Unpacking system and functional bin thereof

Abstract

The invention provides an unpacking system and a functional bin thereof. The functional bin comprises a bin body, the bin body is provided with a window communicated with an inner cavity of the bin body, and the window is used for a mechanical arm to penetrate through so that at least part of the mechanical arm can stretch into the inner cavity of the bin body. Wherein the inner peripheral wall of the window is provided with a first elastic sealing piece, and / or the part, corresponding to the inner peripheral wall of the window, of the outer peripheral wall of the mechanical arm is sleeved with a second elastic sealing piece; and the first elastic sealing piece and / or the second elastic sealing piece are / is used for generating elastic deformation at the position where the mechanical arm penetrates through the window to be extruded and filled between the inner peripheral wall of the window and the outer peripheral wall of the mechanical arm, so that sealing between the bin body and the mechanical arm is achieved. According to the invention, the elastic sealing element is arranged on the inner peripheral wall of the window of the bin body and / or the outer peripheral wall of the mechanical arm, so that dynamic sealing between the mechanical arm and the bin body can be realized by utilizing the elastic sealing element.

Description

Technical Field

[0001] The present invention relates to the technical field of unpacking, and in particular to an unpacking system and a functional compartment thereof. Background Art

[0002] In the unpacking system that uses a robotic arm to transfer the bag, it is necessary to set a window on the door of the bag breaking bin so that the robotic arm can extend into the bin through the window. However, the existing bag breaking bin cannot achieve a seal between the bin door and the robotic arm when the robotic arm extends into the bin through the window, and has the defects of not being able to prevent external dust from entering the bin and not being able to prevent the material in the bin 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 an unpacking system and a functional bin thereof, wherein the bin body of the functional bin has a window connected to its inner cavity, the window is used to pass a mechanical arm, and an elastic seal is provided on the inner peripheral wall of the window and / or the outer peripheral wall of the mechanical arm. The elastic seal can realize dynamic sealing between the mechanical arm and the bin body, which can not only prevent external dust from entering the bin body, but also prevent the material in the bin body from escaping to the outside.

[0004] In order to achieve the above-mentioned object, on the one hand, the present invention provides a functional warehouse, comprising a warehouse body, wherein the warehouse body has a window communicating with its inner cavity, and the window is used to pass a mechanical arm so that at least a part of the mechanical arm extends into the inner cavity of the warehouse body;

[0005] In which, a first elastic seal is provided on the inner circumferential wall of the window, and / or a second elastic seal is provided on the outer circumferential wall of the robotic arm at a position corresponding to the inner circumferential wall of the window, and the first elastic seal and / or the second elastic seal are used to elastically deform at the position where the robotic arm penetrates the window and be squeezed and filled between the inner circumferential wall of the window and the outer circumferential wall of the robotic arm, so as to achieve sealing between the warehouse body and the robotic arm.

[0006] In one embodiment, a dust removal device is provided inside the warehouse body, and the dust removal device is used to clean the dust on the portion of the robot arm extending into the warehouse body and the material bag clamped by the robot arm;

[0007] Wherein, the dust removal device includes a rolling brush mechanism and / or an air blowing mechanism.

[0008] In one embodiment, the functional bin further includes a bracket and a bag breaking tool, the bin body is mounted on the bracket, the bag breaking tool is mounted in the inner cavity of the bin body, and the bag breaking tool is used to break the bag of material clamped by the robotic arm.

[0009] In one embodiment, the functional bin further comprises a discharge hopper and a feeding pipe, wherein the discharge hopper is mounted on the bracket and is located below the bin body, and the feeding pipe is arranged on a side of the discharge hopper away from the bin body; the feeding end of the discharge hopper is connected to the inner cavity of the bin body to receive the material in the material bag, and the discharge end of the discharge hopper is connected to the feeding pipe; the feeding pipe is used to connect to a negative pressure gas source to transport the material entering the feeding pipe under the action of negative pressure;

[0010] The feed pipe is provided with at least one filter element connected to the inner cavity of the feed pipe, and the at least one filter element is used to replenish filtered air into the feed pipe, and / or the warehouse body is provided with at least one filter element connected to its inner cavity, and the at least one filter element is used to replenish filtered air into the inner cavity of the warehouse body.

[0011] In one embodiment, the feed pipe includes a first end and a second end opposite to the first end, and the connection between the discharge end of the discharge hopper and the feed pipe is located between the first end and the second end;

[0012] Wherein, the first end is used to connect to the negative pressure gas source, and the end of the second end is provided with a first filter element.

[0013] In one embodiment, the axial direction of the first filter element is the same as the axial direction of the feeding tube, and / or, a second filter element is further provided on the feeding tube, and the second filter element is located between the first end and the connection point.

[0014] In one embodiment, a discharge valve is provided between the discharge hopper and the feeding pipe, and the discharge valve is used to control the amount of the material entering the feeding pipe from the discharge hopper.

[0015] In one embodiment, a through hole is provided on the outer peripheral wall of the discharge hopper, and the functional bin further includes a pressure equalizing pipe, one end of which is connected to the through hole of the discharge hopper, and the other end of which is used to connect to the feeding pipe.

[0016] In one embodiment, the pressure equalizing pipe includes a connecting section for connecting to the discharge hopper, and the connecting section extends obliquely toward the outside of the discharge hopper and away from the bin body.

[0017] In one embodiment, the warehouse body includes a warehouse body and a pair of door panels movably connected to the warehouse body, the warehouse body is provided with an opening communicating with its inner cavity, and the pair of door panels can be relatively opened and closed to open or block the opening;

[0018] Wherein, a notch recessed toward the second end is formed at the first end of each of the door panels, and when the pair of door panels block the opening, the notches of the pair of door panels match to form the window connected to the inner cavity of the chamber body; the first end of each of the door panels is an end close to the other door panel when the pair of door panels block the opening, and the second end is opposite to the first end.

[0019] In one embodiment, the functional compartment further includes a blocking mechanism, and the blocking mechanism is used to block the window where the mechanical arm is not disposed through the window;

[0020] The blocking mechanism is located outside the bin body, and includes a blocking plate and a first driving member connected to the blocking plate, wherein the blocking plate is movably arranged on a side of the door plate away from the inner cavity of the bin body, and the first driving member is fixedly arranged on a side of the door plate away from the inner cavity of the bin body, and the first driving member is used to drive the blocking plate to move so as to open or block the window;

[0021] Alternatively, the blocking mechanism is located in the inner cavity of the warehouse body, and the blocking mechanism includes a rolling shutter door and a second driving member connected to the rolling shutter door, the rolling shutter door is movably arranged on the top wall of the warehouse body adjacent to the opening, the second driving member is fixedly arranged on the top wall, and the second driving member is used to drive the rolling shutter door to retract or unfold, thereby opening or blocking the window.

[0022] In one embodiment, the first elastic seal is disposed on the inner peripheral wall of the window, and a first receiving groove is formed on the outer peripheral wall of the mechanical arm at a position corresponding to the first elastic seal, and at least a portion of the first elastic seal is received in the first receiving groove;

[0023] And / or, the second elastic seal is disposed on the outer peripheral wall of the robotic arm, and a second receiving groove is provided on the inner peripheral wall of the window at a position corresponding to the second elastic seal, and at least a portion of the second elastic seal is received in the second receiving groove.

[0024] In one embodiment, a first airbag is disposed on the inner peripheral wall of the window, and a first convex purlin is disposed on the outer peripheral wall of the mechanical arm at a position corresponding to the first airbag. After being inflated, the first airbag undergoes elastic deformation and is squeezed and filled between the inner peripheral wall of the window and the outer peripheral wall of the mechanical arm and covers the first purlin. The first airbag constitutes the first elastic sealing member.

[0025] And / or, a second airbag is provided on the outer peripheral wall of the robotic arm, and a second cam is provided on the inner peripheral wall of the window at a position corresponding to the second airbag, and the second airbag is elastically deformed after inflation and is squeezed and filled between the inner peripheral wall of the window and the outer peripheral wall of the robotic arm and covers the second cam, and the second airbag constitutes the second elastic seal.

[0026] In one embodiment, a conical elastic sealing ring is disposed on the outer peripheral wall of the mechanical arm, and the outer diameter of the elastic sealing ring gradually increases from an end close to the window to an end away from the window, and the elastic sealing ring constitutes the second elastic sealing member;

[0027] Alternatively, an annular airbag is provided on the outer peripheral wall of the robot arm, and the annular airbag is elastically deformed after being inflated and squeezed to fill between the inner peripheral wall of the window and the outer peripheral wall of the robot arm, and the annular airbag constitutes the second elastic sealing member.

[0028] In one embodiment, the second elastic sealing member is an annular airbag; after the annular airbag is inflated, the annular airbag abuts against a portion of the inner surface of the warehouse body adjacent to the window, and / or the annular airbag abuts against a portion of the outer surface of the warehouse body adjacent to the window.

[0029] On the other hand, the present invention also provides an unpacking system, comprising a functional warehouse as described in any of the above embodiments.

[0030] In the unpacking system and functional bin thereof provided by the present invention, the bin body of the functional bin has a window connected to its inner cavity, and the window is used for at least part of the robotic arm to pass through and extend into the inner cavity of the bin body. By arranging a first elastic seal on the inner peripheral wall of the window and / or arranging a second elastic seal on the outer peripheral wall of the robotic arm, the elastic seal is elastically deformed at the window where the robotic arm passes through the bin body, and then squeezed and filled between the inner peripheral wall of the window and the outer peripheral wall of the robotic arm, dynamic sealing between the robotic arm and the bin body can be achieved, which can not only block external dust from entering the bin body, but also prevent materials in the bin body from escaping to the outside.

[0031] 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

[0032] 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.

[0033] Figure 1 It is a schematic diagram of the three-dimensional structure of a functional warehouse provided in one embodiment of the present invention.

[0034] Figure 2 yes Figure 1 Schematic diagram of application scenario of the window of the warehouse body and the second elastic sealing member.

[0035] Figure 3 yes Figure 1 The three-dimensional structural schematic diagram of the functional warehouse shown is from another perspective.

[0036] Figure 4 yes Figure 1 The cross-sectional view of the functional compartment along line AA is shown.

[0037] Figure 5 yes Figure 2 A partial cross-sectional view of the window of the chamber and the second elastic seal in one embodiment is shown.

[0038] Figure 6 yes Figure 2 A partial cross-sectional view of the window of the chamber and the second elastic seal in another embodiment is shown.

[0039] Figure 7 yes Figure 2 A partial cross-sectional view of the window of the chamber and the second elastic seal in yet another embodiment is shown.

[0040] Figure 8 It is a schematic diagram of an unpacking system provided by one embodiment of the present invention.

[0041] Description of main reference numerals:

[0042] 1- unpacking system; 1000- functional warehouse; 2000- robotic arm; 3000- material bag; 4000- transport track;

[0043] 100-warehouse body; 101-warehouse main body; 102-door panel; 103-reinforcement rib; 130-window; 131-second convex rafter; 132-second receiving groove; 140-driving mechanism; 210-second elastic sealing member; 230-skeleton; 300-bracket; 400-bag breaking tool; 500-discharging hopper; 550-discharging valve; 600-feeding pipe; 710-first filter element; 720-second filter element; 730-third filter element; 800-equalizing pressure pipe; 810-connecting section; 830-main section.

[0044] The following specific implementation manner will further illustrate the present invention in conjunction with the accompanying drawings. DETAILED DESCRIPTION

[0045] 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.

[0046] 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.

[0047] Please combine Figure 1 and Figure 2 The embodiment of the present invention provides a functional warehouse 1000, including a warehouse body 100. The warehouse body 100 has a window 130 connected to its inner cavity, and the window 130 is used to pass through the mechanical arm 2000 (see Figure 8 ) so that at least part of the robot arm 2000 extends into the inner cavity of the warehouse body 100. Among them, the inner peripheral wall of the window 130 is provided with a first elastic seal, and / or the outer peripheral wall of the robot arm 2000 is sleeved with a second elastic seal 210 at a position corresponding to the inner peripheral wall of the window 130, and the first elastic seal and / or the second elastic seal 210 are used to elastically deform at the location where the robot arm 2000 passes through the window 130 and squeeze and fill between the inner peripheral wall of the window 130 and the outer peripheral wall of the robot arm 2000, so as to achieve dynamic sealing between the warehouse body 100 and the robot arm 2000.

[0048] Optionally, in Figure 1 and Figure 2 In the example, a ring-shaped second elastic seal 210 is sleeved on the portion of the outer wall of the robot arm 2000 corresponding to the inner wall of the window 130, and the second elastic seal 210 is elastically deformed when the robot arm 2000 passes through the window 130 and is squeezed and filled between the inner wall of the window 130 and the outer wall of the robot arm 2000, thereby realizing dynamic sealing between the warehouse body 100 and the robot arm 2000.

[0049] In another embodiment of the present invention, a first annular elastic seal may be provided on the inner circumferential wall of the window 130, and the first elastic seal is elastically deformed when the robot arm 2000 passes through the window 130 and is squeezed and filled between the inner circumferential wall of the window 130 and the outer circumferential wall of the robot arm 2000, thereby achieving dynamic sealing between the warehouse body 100 and the robot arm 2000.

[0050] Of course, in another embodiment of the present invention, a first elastic seal may be provided on the inner circumferential wall of the window 130, and a second elastic seal 210 may be provided on the outer circumferential wall of the robot arm 2000 corresponding to the inner circumferential wall of the window 130, and the first elastic seal and the second elastic seal 210 may be elastically deformed at the same time when the robot arm 2000 passes through the window 130, and may be squeezed and filled between the inner circumferential wall of the window 130 and the outer circumferential wall of the robot arm 2000, thereby realizing dynamic sealing between the warehouse body 100 and the robot arm 2000. Among them, the first elastic seal and the second elastic seal 210 can be complementary and arranged along the circumference of the window 130, that is, the first elastic seal and the second elastic seal 210 are not annular elastic seals, both of them are arc-shaped elastic seals and the two complement each other to form a complete annular elastic seal after elastic deformation, thereby realizing dynamic sealing between the warehouse body 100 and the robotic arm 2000 through the cooperation of the first elastic seal and the second elastic seal 210; the first elastic seal and the second elastic seal can also be arranged at intervals along the axial direction of the window 130, and both of them are annular elastic seals, thereby realizing double dynamic sealing between the warehouse body 100 and the robotic arm 2000 through the first elastic seal and the second elastic seal 210.

[0051] In summary, in an embodiment of the present invention, a first elastic seal is provided on the inner wall of the window 130 and / or a second elastic seal 210 is provided on the outer wall of the robot arm 2000, and the elastic seal is elastically deformed at the place where the robot arm 2000 passes through the window 130, and then squeezed and filled between the inner wall of the window 130 and the outer wall of the robot arm 2000, thereby achieving dynamic sealing between the robot arm 2000 and the warehouse body 100, thereby achieving the purpose of blocking external dust from entering the warehouse body 100 and preventing materials in the warehouse body 100 from escaping to the outside.

[0052] It should be noted that, in the embodiment of the present invention, the functional warehouse 1000 can be provided with additional devices as needed to serve as a functional warehouse 1000 with different functions.

[0053] For example, in some embodiments of the present invention, a dust removal device is provided inside the warehouse body 100, and the dust removal device is used to clean the portion of the robot arm 2000 extending into the warehouse body 100 and the material bag 3000 clamped by the robot arm 2000 (see Figure 8), so that the functional bin 1000 can be used as an air shower bin with dust removal function, and thus applied to the unpacking system. Optionally, the dust removal device includes a roller brush mechanism and / or an air blowing mechanism, and of course, it can also include other mechanisms in the prior art that can achieve dust removal function, which is not limited to this.

[0054] For example, Figure 1 and Figure 8 As shown, in other embodiments of the present invention, the functional bin 1000 further includes a bracket 300 and a bag breaking tool 400, the bin body 100 is mounted on the bracket 300, and the bag breaking tool 400 is mounted in the inner cavity of the bin body 100, and the bag breaking tool 400 is used to break the bag 3000 clamped by the robot arm 2000, so that the functional bin 1000 can be used as a bag breaking bin with bag breaking function, and thus applied to the unpacking system. Preferably, in Figure 1 In the example, the bag-breaking tool 400 includes at least two bag-breaking blades, and the at least two bag-breaking blades are detachably installed in the bin body 100 in a preset configuration, wherein the preset configuration includes a configuration in which two bag-breaking blades are arranged in parallel or at least two bag-breaking blades are arranged in a cross configuration. Figure 1 In the example, the bag breaking tool 400 includes at least two bag breaking blades and can be installed in combination in different preset forms as needed, so as to adapt to the robot arm 2000 to clamp material bags 3000 of different specifications, which is conducive to maximizing the bag breaking efficiency of the bag breaking tool 400 on the material bag 3000. It is not difficult to understand that the bag breaking blade included in the bag breaking tool 400 can be, but is not limited to, a single-edge blade, a double-edge blade, or a blade with multiple toothed edges, and there is no limitation on this.

[0055] The following will be combined with the attached Figure 1 To Attachment Figure 8 , taking the functional bin 1000 as a bag breaking bin as an example, the specific structure of the functional bin 1000 provided in one embodiment of the present invention is further described.

[0056] Please combine Figure 1 , Figure 3 and Figure 4 In one embodiment of the present invention, the functional bin 1000 further includes a discharge hopper 500 and a feeding pipe 600. The discharge hopper 500 is mounted on the bracket 300 and is located below the bin body 100. The feeding pipe 600 is disposed on a side of the discharge hopper 500 away from the bin body 100. The feeding end of the discharge hopper 500 is connected to the inner cavity of the bin body 100 to receive the material in the bag 3000 after the bag is broken by the bag breaking tool 400, and the discharge end of the discharge hopper 500 is connected to the feeding pipe 600; the feeding pipe 600 is used to connect to a negative pressure gas source to transport the material entering the feeding pipe 600 under the action of negative pressure.

[0057] exist Figure 1 , Figure 3 and Figure 4 In the example of, the feeding pipe 600 is provided with at least one filter element connected to the inner cavity of the feeding pipe 600, and the at least one filter element is used to replenish filtered air into the feeding pipe 600, and / or the silo 100 is provided with at least one filter element connected to its inner cavity, and the at least one filter element is used to replenish filtered air into the inner cavity of the silo 100. In this embodiment, by replenishing filtered air into the feeding pipe 600 through at least one filter element, the inner cavity of the feeding pipe 600 can be prevented from being blocked by materials, and by replenishing filtered air into the inner cavity of the silo 100 through at least one filter element, the silo 100 can be prevented from being deformed by negative pressure when the mechanical arm 2000 and the silo 100 are sealed and the feeding pipe 600 is connected to a negative pressure air source to transport materials.

[0058] Specifically, Figure 1 , Figure 3 and Figure 4 As shown, in one embodiment of the present invention, the feed pipe 600 includes a first end and a second end opposite to the first end, and the connection between the discharge end of the discharge hopper 500 and the feed pipe 600 is located between the first end and the second end of the feed pipe 600, wherein the first end of the feed pipe 600 is used to connect to the negative pressure air source, and the end of the second end of the feed pipe 600 is provided with a first filter element 710. It is not difficult to understand that by providing the first filter element 710 at one end (i.e., the second end) of the feed pipe 600, when the first filter element 710 supplements the filtered air into the feed pipe 600, the generated airflow can flow in the entire feed pipe 600 as much as possible, which is more conducive to preventing the material from blocking the inner cavity of the feed pipe 600.

[0059] Preferably, if Figure 3 and Figure 4 As shown, in one embodiment of the present invention, the axial direction of the first filter element 710 is the same as the axial direction of the feed pipe 600. By setting the axial directions of the first filter element 710 and the feed pipe 600 to be the same, it is beneficial to improve the smoothness of the air supply passage of the first filter element 710, so that the air supply is smoother.

[0060] Preferably, if Figure 3 and Figure 4As shown, in one embodiment of the present invention, a second filter element 720 may be further provided on the feed pipe 600, and the second filter element 720 is located between the first end of the feed pipe 600 and the connection between the discharge end of the discharge hopper 500 and the feed pipe 600. The second filter element 720 is provided on the feed pipe 600 to play the role of auxiliary air supply, that is, the first filter element 710 and the second filter element 720 are used to simultaneously supplement the filtered air into the feed pipe 600, which is more conducive to preventing the material from blocking the inner cavity of the feed pipe 600. Optionally, the second filter element 720 can be opened when the feed pipe 600 needs auxiliary air supply, and closed when it does not need auxiliary air supply, that is, the second filter element 720 can be turned on and off at any time, so that the second filter element 720 is controlled to be switched on and off according to actual needs, which is conducive to reducing the working time of the second filter element 720 and the electric energy required for the work, thereby increasing the working life of the second filter element 720 and reducing energy consumption.

[0061] like Figure 1 , Figure 3 and Figure 4 As shown, in one embodiment of the present invention, the silo 100 is provided with a third filter element 730 connected to its inner cavity, and the third filter element 730 is used to supplement filtered air into the inner cavity of the silo 100 to prevent deformation of the silo 100. The third filter element 730 can be provided on the top side of the silo 100 (i.e., the side away from the bracket 300), or on the peripheral side of the silo 100, which is not limited. Of course, in other embodiments of the present invention, the silo 100 can also be provided with two or more filter elements.

[0062] Among them, the first filter element 710, the second filter element 720 and the third filter element 730 can adopt existing air supply filter elements, and the specific structure and working principle are not described in detail here.

[0063] Preferably, if Figure 3 and Figure 4 As shown, in one embodiment of the present invention, at least one inner wall of the bin body 100 is provided with one or more reinforcing ribs 103, and the structural strength of the bin body 100 can be enhanced by providing the reinforcing ribs 103, thereby being more conducive to preventing deformation of the bin body 100. The multiple reinforcing ribs 103 can be distributed in parallel or crosswise, which is not limited.

[0064] Preferably, if Figure 3 and Figure 4 As shown, in one embodiment of the present invention, a discharge valve 550 is provided between the discharge hopper 500 and the feeding pipe 600, and the discharge valve 550 is used to control the amount of material entering the feeding pipe 600 from the discharge hopper 500, so as to realize quantitative feeding of the discharge hopper 500 into the feeding pipe 600. The discharge valve 550 can be a star-shaped discharge valve, which is not limited thereto.

[0065] See also Figure 4 In one embodiment of the present invention, a through hole is provided on the outer peripheral wall of the discharge hopper 500, and the functional chamber 1000 further includes a pressure equalizing tube 800, one end of which is connected to the through hole of the discharge hopper 500, and the other end of which is used to connect the feeding tube 600. In this embodiment, the pressure equalizing tube 800 is provided to connect the inner cavity of the discharge hopper 500 and the inner cavity of the feeding tube 600, so that the inner cavity of the discharge hopper 500 also forms a negative pressure under the action of the negative pressure gas source, so as to achieve the purpose of equalizing the pressure on the discharge hopper 500, and prevent the material in the discharge hopper 500 from escaping.

[0066] Preferably, Figure 4 In the example, the pressure-equalizing tube 800 includes a connecting section 810 and a main section 830, one end of the connecting section 810 is connected to the discharge hopper 500, the other end of the connecting section 810 is connected to one end of the main section 830, and the other end of the main section 830 is connected to the feeding tube 600, wherein the connecting section 810 extends obliquely toward the outside of the discharge hopper 500 and away from the silo 100. In this embodiment, by setting the connecting section 810 of the pressure-equalizing tube 800 to extend obliquely downward, it is convenient for the dust of the material to smoothly enter the pressure-equalizing tube 800 under the action of negative pressure, thereby improving the effect of preventing dust from escaping. Optionally, the other end of the main section 830 can be connected to any position between the two ends of the feeding tube 600, without limitation.

[0067] Please refer again Figure 1In one embodiment of the present invention, the warehouse body 100 specifically includes a warehouse body 101 and a pair of door panels 102 movably connected to the warehouse body 101. The warehouse body 101 is provided with an opening communicating with its inner cavity. The pair of door panels 102 can be relatively opened and closed to open or block the opening of the warehouse body 101. A notch is formed at the first end of each door panel 102 and is recessed toward the second end. When the pair of door panels 102 block the opening of the warehouse body 101, the notches of the pair of door panels 102 are matched to form a window 130 communicating with the inner cavity of the warehouse body 101. The first end of each door panel 102 is an end close to the other door panel 102 when the pair of door panels 102 block the opening of the warehouse body 101, and the second end of each door panel 102 is opposite to the first end. In this embodiment, the warehouse body 100 includes a warehouse chamber body 101 and a pair of movable door panels 102, and the notches on the pair of door panels 102 can be matched to form a window 130 for the robot arm 2000 to pass through. In this way, when the robot arm 2000 needs to be inserted into the warehouse chamber body 101, the pair of door panels 102 first open the opening of the warehouse chamber body 101, and then the robot arm 2000 is inserted into the warehouse chamber body 101 through the opening, and finally the pair of door panels 102 block the opening of the warehouse chamber body 101, so that the robot arm 2000 is inserted into the window 130 formed by the notches on the pair of door panels 102. Since the opening of the warehouse chamber body 101 is larger than the window 130, the difficulty of the robot arm 2000 to extend into the warehouse body 100 is reduced.

[0068] Optionally, the functional chamber 1000 further includes at least one driving mechanism 140 for driving a pair of door panels 102 to open and close, so as to open or block the opening of the chamber body 101. Figure 1 In the example, the second end of each door panel 102 is rotatably connected to a portion of the chamber body 101 adjacent to the opening, and the chamber body 101 is provided with a driving mechanism 140 on opposite sides of the opening, each driving mechanism 140 is correspondingly connected to a door panel 102 and is configured to drive the door panel 102 to rotate relative to the chamber body 101, so that each door panel 102 is independently driven by a driving mechanism 140 to open or block the opening of the chamber body 101. The driving mechanism 140 may be a driving cylinder.

[0069] In other embodiments of the present invention, the pair of door panels 102 can also be driven by the same driving mechanism 140, or can be driven directly manually, which is not limited. Of course, in other embodiments of the present invention, the warehouse body 100 can directly open a window 130 on the side wall for the mechanical arm 2000 to pass through, so that the door panels 102 are not required, simplifying the overall structure of the warehouse body 100.

[0070] Preferably, in one embodiment of the present invention, the functional bin 1000 also includes a blocking mechanism, which is used to block the window 130 where the robotic arm 2000 is not inserted into the window 130, thereby preventing external dust from entering the bin body 100 through the window 130, and preventing the material in the bin body 100 from escaping to the outside through the window 130.

[0071] Optionally, in one embodiment, the blocking mechanism is located outside the warehouse body 100, and the blocking mechanism includes a blocking plate and a first driving member connected to the blocking plate, the blocking plate is movably arranged on a side of a door panel 102 away from the inner cavity of the warehouse body 100, and the first driving member is fixedly arranged on a side of the door panel 102 away from the inner cavity of the warehouse body 100, and the first driving member is used to drive the blocking plate to move to open or block the window 130. In this embodiment, the blocking mechanism adopts a combination of the blocking plate and the first driving member, and the structure is simple, and the blocking mechanism is arranged outside the warehouse body 100 for easy installation and maintenance.

[0072] Alternatively, in another embodiment, the blocking mechanism is located in the inner cavity of the warehouse body 100, and the blocking mechanism includes a rolling shutter door and a second driving member connected to the rolling shutter door, the rolling shutter door is movably arranged at a position of the top wall of the warehouse body 100 adjacent to the opening, and the second driving member is fixedly arranged on the top wall of the warehouse body 100, and the second driving member is used to drive the rolling shutter door to roll up or unfold, thereby opening or blocking the window 130. In this embodiment, the blocking mechanism adopts a combination of the rolling shutter door and the second driving member, and the structure is also simple, and the blocking mechanism is arranged in the warehouse body 100, which can reduce the space occupied by the functional warehouse 1000.

[0073] As mentioned above, in an embodiment of the present invention, by setting a first elastic seal on the inner wall of the window 130 and / or setting a second elastic seal 210 on the outer wall of the robot arm 2000, and utilizing the elastic seal to elastically deform at the place where the robot arm 2000 passes through the window 130, and then squeeze and fill between the inner wall of the window 130 and the outer wall of the robot arm 2000, dynamic sealing between the robot arm 2000 and the warehouse body 100 can be achieved.

[0074] Optionally, combine Figure 2 and Figure 5In one embodiment of the present invention, a first elastic seal is provided on the inner peripheral wall of the window 130, a first receiving groove is provided at a position of the outer peripheral wall of the robot arm 2000 corresponding to the first elastic seal, and at least a portion of the first elastic seal is received in the first receiving groove; and / or, a second elastic seal 210 is provided on the outer peripheral wall of the robot arm 2000, a second receiving groove 132 is provided at a position of the inner peripheral wall of the window 130 corresponding to the second elastic seal 210, and at least a portion of the second elastic seal 210 is received in the second receiving groove 132. It is not difficult to understand that by receiving the elastic seal in the corresponding receiving groove, the contact area between the elastic seal and the inner peripheral wall of the window 130 can be increased, thereby improving the effect of using the elastic seal to seal between the robot arm 2000 and the warehouse body 100. Among them, the first elastic seal and the second elastic seal 210 can both adopt an inflatable airbag or a sealing ring made of elastic material.

[0075] Specifically, in Figure 2 and Figure 5 In the example, the outer peripheral wall of the robot arm 2000 is provided with a second elastic seal 210, the second elastic seal 210 adopts an inflatable airbag, the inner peripheral wall of the window 130 is provided with a second receiving groove 132, the second elastic seal 210 is in compression contact with the inner peripheral wall of the window 130, and at least part of the second elastic seal 210 is compressed and received in the second receiving groove 132. In this embodiment, the second elastic seal 210 adopts a low-cost annular airbag, and by controlling the air source to inflate and deflate the annular airbag, dynamic sealing and unsealing between the robot arm 2000 and the warehouse body 100 can be achieved, and the operation is simple and quick.

[0076] Optionally, combine Figure 2 and Figure 5In another embodiment of the present invention, a first airbag is provided on the inner wall of the window 130, and a first convex purlin is provided on the outer wall of the robot arm 2000 at a position corresponding to the first airbag. After inflation, the first airbag undergoes elastic deformation and is squeezed and filled between the inner wall of the window 130 and the outer wall of the robot arm 2000 and covers the first convex purlin, and the first airbag constitutes a first elastic seal; and / or, a second airbag is provided on the outer wall of the robot arm 2000, and a second convex purlin 131 is provided on the inner wall of the window 130 at a position corresponding to the second airbag. After inflation, the second airbag undergoes elastic deformation and is squeezed and filled between the inner wall of the window 130 and the outer wall of the robot arm 2000 and covers the second convex purlin 131, and the second airbag constitutes the second elastic seal 210. It is not difficult to understand that by configuring the elastic seal formed by the airbag to cover the corresponding convex rafter, the contact area between the elastic seal and the inner peripheral wall of the window 130 can also be increased, thereby improving the effect of using the elastic seal to seal the mechanical arm 2000 and the warehouse body 100. Among them, as mentioned above, when the first elastic seal and the second elastic seal coexist, the two can be complementary along the circumference of the window 130, that is, the first airbag and the second airbag are not annular airbags and the first airbag and the second airbag cooperate to form an annular airbag after inflation; when the first elastic seal and the second elastic seal coexist, the two can also be spaced along the axial direction of the window 130, and each airbag is an annular airbag, which will not be described in detail.

[0077] Optionally, combine Figure 2 and Figure 7 In another embodiment of the present invention, an annular airbag is provided on the outer peripheral wall of the robot arm 2000. After being inflated, the annular airbag undergoes elastic deformation and is squeezed and filled between the inner peripheral wall of the window 130 and the outer peripheral wall of the robot arm 2000. The annular airbag constitutes the second elastic sealing member 210. It is not difficult to understand that the second elastic sealing member 210 adopts an annular airbag, and by controlling the air source to inflate and deflate the annular airbag, dynamic sealing and unsealing between the robot arm 2000 and the window 130 can be achieved. The operation is simple and quick, and the manufacturing cost of the second elastic sealing member 210 is low.

[0078] Preferably, Figure 2 and Figure 7 In the example, after the annular airbag (i.e., the second elastic sealing member 210) is inflated, the annular airbag abuts against part of the inner surface of the warehouse body 100 adjacent to the window 130, and / or the annular airbag abuts against part of the outer surface of the warehouse body 100 adjacent to the window 130. The annular airbag abuts against part of the inner surface and / or part of the outer surface of the warehouse body 100 adjacent to the window 130, which is equivalent to increasing the contact area between the annular airbag and the inner peripheral wall of the window 130, and is also conducive to improving the sealing effect of the annular airbag on the mechanical arm 2000 and the warehouse body 100.

[0079] Of course, in other embodiments of the present invention, a conical elastic sealing ring may be provided on the outer peripheral wall of the robot arm 2000, and the outer diameter of the elastic sealing ring gradually increases from the end close to the window 130 to the end away from the window 130, and the elastic sealing ring constitutes the second elastic sealing member 210. In this way, when the elastic sealing ring contacts the outer edge of the window 130 under the action of an external force, the elastic sealing ring can also achieve dynamic sealing between the robot arm 2000 and the warehouse body 100, and the conical elastic sealing ring can adapt to windows 130 of different sizes.

[0080] It should be noted that, in an embodiment of the present invention, when the second elastic seal 210 is provided on the peripheral wall of the robot arm 2000, the second elastic seal 210 can be bonded to the peripheral wall of the robot arm 2000 by glue, so as to be directly sealed on the peripheral wall of the robot arm 2000; the second elastic seal 210 can also be indirectly sealed on the peripheral wall of the robot arm 2000 by using a transition connector.

[0081] Preferably, if Figure 2 As shown, in one embodiment of the present invention, the outer peripheral wall of the robot arm 2000 (not shown in the figure) further includes a skeleton 230, and the skeleton 230 is used to seal the outer peripheral wall of the preset position of the robot arm 2000, and the inner contour of the skeleton 230 is adapted to the outer contour of the preset position of the robot arm 2000. Among them, the preset position refers to at least a portion of the outer peripheral wall of the robot arm 2000 that is directly opposite to the inner peripheral wall of the window 130 where the robot arm 2000 passes through the window 130, and the second elastic seal 210 is sealedly sleeved on the outer peripheral wall of the skeleton 230, so that the second elastic seal 210 is sealedly sleeved on the outer peripheral wall of the robot arm 2000 through the skeleton 230. It can be understood that in this embodiment, no matter the outer contour of the preset part of the robot arm 2000 is a regular shape or an irregular shape, as long as the inner contour of the skeleton 230 is adaptively designed, the second elastic seal 210 can be sealed and set on the outer peripheral wall of the robot arm 2000 through the skeleton 230, that is, by setting the skeleton 230 on the outer peripheral wall of the robot arm 2000, the second elastic seal 210 can adapt to the robot arm 2000 with different contour shapes; furthermore, the outer contour of the skeleton 230 can be designed in a regular manner, for example, Figure 2 The cylindrical outer contour shown is conducive to quickly putting the second elastic seal 210 on the outer peripheral wall of the skeleton 230; in addition, compared with directly bonding to the outer peripheral wall of the robot arm 2000 with glue, the second elastic seal 210 is sealed and put on the outer peripheral wall of the robot arm 2000 through the skeleton 230. In this way, when the second elastic seal 210 is damaged, the second elastic seal 210 on the skeleton 230 can be quickly replaced by disassembling the skeleton 230.

[0082] The frame 230 can be fixedly mounted on the outer peripheral wall of the robot arm 2000, and a sealing ring or a sealing gasket is provided between the frame 230 and the robot arm 2000, so as to achieve a sealed mounting between the frame 230 and the robot arm 2000. Of course, the frame 230 can also be sealed and mounted on the outer peripheral wall of the robot arm 2000 in other ways, as long as the frame 230 is detachably mounted on the outer peripheral wall of the robot arm 2000, there is no limitation on this. Similarly, the second elastic seal 210 can be bonded to the outer peripheral wall of the skeleton 230 by glue, so that the second elastic seal 210 can be sealingly sleeved on the outer peripheral wall of the skeleton 230. When the second elastic seal 210 is damaged, the skeleton 230 and the second elastic seal 210 need to be replaced together; or, the second elastic seal 210 can also be detachably sleeved on the outer peripheral wall of the skeleton 230, and squeezed and contacted with the outer peripheral wall of the skeleton 230 by elastic deformation, so that the second elastic seal 210 can be sealingly sleeved on the outer peripheral wall of the skeleton 230. When the second elastic seal 210 is damaged, only the second elastic seal 210 needs to be replaced without replacing the skeleton 230, which is beneficial to improving efficiency and reducing costs.

[0083] It should be noted that, in an embodiment of the present invention, the functional warehouse 1000 also includes other structural features, such as but not limited to the connection structure on the skeleton 230 for connecting the robotic arm 2000, the specific structure of the bracket 300, etc., which will not be elaborated herein.

[0084] For further information, see Figure 8 The embodiment of the present invention further provides an unpacking system 1, comprising a functional warehouse 1000. The functional warehouse 1000 may be the functional warehouse 1000 of 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 may be made to the relevant contents of the aforementioned embodiments, which will not be repeated here.

[0085] It can be understood that, similar to the existing unpacking system, the unpacking system 1 provided in the embodiment of the present invention may include at least two functional compartments 1000 ( Figure 8 Only one is shown), at least one functional bin 1000 is used as an air shower bin, and at least one functional bin 1000 is used as a bag breaking bin, and the unpacking system 1 may also include other components, such as but not limited to a robotic arm 2000 for clamping the transfer bag 3000, and a transport track 4000 for carrying the robotic arm 2000, which will not be elaborated.

[0086] 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.

[0087] 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.

[0088] 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 functional warehouse (1000), comprising a warehouse body (100), characterized in that: The warehouse body (100) has a window (130) communicating with its inner cavity, and the window (130) is used to pass the mechanical arm (2000) through so that at least a portion of the mechanical arm (2000) extends into the inner cavity of the warehouse body (100); In which, a first elastic seal is provided on the inner peripheral wall of the window (130), and / or a second elastic seal (210) is provided on the outer peripheral wall of the robot arm (2000) at a position corresponding to the inner peripheral wall of the window (130), and the first elastic seal and / or the second elastic seal (210) are used to elastically deform at the position where the robot arm (2000) passes through the window (130) and squeeze and fill between the inner peripheral wall of the window (130) and the outer peripheral wall of the robot arm (2000), so as to achieve sealing between the warehouse body (100) and the robot arm (2000).

2. The functional chamber (1000) according to claim 1, characterized in that: A dust removal device is provided inside the warehouse body (100), and the dust removal device is used to clean the dust on the part of the robot arm (2000) extending into the warehouse body (100) and the material bag (3000) clamped by the robot arm (2000); Wherein, the dust removal device includes a rolling brush mechanism and / or an air blowing mechanism.

3. The functional chamber (1000) according to claim 1, characterized in that: The functional bin (1000) further comprises a bracket (300) and a bag breaking tool (400); the bin body (100) is mounted on the bracket (300); the bag breaking tool (400) is mounted in the inner cavity of the bin body (100); and the bag breaking tool (400) is used to perform bag breaking operations on the material bag (3000) clamped by the robot arm (2000).

4. The functional chamber (1000) according to claim 3, characterized in that: The functional bin (1000) further comprises a discharge hopper (500) and a feeding pipe (600), wherein the discharge hopper (500) is mounted on the bracket (300) and is located below the bin body (100), and the feeding pipe (600) is arranged on a side of the discharge hopper (500) away from the bin body (100); a feeding end of the discharge hopper (500) is connected to the inner cavity of the bin body (100) to receive the material in the material bag (3000), and a discharging end of the discharge hopper (500) is connected to the feeding pipe (600); the feeding pipe (600) is used to connect to a negative pressure gas source to transport the material entering the feeding pipe (600) under the action of negative pressure; The feed pipe (600) is provided with at least one filter element connected to the inner cavity of the feed pipe (600), and the at least one filter element is used to replenish filtered air into the feed pipe (600), and / or the warehouse body (100) is provided with at least one filter element connected to its inner cavity, and the at least one filter element is used to replenish filtered air into the inner cavity of the warehouse body (100).

5. The functional chamber (1000) according to claim 4, characterized in that: The feeding pipe (600) comprises a first end and a second end opposite to the first end, and the connection between the discharge end of the discharge hopper (500) and the feeding pipe (600) is located between the first end and the second end; Wherein, the first end is used to connect to the negative pressure gas source, and the end of the second end is provided with a first filter element.

6. The functional chamber (1000) according to claim 5, characterized in that: The axial direction of the first filter element is the same as the axial direction of the feed pipe (600), and / or the feed pipe (600) is also provided with a second filter element, and the second filter element is located between the first end and the connection point.

7. The functional chamber (1000) according to claim 4, characterized in that: A discharge valve (550) is provided between the discharge hopper (500) and the feeding pipe (600), and the discharge valve (550) is used to control the amount of the material entering the feeding pipe (600) from the discharge hopper (500).

8. The functional chamber (1000) according to claim 4, characterized in that: The outer wall of the discharge hopper (500) is provided with a through hole, and the functional chamber (1000) also includes a pressure equalizing pipe (800), one end of which is connected to the through hole of the discharge hopper (500), and the other end of the pressure equalizing pipe (800) is used to connect to the feeding pipe (600).

9. The functional chamber (1000) according to claim 8, characterized in that: The pressure equalizing pipe (800) comprises a connecting section (810) for connecting to the discharge hopper (500), and the connecting section (810) extends obliquely toward the outside of the discharge hopper (500) and in a direction away from the silo (100).

10. The functional chamber (1000) according to any one of claims 1 to 9, characterized in that: The warehouse body (100) comprises a warehouse body (101) and a pair of door panels (102) movably connected to the warehouse body (101); the warehouse body (101) is provided with an opening communicating with its inner cavity; and the pair of door panels (102) can be relatively opened and closed to open or block the opening; Wherein, a notch recessed toward the second end is formed at the first end of each of the door panels (102); when the pair of door panels (102) block the opening, the notches of the pair of door panels (102) match to form the window (130) connected to the inner cavity of the chamber body (101); the first end of each of the door panels (102) is an end close to the other door panel (102) when the pair of door panels (102) block the opening, and the second end is opposite to the first end.

11. The functional chamber (1000) according to claim 10, characterized in that: The functional chamber (1000) further comprises a blocking mechanism, the blocking mechanism being used to block the window (130) at a position where the mechanical arm (2000) does not penetrate the window (130); The blocking mechanism is located on the outside of the warehouse body (100), and comprises a blocking plate and a first driving member connected to the blocking plate, wherein the blocking plate is movably arranged on a side of the door plate (102) away from the inner cavity of the warehouse body (100), and the first driving member is fixedly arranged on a side of the door plate (102) away from the inner cavity of the warehouse body (100), and the first driving member is used to drive the blocking plate to move so as to open or block the window (130); Alternatively, the blocking mechanism is located in the inner cavity of the warehouse body (100), and the blocking mechanism includes a rolling shutter door and a second driving member connected to the rolling shutter door, the rolling shutter door is movably arranged on the top wall of the warehouse body (100) adjacent to the opening, and the second driving member is fixedly arranged on the top wall, and the second driving member is used to drive the rolling shutter door to retract or unfold, thereby opening or blocking the window (130).

12. The functional chamber (1000) according to any one of claims 1 to 9, characterized in that: The first elastic seal is disposed on the inner peripheral wall of the window (130), and a first receiving groove is provided on the outer peripheral wall of the mechanical arm (2000) at a position corresponding to the first elastic seal, and at least a portion of the first elastic seal is received in the first receiving groove; And / or, the second elastic seal (210) is disposed on the outer peripheral wall of the robot arm (2000), and a second receiving groove (132) is opened on the inner peripheral wall of the window (130) at a position corresponding to the second elastic seal (210), and at least a portion of the second elastic seal (210) is received in the second receiving groove (132).

13. The functional chamber (1000) according to any one of claims 1 to 9, characterized in that: A first airbag is arranged on the inner peripheral wall of the window (130), and a first convex purlin is arranged at a position of the outer peripheral wall of the mechanical arm (2000) corresponding to the first airbag. After being inflated, the first airbag undergoes elastic deformation and is squeezed and filled between the inner peripheral wall of the window (130) and the outer peripheral wall of the mechanical arm (2000) and covers the first purlin. The first airbag constitutes the first elastic sealing member; And / or, a second airbag is provided on the outer peripheral wall of the robotic arm (2000), and a second convex purlin (131) is provided on the inner peripheral wall of the window (130) at a position corresponding to the second airbag, and the second airbag undergoes elastic deformation after being inflated and is squeezed and filled between the inner peripheral wall of the window (130) and the outer peripheral wall of the robotic arm (2000) and covers the second purlin (131), and the second airbag constitutes the second elastic sealing member (210).

14. The functional chamber (1000) according to any one of claims 1 to 9, characterized in that: An annular cone-shaped elastic sealing ring is provided on the outer peripheral wall of the mechanical arm (2000), and the outer diameter of the elastic sealing ring gradually increases from an end close to the window (130) to an end away from the window (130), and the elastic sealing ring constitutes the second elastic sealing member (210); Alternatively, an annular airbag is provided on the outer peripheral wall of the robotic arm (2000), and the annular airbag undergoes elastic deformation after being inflated and is squeezed and filled between the inner peripheral wall of the window (130) and the outer peripheral wall of the robotic arm (2000), and the annular airbag constitutes the second elastic sealing member (210).

15. The functional chamber (1000) according to claim 14, characterized in that: The second elastic sealing member (210) is an annular airbag; after the annular airbag is inflated, the annular airbag abuts against a portion of the inner surface of the warehouse body (100) adjacent to the window (130), and / or the annular airbag abuts against a portion of the outer surface of the warehouse body (100) adjacent to the window (130).

16. An unpacking system (1), characterized in that: It comprises the functional chamber (1000) as claimed in any one of claims 1 to 15.

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