deformation after inflation to press and contact the inner peripheral wall of the window (2100); The frame (200) is provided with a through hole (220), the through hole (220) passes through the inner wall and the outer wall of the frame (200), and the inflation interface (150) is installed from the outer wall of the frame (200) to the inner wall of the frame (200) through the through hole (220).

9. The sealing mechanism (1000) according to claim 2, characterized in that: The sealing mechanism (1000) further comprises: A first connection structure (400) is arranged on the frame (200); The robotic arm (10) is provided with a second connection structure corresponding to the first connection structure (400), and the first connection structure (400) cooperates with the second connection structure to fix the skeleton (200) at the preset position.

10. The sealing mechanism (1000) according to claim 9, characterized in that: The first connection structure (400) is arranged on the inner peripheral wall of the frame (200), and the second connection structure is arranged at the preset position; And / or, the sealing mechanism (1000) includes at least two of the first connecting structures (400) distributed at circumferential intervals along the skeleton (200), and the robotic arm (10) includes at least two of the second connecting structures distributed at circumferential intervals along the robotic arm (10), and each of the first connecting structures (400) is adapted to a corresponding second connecting structure.

11. The sealing mechanism (1000) according to claim 9, characterized in that: The first connection structure (400) comprises a clamping member (420) and a connection member (410), the second connection structure comprises a clamping groove and a connection hole, the clamping member (420) is connected to the inner peripheral wall of the frame (200), the clamping groove is provided at the preset position, and the connection hole is provided on the inner wall of the clamping groove; The engaging member (420) is engaged in the corresponding engaging groove, and the connecting member (410) is inserted into the corresponding connecting hole and is configured to press and fix the engaging member (420) in the engaging groove.

12. The sealing mechanism (1000) according to any one of claims 1 to 7 or any one of claims 9 to 11, characterized in that: The sealing member (100) is an annular airbag, and the annular airbag is provided with an inflation interface (150), and the inflation interface (150) is used to connect to a gas source to receive gas provided by the gas source. After inflation, the annular airbag undergoes elastic deformation and squeezes and contacts the inner wall of the window (2100).

13. The sealing mechanism (1000) according to claim 12, characterized in that: After being inflated, the annular airbag abuts against a portion of the inner surface of the door (2000) adjacent to the window (2100), and / or the annular airbag abuts against a portion of the outer surface of the door (2000) adjacent to the window (2100).

14. The sealing mechanism (1000) according to claim 12, characterized in that: The inner circumferential wall of the window (2100) is provided with an annular convex purlin (2110); the annular airbag covers the annular convex purlin (2110) after being inflated, and abuts against the inner circumferential wall of the window (2100) adjacent to the annular convex purlin (2110).

15. The sealing mechanism (1000) according to claim 12, characterized in that: The inner peripheral wall of the window (2100) is provided with an annular receiving groove (2120), and the annular airbag is at least partially received in the annular receiving groove (2120) after being inflated.

16. The sealing mechanism (1000) according to any one of claims 1 to 7 or any one of claims 9 to 11, characterized in that: The sealing member (100) is an elastic sealing ring in the shape of an annular cone, and the outer diameter of the elastic sealing ring gradually increases from an end close to the window (2100) to an end away from the window (2100).

17. A robotic arm device, characterized in that: It comprises a robotic arm (10) and a sealing mechanism (1000) as claimed in any one of claims 1 to 16.

18. An unpacking system, characterized in that: Comprising the robotic arm device as claimed in claim 17.

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