Clamping structure, pallet fork structure, robot and warehousing system

Abstract

The embodiment of the invention provides a clamping structure, a pallet fork structure, a robot and a warehousing system, and belongs to the technical field of warehouse logistics. The clamping structure comprises a mounting seat; the driving mechanism is arranged on the mounting seat; the clamping assembly comprises two clamping pieces, and the two clamping pieces are rotationally arranged on the mounting base in a spaced mode in the height direction of the mounting base and connected with the driving mechanism; and the driving mechanism is configured to move relative to the mounting base so as to drive the two clamping pieces to rotate and get close to or away from each other, so that the two clamping pieces jointly clamp or release the connecting part of the material box. The two clamping pieces jointly clamp the upper side and the lower side of the connecting part, the connecting part is prevented from being separated from the clamping effect of the clamping pieces, and the reliability of connection between the robot and the material box is high.

Description

Technical Field

[0001] This application relates to the technical field of warehousing logistics, and particularly to a clamping structure, a fork structure, a robot, and a warehousing system. Background Art

[0002] The robot can pick up and place the bins through the telescopic fork structure.

[0003] In the prior art, the robot includes a robot body and a fork structure, a telescopic mechanism, and a lifting mechanism arranged on the robot body. A hook member is arranged at the end of the fork structure. The fork structure can extend relative to the robot body under the drive of the telescopic mechanism so that the hook member moves to the bin. The hook member rises or falls to connect with the bin, and then drives the bin to move.

[0004] However, during the process of the hook member driving the bin to move, the hook member may be disconnected from the bin, resulting in poor reliability of the connection between the robot and the bin. Summary of the Invention

[0005] Embodiments of this application provide a clamping structure, a fork structure, a robot, and a warehousing system to achieve the effect of improving the reliability of the connection between the robot and the bin.

[0006] In a first aspect, embodiments of this application provide a clamping structure, including:

[0007] A mounting seat;

[0008] A driving mechanism arranged on the mounting seat;

[0009] A clamping component including two clamping members. The two clamping members are spaced along the height direction of the mounting seat and rotatably arranged on the mounting seat, and are connected to the driving mechanism;

[0010] The driving mechanism is configured to move relative to the mounting seat to drive the two clamping members to rotate and approach or separate from each other, so that the two clamping members jointly clamp or release the connecting portion of the bin.

[0011] In a possible implementation manner, for the clamping structure provided by the embodiments of this application, the driving mechanism includes:

[0012] A moving member, and both of the two clamping members are inserted into the moving member;

[0013] A first driving component connected to the moving member;

[0014] The first driving component is configured to drive the moving member to move relative to the mounting seat so that the moving member drives the two clamping members to rotate and approach or separate from each other.

[0015] In a possible implementation, the clamping structure provided in the embodiment of the present application has two insertion holes provided on the movable member at intervals, and the two clamping members are correspondingly inserted into the insertion holes;

[0016] The distance between the two insertion holes is greater than the distance between the two clamping members and the rotation axis of the mounting seat;

[0017] When the moving part moves away from the mounting seat, the two clamping parts are driven to approach each other through the two sockets. When the moving part moves toward the mounting seat, the two clamping parts are driven to move away from each other through the two sockets.

[0018] In a possible implementation, the clamping structure provided in an embodiment of the present application, the driving mechanism further includes a transmission assembly, and the first driving assembly and the moving member are respectively connected to the transmission assembly;

[0019] The first driving assembly drives the moving member to move back and forth through the transmission assembly.

[0020] In one possible implementation, the clamping structure provided in the embodiment of the present application, the transmission assembly includes:

[0021] A rotating shaft is rotatably mounted on the mounting base and connected to the first driving assembly;

[0022] A toggle member, which is arranged on the rotating shaft;

[0023] A follower, the follower is arranged on the mounting seat, and the toggle member is connected to the moving member through the follower;

[0024] The toggle member is configured to rotate along with the rotating shaft and drive the follower member to move back and forth relative to the mounting seat, so that the follower member drives the moving member to move back and forth.

[0025] In a possible implementation, in the clamping structure provided in the embodiment of the present application, the driving member is an eccentric cam, and the follower abuts against two opposite radial sides of the eccentric cam.

[0026] In a possible implementation manner, in the clamping structure provided in the embodiment of the present application, two protrusions are provided on the follower at intervals in its own moving direction, and the two protrusions abut against the eccentric cam.

[0027] In one possible implementation, the clamping structure provided in an embodiment of the present application, the transmission assembly further includes a guide member, the guide member being slidably disposed on the mounting seat, and the sliding direction of the guide member being consistent with the moving direction of the moving member;

[0028] The follower is connected to the moving part through a guide part.

[0029] In a possible implementation, the clamping structure provided in the embodiment of the present application further includes a pushing member connected to the mounting seat, and the pushing member is used to abut against the material box to push the material box.

[0030] In a possible implementation manner, for the clamping structure provided by the embodiments of the present application, when the pushing member abuts against the material box, there is a gap between the clamping assembly and the connecting portion;

[0031] When the clamping assembly abuts against the connecting portion, there is a gap between the pushing member and the material box.

[0032] In a possible implementation manner, the clamping structure provided by the embodiments of the present application further includes a buffer assembly. The mounting seat is arranged on the buffer assembly, and the mounting seat moves up and down along the buffer assembly in the vertical direction.

[0033] In a possible implementation manner, for the clamping structure provided by the embodiments of the present application, the buffer assembly includes:

[0034] A column, which is vertically arranged;

[0035] A buffer seat, which is slidably arranged on the column and is limited to move up and down along the extending direction of the column. The mounting seat is arranged on the buffer seat.

[0036] In a possible implementation manner, for the clamping structure provided by the embodiments of the present application, the buffer assembly further includes limit buffer blocks. Two limit buffer blocks are arranged on the column at intervals in the vertical direction, and the buffer seat is located between the two limit buffer blocks.

[0037] In a possible implementation manner, for the clamping structure provided by the embodiments of the present application, the buffer assembly further includes a tension spring. The tension spring connects the buffer seat and the column to drive the buffer seat to descend in the vertical direction.

[0038] In a possible implementation manner, for the clamping structure provided by the embodiments of the present application, the mounting seat includes an upper shell and a lower shell. The upper shell and the lower shell are connected to form a receiving space, and at least part of the driving mechanism is arranged in the receiving space.

[0039] In a second aspect, the embodiments of the present application provide a fork structure, which includes a fork body and the above-mentioned any clamping structure arranged on the fork body.

[0040] In a possible implementation manner, for the fork structure provided by the embodiments of the present application, the fork body includes:

[0041] A base;

[0042] A second driving assembly, which is arranged on the base. The second driving assembly is connected to the mounting seat of the clamping structure to drive the clamping structure to move relative to the base.

[0043] In a possible implementation manner, for the fork structure provided by the embodiments of the present application, the second driving assembly includes:

[0044] Sliding seat, the sliding seat is slidably arranged on the base, and the mounting seat is arranged on the sliding seat;

[0045] Driving member, the driving member is connected to the sliding seat to drive the sliding seat to drive the mounting seat to move relative to the base.

[0046] In a possible implementation manner, for the forklift structure provided in the embodiment of the present application, the forklift body further includes a moving guiding component, the moving guiding component is arranged on the base, the sliding seat is slidably arranged on the moving guiding component and slides along the extending direction of the moving guiding component.

[0047] In a possible implementation manner, for the forklift structure provided in the embodiment of the present application, the moving guiding component includes:

[0048] Slide rail, the slide rail is arranged on the base, and the sliding seat is slidably connected to the slide rail;

[0049] Transmission member, the transmission member is arranged at an interval from the slide rail, the driving member is arranged on the sliding seat and is in transmission cooperation with the transmission member to drive the sliding seat to slide on the slide rail.

[0050] In a third aspect, the embodiment of the present application provides a robot, including a robot body and any one of the above-mentioned clamping structures arranged on the robot body, or including a robot body and any one of the above-mentioned forklift structures arranged on the robot body.

[0051] In a fourth aspect, the embodiment of the present application provides a warehousing system, including a storage bin and the above-mentioned robot, and a connecting part for the robot to clamp or release the storage bin.

[0052] In a possible implementation manner, for the warehousing system provided in the embodiment of the present application, the connecting part has two hook grooves arranged at intervals in the height direction of the storage bin, the opening directions of the two hook grooves are opposite, and the two clamping members are inserted or disengaged from the two hook grooves in one-to-one correspondence.

[0053] In a possible implementation manner, for the warehousing system provided in the embodiment of the present application, a groove is arranged on the side of the storage bin, the groove extends along the height direction of the storage bin, and the connecting part is located in the groove.

[0054] The clamping structure, fork structure, robot and warehousing system provided by the embodiments of the present application. The clamping structure includes a mounting base, a driving mechanism and a clamping component arranged on the mounting base. The clamping component includes two clamping pieces arranged at intervals in the height direction of the mounting base. The two clamping pieces are connected to the driving mechanism, so that the two clamping pieces can be driven by the driving mechanism to rotate relative to each other, and the two clamping pieces can approach or separate from each other. When the connecting parts of the two clamping pieces are aligned with and approach the material box, the connecting parts can be clamped together from the upper and lower sides of the connecting part of the material box, and vice versa, the connecting parts are released. Since the two clamping pieces clamp the upper and lower sides of the connecting part together, during the process of the robot driving the material box to move, even if the material box bumps, the two clamping pieces can stably limit the connecting part, avoiding the connecting part from disengaging from the clamping effect of the clamping pieces until the two clamping pieces actively release the connecting part, so that the reliability of the connection between the robot and the material box is relatively high. Description of the Drawings

[0055] The drawings here are incorporated into the specification and form a part of this specification, showing the embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0056] Figure 1 Schematic structural diagram of the fork structure provided by the embodiments of the present application;

[0057] Figure 2 is Figure 1 Schematic structural diagram of the connection between the fork structure and the material box in ;

[0058] Figure 3 is Figure 1 Schematic structural diagram of the clamping structure and the second driving component in ;

[0059] Figure 4 is Figure 3 Schematic diagram of another perspective of the clamping structure and the second driving component in ;

[0060] Figure 5 is Figure 3 Exploded view of the clamping structure and the second driving component in ;

[0061] Figure 6 is Figure 5 Partial structural schematic diagram of the clamping structure in ;

[0062] Figure 7 is Figure 6 Partial structural exploded view of the clamping structure in ;

[0063] Figure 8 is Figure 6 A-A sectional view of the clamping structure in ;

[0064] Figure 9 is Figure 8 Schematic diagram of the clamping structure pushing the material box in ;

[0065] Figure 10 for Figure 8 Schematic diagram of the central clamping structure pulling the material box.

[0066] Description of reference numerals:

[0067] 100-mounting seat; 110-upper shell; 111-guide hole; 120-lower shell; 121-mounting hole;

[0068] 200 - driving mechanism; 210 - moving member; 211 - socket; 220 - first driving assembly; 221 - driving bevel gear; 222 - driven bevel gear; 230 - transmission assembly; 231 - rotating shaft; 232 - toggle member; 233 - follower; 2331 - protrusion; 234 - guide member; 235 - shaft end retaining ring; 236 - shaft end screw;

[0069] 300-gripping assembly; 310-gripping piece; 311-insertion tongue;

[0070] 400-thrust piece;

[0071] 500-buffer assembly; 510-column; 520-buffer seat; 530-limit buffer block; 540-tension spring;

[0072] 600-base;

[0073] 700 - second drive assembly; 710 - sliding seat; 711 - slider; 720 - driving member; 721 - output gear;

[0074] 800-mobile guide assembly; 810-slide rail; 820-transmission parts;

[0075] 900-material box; 910-groove; 920-connecting part; 921-rib; 922-hook groove.

[0076] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0077] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention. Without conflict, the following embodiments and the features in the embodiments may be combined with each other.

[0078] In the prior art, a robot includes a robot body and a fork structure, a telescopic mechanism, and a lifting mechanism provided on the robot body. Both the telescopic mechanism and the lifting mechanism are connected to the fork structure. The telescopic mechanism is used to drive the fork structure to extend or retract relative to the robot body, and the lifting mechanism is used to drive the fork structure to rise or fall relative to the robot body. A hook member is provided at the end of the fork structure. The telescopic mechanism drives the fork structure to extend relative to the robot body so that the hook member moves to the storage bin, and the lifting mechanism drives the hook member to rise or fall so that the hook member is connected to the storage bin, thereby driving the storage bin to move.

[0079] However, during the process of the hook member driving the storage bin to move, the storage bin may jolt up and down due to factors such as the height difference between the shelf and the robot and the height difference of the shelf's own plane, causing the hook member to disconnect from the storage bin, resulting in poor reliability of the connection between the robot and the storage bin.

[0080] To overcome the defects in the prior art, the clamping structure, fork structure, robot, and warehousing system provided in the embodiments of the present application. The clamping structure includes a mounting base and a driving mechanism and a clamping component provided on the mounting base. The clamping component includes two clamping members spaced along the height direction of the mounting base. The two clamping members are connected to the driving mechanism, and thus the driving mechanism can drive the two clamping members to rotate relative to each other, so that the two clamping members approach or separate from each other. When the connecting parts of the two clamping members are aligned with and approach the storage bin, the connecting parts can be jointly clamped from the upper and lower sides of the connecting parts of the storage bin, and vice versa, the connecting parts are released. Since the two clamping members jointly clamp the upper and lower sides of the connecting parts, during the process of the robot driving the storage bin to move, even if the storage bin jolts, the two clamping members can stably limit the connecting parts, avoiding the connecting parts from disengaging from the clamping effect of the clamping members until the two clamping members actively release the connecting parts, making the connection between the robot and the storage bin highly reliable.

[0081] The content of the present invention will be described in detail below with reference to the accompanying drawings so that those skilled in the art can understand the content of the present invention more clearly and in detail.

[0082] Referring to Figures 1 to 4 and Figure 9 and Figure 10 as shown, the embodiments of the present application provide a clamping structure, including:

[0083] Mounting base 100;

[0084] Driving mechanism 200, which is arranged on the mounting base 100;

[0085] Clamping component 300, which includes two clamping members 310. The two clamping members 310 are spaced along the height direction of the mounting base 100 and are rotatably arranged on the mounting base 100, and are connected to the driving mechanism 200;

[0086] The driving mechanism 200 is configured to move relative to the mounting base 100 to drive the two clamping members 310 to rotate and approach or separate from each other, so that the two clamping members 310 jointly clamp or release the connecting portion 920 of the bin 900.

[0087] It can be understood that the driving mechanism 200 and the clamping component 300 are arranged on the mounting base 100. The two clamping members 310 of the clamping component 300 are spaced along the height direction of the mounting base 100 and are rotatably arranged on the mounting base 100, and the driving mechanism 200 is connected to the two clamping members 310 to drive the two clamping members 310 to rotate towards each other, so that the two clamping members 310 can approach or separate from each other with the rotation action.

[0088] Thus, when it is necessary to clamp the bin 900, the driving mechanism 200 starts to act. During the process of its part moving relative to the mounting base 100, the power is transmitted to the two clamping members 310 to drive the two clamping members 310 to rotate relatively. As the rotation progresses, the two clamping members 310 gradually approach and approach the connecting portion 920 from the upper and lower sides of the connecting portion 920 respectively, so as to clamp the connecting portion 920 and achieve stable clamping of the bin 900.

[0089] When it is necessary to release the bin 900, the part of the driving mechanism 200 moves in the reverse direction, driving the two clamping members 310 to rotate in the reverse direction. The two clamping members 310 move away from each other, and the distance gradually increases until they completely leave the connecting portion 920 of the bin 900, so that the connecting portion 920 can be disengaged from between the two clamping members 310, and the bin 900 is smoothly released.

[0090] Wherein, the parts of the two clamping members 310 facing each other are partially bent to form a clamping space between the two clamping members 310. When the two clamping members 310 move away from each other, the distance between the bent parts is greater than the height of the vertical edge 921 on the connecting portion 920, so that the connecting portion 920 can enter the clamping space. After the two clamping members 310 approach each other and clamp the connecting portion 920, the distance between the bent parts is less than the height of the edge 921 to prevent the connecting member from disengaging from the clamping members 310.

[0091] Therefore, the clamping structure provided by the embodiments of the present application includes a mounting base 100, a driving mechanism 200 and a clamping assembly 300 arranged on the mounting base 100. The clamping assembly 300 includes two clamping members 310 spaced along the height direction of the mounting base 100. The two clamping members 310 are connected to the driving mechanism 200, so that the two clamping members 310 can be driven by the driving mechanism 200 to rotate relative to each other, making the two clamping members 310 approach or move away from each other. When the connecting parts 920 of the two clamping members 310 are aligned with and approach the connecting part 920 of the material box 900, the connecting part 920 can be clamped together from the upper and lower sides of the connecting part 920 of the material box 900, and vice versa, the connecting part 920 is released. Since the two clamping members 310 clamp the upper and lower sides of the connecting part 920 together, during the process of the robot driving the material box 900 to move, even if the material box 900 bumps, the two clamping members 310 can stably limit the connecting part 920, preventing the connecting part 920 from disengaging from the clamping effect of the clamping members 310 until the two clamping members 310 actively release the connecting part 920, making the connection between the robot and the material box 900 highly reliable.

[0092] In some embodiments, referring to Figures 5 to 8 as shown, the driving mechanism 200 includes:

[0093] A moving member 210, and both of the two clamping members 310 are inserted into the moving member 210;

[0094] A first driving assembly 220, and the first driving assembly 220 is connected to the moving member 210;

[0095] The first driving assembly 220 is configured to drive the moving member 210 to move relative to the mounting base 100, so that the moving member 210 drives the two clamping members 310 to rotate and approach or move away from each other.

[0096] It can be understood that the first driving assembly 220 can be a driving motor, and further, the driving motor can be equipped with a speed reducer. The first driving assembly 220 is in transmission connection with the moving member 210, so that the moving member 210 can be driven by the first driving assembly 220 to move relative to the mounting base 100, and then the moving member 210 drives the two clamping members 310 to rotate relative to each other. Among them, by driving the two clamping members 310 to rotate and approach or move away from each other through the moving member 210, the actions of clamping and releasing the material box 900 can be accurately controlled, ensuring the stability of the operation.

[0097] During specific implementation, referring to Figures 5 to 8 as shown, two jacks 211 are spaced on the moving member 210, and the two clamping members 310 are correspondingly inserted into the jacks 211;

[0098] The distance between the two jacks 211 is greater than the distance between the two clamping members 310 and the rotation axis of the mounting base 100;

[0099] When the moving member 210 moves away from the mounting base 100, the two clamping members 310 are driven to approach each other respectively through the two jacks 211. When the moving member 210 moves closer to the mounting base 100, the two clamping members 310 are driven to move away from each other respectively through the two jacks 211.

[0100] The moving member 210 is a plate member. The two jacks 211 are arranged on the moving member 210 at intervals along the height direction of the mounting base 100. A tongue 311 is arranged on the clamping member 310, and the tongue 311 is correspondingly inserted into the jack 211 on the moving member 210. In this way, when the moving member 210 moves relative to the mounting base 100, the two clamping members 310 can be driven to rotate relative to each other through the relative displacement between the jack 211 and the tongue 311.

[0101] Wherein, the rotation axes of the two clamping members 310 are both located between the two jacks 211 of the moving member 210 in the vertical direction, so that the distance between the rotation axes of the two clamping members 310 is less than the distance between the two jacks 211. When the moving member 210 moves forward (moves away from the mounting base 100) and away from the rotation axis of the clamping member 310, the connection line between the jack 211 and the rotation axis of the corresponding clamping member 310 gradually tends to be horizontal, so that the two clamping members 310 can approach each other under the driving action of the jack 211. When the moving member 210 moves backward (moves closer to the mounting base 100) and approaches the rotation axis of the clamping member 310, the angle between the above connection line and the horizontal plane gradually increases, so that the two clamping members 310 can move away from each other accordingly.

[0102] In this way, through the cooperation between the jack 211 on the moving member 210 and the clamping member 310, and the settings of the distance between the jacks 211 and the distance between the rotation axes of the clamping members 310, the actions of clamping and releasing the bin 900 can be accurately controlled, the stability of the two clamping members 310 jointly clamping the bin 900 and the synchronism of the rotation of the two clamping members 310 can be ensured. At the same time, since both of the two clamping members 310 can only rotate by the movement of the moving member 210, when the moving member 210 is stationary stably, it is difficult for the clamping member 310 to rotate under the restriction of the moving member 210, thereby ensuring the clamping effect of the clamping member 310 on the connecting portion 920 and improving the reliability of the connection between the robot and the bin 900.

[0103] In some embodiments, referring to Figures 5 to 8 As shown, the driving mechanism 200 further includes a transmission assembly 230. The first driving assembly 220 and the moving member 210 are respectively connected to the transmission assembly 230;

[0104] The first driving assembly 220 drives the moving member 210 to reciprocate through the transmission assembly 230.

[0105] It can be understood that by setting the transmission assembly 230, the first driving assembly 220 drives the moving member 210 to reciprocate through the transmission assembly 230, making the connection between the first driving assembly 220 and the moving member 210 more flexible, facilitating the conversion of the torque output by the first driving assembly 220 into the movement of the moving member 210 to meet the working requirements of the clamping assembly 300.

[0106] During specific implementation, referring to Figures 5 to 8 as shown, the transmission assembly 230 includes:

[0107] a rotating shaft 231, which is rotatably arranged on the mounting base 100 and connected to the first driving assembly 220;

[0108] a toggling member 232, which is arranged on the rotating shaft 231;

[0109] a follower member 233, which is arranged on the mounting base 100, and the toggling member 232 is connected to the moving member 210 through the follower member 233;

[0110] The toggling member 232 is configured to rotate with the rotating shaft 231 and drive the follower member 233 to reciprocate relative to the mounting base 100, so that the follower member 233 drives the moving member 210 to reciprocate.

[0111] Among them, two sets of back-to-back mounted angular contact bearings are arranged at intervals on the rotating shaft 231, and the angular contact bearings are installed in two mounting holes 121 on the mounting base 100, so that the rotating shaft 231 is rotatably connected to the mounting base 100. A stepped surface is provided at one end of the rotating shaft 231 to abut and limit the angular contact bearing, and a shaft end retaining ring 235 and a shaft end screw 236 are provided at the other end to cooperate with the angular contact bearing, thereby restricting the axial movement of the rotating shaft 231. A driven bevel gear 222 is arranged on the rotating shaft 231, and the driven bevel gear 222 meshes with the driving bevel gear 221 provided at the output end of the first driving assembly 220. Thus, when the first driving assembly 220 operates, the rotating shaft 231 can be driven to rotate through the driving bevel gear 221 and the driven bevel gear 222.

[0112] The toggling member 232 is arranged on the rotating shaft 231 and can rotate synchronously with the rotating shaft 231. The follower member 233 is movably arranged in the mounting base 100 and is connected to the toggling member 232 and the moving member 210. When the first driving assembly 220 drives the rotating shaft 231 to rotate, the rotating shaft 231 drives the toggling member 232 to rotate. The follower member 233 converts the rotational movement of the toggling member 232 into its own movement and further drives the moving member 210 to move.

[0113] This arrangement creates a relatively stable power transmission path through the cooperation between the rotating shaft 231, the toggle member 232, and the follower 233, effectively transmitting the power output by the first drive assembly 220. This improves the stability and reliability of power transmission, reduces shock and vibration during movement, and ensures the normal operation of the clamping structure. Furthermore, the rotating shaft 231, the toggle member 232, the follower 233, etc., are all disposed within the mounting base 100, making the clamping structure more compact and occupying less space.

[0114] Further, refer to Figures 5 to 10 As shown, the shifting member 232 is an eccentric cam, and the follower 233 abuts against two opposite radial sides of the eccentric cam.

[0115] It will be appreciated that by configuring the toggle member 232 as an eccentric cam, the relative positions of the distal and proximal ends of the eccentric cam can change as the eccentric cam rotates with the rotating shaft 231. This utilizes the geometric characteristics of the eccentric cam to continuously change the distance between the profile of the toggle member 232 and the rotation center of the rotating shaft 231. As the eccentric cam rotates, the followers 233, which abut radially opposite sides of the cam, undergo reciprocating linear motion relative to the mounting base 100 due to the changing cam profile, driving the moving member 210 to reciprocate, thereby moving the two gripping members 310 closer or further away from each other.

[0116] In this way, the transmission assembly 230 has a simple and compact structure, and because the distance between the profile of the eccentric cam and the rotation center of the rotating shaft 231 changes gradually and continuously, it can also buffer the impact force during the movement to a certain extent, so that the two clamping parts 310 of the clamping structure rotate smoothly and the clamping connection part 920 is more stable and reliable.

[0117] And, refer to Figures 5 to 10 As shown, two protrusions 2331 are provided on the follower 233 at intervals in its own moving direction, and the two protrusions 2331 abut against the eccentric cam.

[0118] The protrusions 2331 may be block structures spaced apart on the follower 233 , or cam followers spaced apart on the follower 233 , which is not limited in the present application.

[0119] The two protrusions 2331 respectively abut against the radial sides of the eccentric cam, which can better constrain the movement trajectory of the follower 233 compared to the unilateral abutment method. In addition, the first drive component 220 can drive the eccentric cam to rotate only in a single direction through the rotating shaft 231, driving the follower 233 to reciprocate along the moving direction, avoiding the first drive component 220 frequently rotating forward and reverse to drive the moving part 210 to move back and forth, making the transmission simpler and more stable, and the service life of the first drive component 220 longer.

[0120] In some embodiments, reference Figures 5 to 10 As shown, the transmission assembly 230 further includes a guide member 234 , which is slidably disposed on the mounting base 100 , and the sliding direction of the guide member 234 is consistent with the moving direction of the moving member 210 ;

[0121] The follower 233 is connected to the moving member 210 through the guide member 234 .

[0122] The guide members 234 are two guide copper pillars that are slidably inserted into the guide holes 111 of the mounting base 100. The two ends of the guide copper pillars are connected to the follower 233 and the moving member 210 respectively, so that the follower 233 drives the moving member 210 to move through the guide members 234. By providing the guide members 234, the sliding direction of the guide members 234 is consistent with that of the moving member 210, providing precise guidance for the movement of the moving member 210 driven by the follower 233, reducing deviation and shaking during the movement of the moving member 210, making the moving member 210 more precise during reciprocating movement, and thus ensuring the accuracy and synchronization rate of the two clamping members 310 approaching and moving away from each other.

[0123] Furthermore, in some embodiments, reference Figures 5 to 10 As shown, the clamping structure further includes a pushing member 400 . The pushing member 400 is connected to the mounting seat 100 . The pushing member 400 is used to abut against the material box 900 to push the material box 900 .

[0124] It is understood that the pushing member 400 is a push plate provided on the mounting base 100. The push plate has a larger dimension along the width direction of the clamping structure than the two clamping members 310, resulting in a larger force-bearing area and a smoother pushing. When the material box 900 needs to be pushed, the two clamping members 310 can clamp the material box 900, and the pushing member 400 abuts against the material box 900 to apply force to the material box 900, pushing the material box 900 to move. This prevents the clamping members 310 from being subjected to excessive force when directly pushing the material box 900, thereby preventing damage to the clamping members 310 and the transmission assembly 230.

[0125] Among them, reference Figure 9 and Figure 10 As shown, when the pushing member 400 abuts against the material box 900 , there is a gap between the clamping assembly 300 and the connecting portion 920 ;

[0126] When the clamping assembly 300 abuts against the connecting portion 920 , a gap exists between the pushing member 400 and the material box 900 .

[0127] It is understandable that Figure 9 and Figure 10In it, the connecting part 920 is arranged in the groove 910 of the bin 900. The distance a is the distance between the baffle 921 of the connecting part 920 and the outer wall surface of the bin 900. The distance b is the distance between the bottom of the groove 910 on the bin 900 and the outer wall surface of the bin 900. The distance c is the distance between the end of the clamping part 310 and the pushing part 400. Among them, a < b < c, and b - a < c.

[0128] With such a setting, as Figure 9 shown, when the pushing part 400 abuts against the bin 900, the clamping structure pushes the bin 900. At this time, a gap is formed between the clamping part 310 and the connecting part 920, and there is also a gap between the clamping part 310 and the bottom of the groove 910 on the bin 900, so as to prevent the clamping part 310 and the transmission assembly 230 from applying a pushing force to the connecting part 920, and at the same time, it can avoid the clamping part 310 from abutting against the bottom of the groove 910 of the bin 900. And as Figure 10 shown, when the clamping part 310 abuts against the connecting part 920, a gap can also be formed between the pushing part 400 and the bin 900.

[0129] In some embodiments, referring to Figures 2 to 5 shown, the clamping structure further includes a buffer assembly 500. The mounting seat 100 is arranged on the buffer assembly 500, and the mounting seat 100 moves up and down along the buffer assembly 500 in the vertical direction.

[0130] It can be understood that by setting the buffer assembly 500, the buffer assembly 500 can be used to make the mounting seat 100 move up and down in the vertical direction, that is, the height direction of the mounting seat 100. In this way, during the process of the clamping structure driving the bin 900 to move, if the bin 900 jolts up and down due to factors such as the height difference between the shelf and the robot, the height difference of the shelf's own plane, etc., the buffer assembly 500 can be used to buffer the jolting impact of the bin 900, ensuring the stability and reliability during the picking and placing of goods.

[0131] During specific implementation, referring to Figures 2 to 5 shown, the buffer assembly 500 includes:

[0132] A column 510, the column 510 is arranged vertically;

[0133] A buffer seat 520, the buffer seat 520 is slidably arranged on the column 510 and is limited to move up and down along the extending direction of the column 510, and the mounting seat 100 is arranged on the buffer seat 520.

[0134] It is easy to understand that the column 510 provides accurate guidance for the up and down movement of the buffer seat 520, so that the buffer seat 520 can only slide along the extending direction of the column 510, effectively avoiding problems such as shaking and offset of the mounting seat 100 arranged on the buffer seat 520 during the up and down movement.

[0135] The buffer seat 520 is limited in vertical lifting to prevent the mounting seat 100 from excessively rising or falling, thereby avoiding collision or interference between the mounting seat 100 and the clamping assembly 300 and other components, thereby ensuring the safety and stability of the clamping structure.

[0136] And, refer to Figure 2 and Figure 5 As shown, the buffer assembly 500 further includes a limiting buffer block 530 . Two limiting buffer blocks 530 are arranged on the column 510 at intervals along the vertical direction, and the buffer seat 520 is located between the two limiting buffer blocks 530 .

[0137] Two limiting buffer blocks 530 are spaced apart along the extension direction of the column 510, and the buffer seat 520 is disposed between the two limiting buffer blocks 530, so that the two limiting buffer blocks 530 can limit the upward and downward movement of the buffer seat 520. At the same time, at least the limiting buffer block 530 on the lower side can be an elastic block made of rubber material to absorb the impact energy of the buffer seat 520 during the lifting process, thereby reducing the impact force on the buffer seat 520, the column 510, and components such as the mounting base 100 and the clamping assembly 300 mounted on the buffer seat 520.

[0138] The buffer assembly 500 further includes a tension spring 540 , which connects the buffer seat 520 and the column 510 to drive the buffer seat 520 to descend in a vertical direction.

[0139] One end of the tension spring 540 is connected to the buffer seat 520, and the other end is connected to the column 510. Specifically, it can be directly connected to the lower part of the column 510 itself, or it can be connected to other installation parts located below the column 510 and kept fixed relative to the column 510, so as to be indirectly connected to the column 510. In this way, the tension spring 540 can be used to always apply a downward force to the buffer seat 520, thereby ensuring the relative position stability of the buffer seat 520, the mounting seat 100 and the clamping assembly 300, and avoiding unnecessary up and down jumping of the buffer seat 520.

[0140] In some other embodiments, the mounting base 100 includes an upper shell 110 and a lower shell 120 , which are connected to form a receiving space, and at least a portion of the driving mechanism 200 is disposed in the receiving space.

[0141] It can be understood that such a setting can make the disassembly, assembly and maintenance of the mounting base 100 and the transmission component 230 in the mounting base 100 easier, and the transmission component 230 can be placed in the accommodating space formed by the upper shell 110 and the lower shell 120 to protect the transmission component 230 and make the appearance structure of the clamping structure simpler.

[0142] Reference Figures 1 to 5As shown in the figure, an embodiment of the present application further provides a fork structure, including a fork body and the clamping structure in any of the above embodiments provided on the fork body.

[0143] Among them, the fork body includes:

[0144] A base 600;

[0145] A second driving component 700, the second driving component 700 is arranged on the base 600, and the second driving component 700 is connected to the mounting seat 100 of the clamping structure to drive the clamping structure to move relative to the base 600.

[0146] The second driving component 700 is connected to the mounting seat 100 of the clamping structure and can drive the clamping structure to move relative to the base 600, so that the clamping structure can pull or push the bin 900 it clamps under the drive of the second driving component 700.

[0147] The base 600 provides a stable support platform for the second driving component 700 and the clamping structure. The second driving component 700 is arranged on the base 600. During the process of driving the clamping structure to move, the base 600 can ensure the stability of the entire fork structure to reduce the shaking and vibration of the fork structure during operation.

[0148] Further, referring to Figure 2 and Figure 5 shown in the figure, the second driving component 700 includes:

[0149] A sliding seat 710, the sliding seat 710 is slidably arranged on the base 600, and the mounting seat 100 is arranged on the sliding seat 710;

[0150] A driving member 720, the driving member 720 is connected to the sliding seat 710 to drive the sliding seat 710 to drive the mounting seat 100 to move relative to the base 600.

[0151] The mounting seat 100 is arranged on the sliding seat 710, and the base 600 provides stable support for the sliding of the sliding seat 710. The driving member 720 is directly connected to the sliding seat 710 and drives the sliding seat 710 to move, which can efficiently transmit the driving force to the sliding seat 710, reduce the energy loss during the power transmission process, make the moving efficiency of the sliding seat 710 relatively high, the structure is simple and the occupied space is less.

[0152] Among them, the driving member 720 can be arranged on the base 600 and connected to the sliding seat 710 to drive the sliding seat 710 to move relative to the driving member 720 and the base 600, or the driving member 720 can be arranged on the sliding seat 710 and drive the sliding seat 710 to drive the driving member 720 to move together relative to the base 600. The present application does not limit this.

[0153] Further, referring to Figures 1 to 5 As shown in Figures 1 to 5 , the forklift fork body further includes a moving guiding component 800. The moving guiding component 800 is arranged on the base 600. The sliding seat 710 is slidably arranged on the moving guiding component 800 and slides along the extending direction of the moving guiding component 800.

[0154] By arranging the moving guiding component 800, the sliding seat 710 can only move along the extending direction of the moving guiding component 800, reducing the deviation and shaking of the sliding seat 710 during the sliding process.

[0155] Among them, the moving guiding component 800 includes:

[0156] A slide rail 810. The slide rail 810 is arranged on the base 600, and the sliding seat 710 is slidably connected to the slide rail 810;

[0157] A transmission member 820. The transmission member 820 is arranged at an interval from the slide rail 810. The driving member 720 is arranged on the sliding seat 710 and is in transmission cooperation with the transmission member 820 to drive the sliding seat 710 to slide on the slide rail 810.

[0158] The sliding seat 710 has a slider 711, and the slider 711 is slidably connected to the slide rail 810 on the base 600.

[0159] The transmission member 820 is a rack parallel to the slide rail 810 and arranged at an interval from the slide rail 810. An output gear 721 meshing with the rack is arranged at the output end of the driving member 720. Thus, the driving member 720 drives the output gear 721 to rotate meshingly relative to the rack, driving the sliding seat 710 to slide along the slide rail 810, realizing the movement of the sliding seat 710 relative to the base 600. The transmission efficiency of the gear-rack transmission is relatively high, the transmission ratio is relatively accurate, and it is easy to achieve fast and stable movement, improving the working efficiency of the forklift fork structure.

[0160] When the forklift fork structure provided by the embodiment of the present application clamps the material box 900, the second driving component 700 drives the clamping structure to move forward relative to the base 600 through the moving guiding component 800. The clamping structure moves to the connecting portion 920 close to the material box 900. The first driving component 220 of the driving mechanism 200 drives the moving member 210 to move backward through the transmission component 230, so that the moving member 210 drives the two clamping members 310 to rotate and move away from each other, enabling the connecting portion 920 to enter between the two clamping members 310. Then the moving member 210 moves forward to drive the two clamping members 310 to rotate and move closer to each other, thereby clamping the connecting portion 920. Then the second driving component 700 drives the clamping structure to move backward relative to the base 600 through the moving guiding component 800, pulling the material box 900 by using the clamping structure. At this time, the pushing member 400 does not contact the material box 900.

[0161] When the fork structure pushes the bin 900, the clamping structure holds the clamping connection part 920 and does not contact the bin 900, and moves forward relative to the base 600. The bin 900 is pushed into place by the pushing member 400. Then, the moving member 210 moves backward to drive the two clamping members 310 to rotate and move away from each other, so that the clamping structure releases the bin 900. Finally, the clamping structure moves backward and retracts. When the fork structure clamps or pushes the bin 900, the moving action of the clamping structure relative to the base 600 and the rotating action of the clamping member 310 can be carried out simultaneously, so that the clamping or pushing efficiency of the bin 900 is relatively high.

[0162] The embodiment of the present application also provides a robot, including a robot body and the clamping structure of any one of the above embodiments provided on the robot body, or including a robot body and the fork structure of any one of the above embodiments provided on the robot body.

[0163] Moreover, the embodiment of the present application also provides a warehousing system, including a bin 900 and the above robot. The robot can clamp or release the connection part 920 of the bin 900 through the clamping structure.

[0164] Wherein, the connection part 920 of the bin 900 has two hook grooves 922 arranged at intervals along the height direction of the bin 900. The opening directions of the two hook grooves 922 are opposite, and the two clamping members 310 are inserted into or disengaged from the two hook grooves 922 in a one-to-one correspondence.

[0165] With such a setting, the connection part 920 of the bin 900 has two rib edges 921 extending vertically along the height direction. Two hook grooves 922 are respectively formed on the sides of the two rib edges 921 facing the bin 900. The two clamping members 310 are respectively inserted into the two hook grooves 922 and fixed from different upper and lower positions of the connection part 920 of the bin 900. When the robot drives the bin 900 to move, the two-way connection method can provide a more stable clamping force. Even if the bin 900 is jolted or affected by an external force, it can effectively prevent it from detaching from the clamping member 310, improving the reliability of the connection between the robot and the bin 900.

[0166] During specific implementation, connection parts 920 can be arranged on both opposite sides of the bin 900 to improve the convenience of taking and placing the bin 900.

[0167] Moreover, a groove 910 is arranged on the side of the bin 900. The groove 910 extends along the height direction of the bin 900, and the connection part 920 is located in the groove 910.

[0168] By providing grooves 910 on opposite sides of the bin 900 and placing the connecting portion 920 within the grooves 910, physical protection can be provided for the connecting portion 920, preventing the connecting portion 920 from being damaged by collisions, scratches, etc., ensuring the integrity of the structure of the connecting portion 920, thereby maintaining the stable connection between the gripping structure and the bin 900, and making the structure of the bin 900 relatively compact.

[0169] Therefore, the forklift structure, robot, and warehousing system provided by the embodiments of the present application, by providing a gripping structure, the gripping structure includes a mounting base 100, a driving mechanism 200, and a gripping assembly 300 provided on the mounting base 100. The gripping assembly 300 includes two gripping members 310 spaced apart along the height direction of the mounting base 100. The two gripping members 310 are connected to the driving mechanism 200. Thus, the driving mechanism 200 can drive the two gripping members 310 to rotate relative to each other, causing the two gripping members 310 to approach or move away from each other. When the two gripping members 310 are aligned with and approach the connecting portion 920 of the bin 900, the connecting portion 920 can be gripped together from the upper and lower sides of the connecting portion 920 of the bin 900, and vice versa to release the connecting portion 920. Since the two gripping members 310 grip the upper and lower sides of the connecting portion 920 together, during the process of the robot driving the bin 900 to move, even if the bin 900 jolts, the two gripping members 310 can stably limit the connecting portion 920, preventing the connecting portion 920 from disengaging from the gripping effect of the gripping members 310 until the two gripping members 310 actively release the connecting portion 9, making the connection between the robot and the bin 900 highly reliable.

[0170] It should be noted that the phrases "one embodiment", "embodiment", "exemplary embodiment", "some embodiments", etc. mentioned in the specification indicate that the described embodiments may include specific features, structures, or characteristics, but not necessarily every embodiment includes such specific features, structures, or characteristics. In addition, such phrases do not necessarily refer to the same embodiment. Moreover, when combining specific features, structures, or characteristics with an embodiment, implementing such features, structures, or characteristics in combination with other embodiments, whether explicitly or implicitly described, is within the knowledge scope of those skilled in the art.

[0171] Generally speaking, terms should be understood at least in part based on their use in the context. For example, at least in part depending on the context, the term "one or more" used in the text can be used to describe any feature, structure, or characteristic in a singular sense, or can be used to describe a combination of features, structures, or characteristics in a plural sense. Similarly, at least in part depending on the context, terms such as "a" or "the" can also be understood to convey a singular usage or a plural usage.

[0172] It should be readily understood that the terms "on", "above", and "over" in this application should be construed in the broadest manner such that "on" not only means "directly on something", but also includes the meaning of "on something" with intermediate features or layers therebetween, and "above" or "over" not only includes the meaning of "above" or "over something", but may also include the meaning of "above" or "over something" with no intermediate features or layers therebetween (i.e., directly on something).

[0173] In addition, for ease of description, spatial relative terms may be used in the text, such as "below", "beneath", "under", "above", "over", etc., to describe the relationship of one element or feature to other elements or features as shown in the figures. Spatial relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation shown in the drawings. The device may have other orientations (rotated 90° or at other orientations), and the spatial relative descriptors used in the text may be interpreted accordingly as well.

[0174] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A clamping structure, characterized in that, Comprising: Mounting base; Driving mechanism, which is arranged on the mounting base; Clamping component, the clamping component includes two clamping members, the two clamping members are spaced along the height direction of the mounting base and are rotatably arranged on the mounting base, and are connected to the driving mechanism; The driving mechanism is configured to move relative to the mounting base to drive the two clamping members to rotate and approach or separate from each other, so that the two clamping members jointly clamp or release the connecting part of the material box.

2. The clamping structure according to claim 1, wherein The driving mechanism includes: Moving member, both of the two clamping members are inserted into the moving member; First driving component, the first driving component is connected to the moving member; The first driving component is configured to drive the moving member to move relative to the mounting base, so that the moving member drives the two clamping members to rotate and approach or separate from each other.

3. The clamping structure according to claim 2, characterized in that, Two jacks are arranged at intervals on the moving member, and the two clamping members are correspondingly inserted into the jacks; The distance between the two jacks is greater than the distance between the two clamping members and the rotation axis of the mounting base; When the moving member moves away from the mounting base, the two clamping members are respectively driven by the two jacks to approach each other. When the moving member moves close to the mounting base, the two clamping members are respectively driven by the two jacks to separate from each other.

4. The clamping structure according to claim 2, wherein The driving mechanism further includes a transmission component, the first driving component and the moving member are respectively connected to the transmission component; The first driving component drives the moving member to reciprocate through the transmission component.

5. The clamping structure according to claim 4, wherein, The transmission component includes: Rotating shaft, the rotating shaft is rotatably arranged on the mounting base and is connected to the first driving component; Poking member, the poking member is arranged on the rotating shaft; Following member, the following member is arranged on the mounting base, and the poking member is connected to the moving member through the following member; The poking member is configured to rotate with the rotating shaft and drive the following member to reciprocate relative to the mounting base, so that the following member drives the moving member to reciprocate.

6. The clamping structure according to claim 5, characterized in that, The poking member is an eccentric cam, and the following member abuts against the two opposite sides in the radial direction of the eccentric cam.

7. The clamping structure according to claim 6, characterized in that, Two protrusions are arranged at intervals in the moving direction of the following member itself, and the two protrusions abut against the eccentric cam.

8. The clamping structure according to claim 5, characterized in that, The transmission component further includes a guiding member, the guiding member is slidably arranged on the mounting base, and the sliding direction of the guiding member is the same as the moving direction of the moving member; The following member is connected to the moving member through the guiding member.

9. The clamping structure according to any one of claims 1-8, characterized in that, It further includes a pushing member, the pushing member is connected to the mounting base, and the pushing member is used to abut against the material box to push the material box.

10. The clamping structure according to claim 9, characterized in that, When the pushing member abuts against the material box, there is a gap between the clamping component and the connecting part; When the clamping component abuts against the connecting part, there is a gap between the pushing member and the material box.

11. The clamping structure according to any one of claims 1-8, characterized in that, It further includes a buffer component, the mounting base is arranged on the buffer component, and the mounting base moves up and down along the buffer component in the vertical direction.

12. The clamping structure according to claim 11, wherein, The buffer component includes: Column, the column is arranged vertically; A buffer seat, which is slidably arranged on the column and is limited in lifting along the extension direction of the column, and the mounting seat is arranged on the buffer seat.

13. The clamping structure according to claim 12, wherein The buffer assembly further includes limit buffer blocks, and two limit buffer blocks are arranged on the column at intervals along the vertical direction, and the buffer seat is located between the two limit buffer blocks.

14. The clamping structure according to claim 12, characterized in that, The buffer assembly further includes a tension spring, and the tension spring connects the buffer seat and the column to drive the buffer seat to descend along the vertical direction.

15. The clamping structure according to any one of claims 1-8, characterized in that, The mounting seat includes an upper shell and a lower shell, the upper shell and the lower shell are connected to form a receiving space, and at least part of the driving mechanism is arranged in the receiving space.

16. A forklift tine structure, characterized in that, It includes a fork body and a clamping structure as described in any one of claims 1-15 arranged on the fork body.

17. The forklift tine structure according to claim 16, characterized in that, The fork body includes: A base; A second driving component, which is arranged on the base, and the second driving component is connected to the mounting seat of the clamping structure to drive the clamping structure to move relative to the base.

18. The forklift tine structure according to claim 17, characterized in that, The second driving component includes: A sliding seat, which is slidably arranged on the base, and the mounting seat is arranged on the sliding seat; A driving member, which is connected to the sliding seat to drive the sliding seat to drive the mounting seat to move relative to the base.

19. The forklift tine structure according to claim 18, characterized in that, The fork body further includes a moving guiding component, which is arranged on the base, and the sliding seat is slidably arranged on the moving guiding component and slides along the extension direction of the moving guiding component.

20. The forklift tine structure according to claim 19, characterized in that, The moving guiding component includes: A slide rail, which is arranged on the base, and the sliding seat is slidably connected to the slide rail; A transmission member, which is arranged at an interval from the slide rail; The driving member is arranged on the sliding seat and is in transmission cooperation with the transmission member to drive the sliding seat to slide on the slide rail.

21. A robot, characterized in that, It includes a robot body and a clamping structure as described in any one of claims 1-15 arranged on the robot body, or includes a robot body and a fork structure as described in any one of claims 16-20 arranged on the robot body.

22. A warehousing system, characterized in that, It includes a storage bin and the robot according to claim 21, and the robot clamps or releases the connecting part of the storage bin.

23. The warehousing system according to claim 22, wherein, The connecting part has two hook grooves arranged at intervals along the height direction of the storage bin, the opening directions of the two hook grooves are opposite, and the two clamping members are respectively inserted into or disengaged from the two hook grooves.

24. The warehousing system according to claim 23, characterized in that, A groove is arranged on the side of the storage bin, the groove extends along the height direction of the storage bin, and the connecting part is located in the groove.

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