Material box taking and placing mechanism, material box carrying robot and warehousing system

Abstract

The utility model discloses a material box taking and placing mechanism, a material box carrying robot and a warehousing system. The material box taking and placing mechanism comprises a base, a telescopic assembly arranged on the base, a mounting base capable of being driven by the telescopic assembly to move in a reciprocating mode in the set direction, a rotating assembly arranged on the mounting base and a butt joint piece capable of being driven by the rotating assembly to rotate in the circumferential direction in the set direction. The butt joint piece comprises a connecting rod and a drag hook arranged on the connecting rod, and the connecting rod is rotationally arranged on the mounting base and connected with the rotating assembly. By means of the storage rack, reserved gaps between the adjacent material boxes can be greatly reduced, and the utilization efficiency of storage positions of the storage rack is improved.

Description

Technical Field

[0001] This application relates to the field of warehousing system technology, specifically to a bin picking and placing mechanism, a bin handling robot, and a warehousing system. Background Art

[0002] A bin handling device can move bins from position A to position B according to a preset program (positions A and B can be separated not only horizontally but also vertically). The bin handling device generally includes a chassis capable of horizontal and vertical movement and a bin picking and placing mechanism mounted on the chassis. Related technologies typically use telescopic forks or suction cups to engage with the bins for picking and placing. However, these solutions have certain problems in use. For example, when using telescopic forks, the forks need to enter the storage space on the shelf, requiring a gap between adjacent bins for the forks to move in and out. Generally, a gap of about 100mm is needed between adjacent bins, resulting in low shelf space utilization. When using suction cups, a vacuum pump is required. This solution has relatively low pulling force and is generally only used when the bin load is small, and it also has the problem of high noise levels. Utility Model Content

[0003] This application aims to address one of the technical problems in related technologies to a certain extent. To this end, this application provides a bin loading and unloading mechanism, a bin handling robot, and a warehousing system.

[0004] To achieve the above objectives, this application adopts the following technical solution: a material bin loading and unloading mechanism, comprising a base, a telescopic component disposed on the base, a mounting seat capable of reciprocating in a set direction driven by the telescopic component, a rotating component disposed on the mounting seat, and a docking member capable of circumferentially rotating in a set direction driven by the rotating component; the docking member comprises a connecting rod and a hook disposed on the connecting rod, the connecting rod being rotatably disposed on the mounting seat and connected to the rotating component.

[0005] The application of this application has the following beneficial effects: By setting up a docking component and using a rotating assembly to drive the docking component to rotate, the hook on the docking component can be used to engage or disengage with the material box, allowing the material box to be picked up or put down. During this process, since the docking component only performs reciprocating movement in a set direction and circumferential rotation along a set direction, it can dock with the groove structure located on the front wall of the material box facing the base, without needing to extend the docking component into the shelf storage space. This significantly reduces the clearance between adjacent material boxes (only a certain clearance is needed to prevent mutual friction), improving the utilization efficiency of the shelf storage space.

[0006] Optionally, the hook is provided at one end of the connecting rod, and multiple hooks are provided and evenly distributed along the circumference of the connecting rod.

[0007] Optionally, the rotating assembly includes a first drive motor fixedly mounted on the mounting base, and the docking member is fixedly connected to the output shaft of the first drive motor.

[0008] Optionally, the telescopic assembly includes a second drive motor and a transmission mechanism connected to the output end of the second drive motor. The mounting base is fixedly disposed on the transmission mechanism, and the transmission mechanism operates under the drive of the second drive motor and drives the mounting base to reciprocate along a set direction.

[0009] Optionally, the transmission mechanism includes a driving sprocket, a driven sprocket, and a chain. The driving sprocket and the driven sprocket are both rotatably mounted on the base. The driving sprocket is fixedly connected to the output shaft of the second drive motor. The chain is tensioned and sleeved between the driving sprocket and the driven sprocket. The mounting base is fixedly mounted on the chain.

[0010] Furthermore, this application also provides a bin handling robot, including a movable chassis and a stand mounted on the movable chassis, the stand forming a storage space, and a bin picking and placing mechanism as described in any of the above technical solutions, the bin picking and placing mechanism being mounted on the movable chassis. The reasoning process for the beneficial effects of the bin handling robot provided in this application and the aforementioned bin picking and placing mechanism is similar, and will not be repeated here.

[0011] Optionally, the upright frame is also provided with a lifting track adapted to the material box picking and placing mechanism, and the material box picking and placing mechanism is configured to be able to move up and down relative to the upright frame along the lifting track.

[0012] Furthermore, this application also provides a warehousing system, including shelves and bins disposed on the shelves. The warehousing system further includes a bin-handling robot as described in the above technical solution. A connector forming a groove structure is provided on the front wall of the bin facing the base. The connector includes an annular main body and a protrusion disposed on the inner wall of the main body. The reasoning process for the beneficial effects of the warehousing system provided in this application and the aforementioned bin-handling robot is similar, and will not be repeated here.

[0013] Optionally, multiple protrusions are provided, and the multiple protrusions are evenly arranged circumferentially along the inner ring wall of the main body, with a gap formed between two adjacent protrusions for the hook to pass through.

[0014] Optionally, the connector is threadedly connected to the hopper;

[0015] Alternatively, the connector is bonded to the material box;

[0016] Alternatively, the connector and the material box may be integrated into a single structure.

[0017] These features and advantages of this application will be disclosed in detail in the following specific embodiments and accompanying drawings. The best embodiments or means of this application will be shown in detail in conjunction with the accompanying drawings, but are not intended to limit the technical solutions of this application. In addition, each of these features, elements and components appearing in the following text and drawings is multiple and is labeled with different symbols or numbers for convenience, but all represent parts with the same or similar structure or function. Attached Figure Description

[0018] The following description, in conjunction with the accompanying drawings, further illustrates this application:

[0019] Figure 1 This is a schematic diagram of a material bin loading and unloading mechanism provided in an embodiment of this application;

[0020] Figure 2 for Figure 1 A schematic diagram of the internal structure of the material bin loading and unloading mechanism after removing the outer shell;

[0021] Figure 3 for Figure 2 An enlarged schematic diagram of part A in the middle;

[0022] Figure 4 for Figure 3 Enlarged schematic diagram of part B;

[0023] Figure 5 This is a schematic diagram of the base and telescopic component in the bin loading and unloading mechanism provided in the embodiment;

[0024] Figure 6 A schematic diagram of a bin handling robot equipped with the bin picking and placing mechanism provided in the embodiment;

[0025] Figure 7 This is a schematic diagram illustrating the use of the bin-picking and placing mechanism provided in this embodiment to pick up and place the bin. Figure 1 ;

[0026] Figure 8 This is a schematic diagram illustrating the use of the bin-picking and placing mechanism provided in this embodiment to pick up and place the bin. Figure 2 ;

[0027] Figure 9 This is a schematic diagram of the structure of a material bin in a warehousing system;

[0028] Figure 10 This is a structural diagram of the connector on the material box;

[0029] Figure 11 This is a structural schematic diagram of the connector on the material box from another perspective.

[0030] The components include: 1. Base; 10. Guide rail; 11. Slider; 12. Pallet frame; 13. Material box support plate; 14. Outer shell; 2. Telescopic assembly; 20. Second drive motor; 21. Drive sprocket; 22. Driven sprocket; 23. Chain; 3. Mounting seat; 30. Bearing; 31. Snap ring; 4. Rotating assembly; 40. First drive motor; 400. Coupling; 41. Mounting frame; 5. Connecting part; 50. Connecting rod; 51. Hook; 6. Movable chassis; 7. Stand; 70. Storage space; 8. Material box; 9. Connecting part; 90. Main body; 91. Protrusion. Detailed Implementation

[0031] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described are intended to explain this application and should not be construed as limiting it.

[0032] The terms "an embodiment," "example," or "example" used in this specification refer to a particular feature, structure, or characteristic described in connection with the embodiment itself that may be included in at least one embodiment disclosed in this application. The phrase "in an embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment.

[0033] Example: This example provides a material bin loading and unloading mechanism, such as... Figure 1 , Figure 2 and Figure 3 As shown, the hopper loading and unloading mechanism includes a base 1, a telescopic component 2, a mounting base 3, a rotating component 4, and a docking member 5. The telescopic component 2 is mounted on the base 1. The mounting base 3 can reciprocate along a predetermined direction driven by the telescopic component 2. The rotating component 4 is mounted on the mounting base 3. The docking member 5 can rotate circumferentially along a predetermined direction driven by the rotating component 4. With this configuration, the docking member 5 can reciprocate along the predetermined direction following the mounting base 3 and the rotating component 4 under the drive of the telescopic component 2, and can also rotate circumferentially along the predetermined direction under the drive of the rotating component 4. Furthermore, the docking member 5 includes a connecting rod 50 and a hook 51 mounted on the connecting rod 50. The connecting rod 50 is rotatably mounted on the mounting base 3 and connected to the rotating component 4. With this configuration, the docking member 5 can switch between an engaged state and a disengaged state relative to the groove structure located on the front wall of the hopper facing the base 1 through rotational movement. It is easy to understand that the predetermined direction is the telescopic direction of the telescopic component 2, and also the direction of entry and exit of the hopper during the loading and unloading process.

[0034] By applying the bin-picking and placing mechanism provided in this application, a docking member 5 is provided and driven to rotate by a rotating component 4. The rotating action of the docking member 5 switches between an engaged state and a disengaged state with the groove structure on the bin, allowing the bin to be picked up or placed. During this process, since the docking member 5 only performs reciprocating extension and retraction in a set direction and circumferential rotation along a set direction, it can dock with the groove structure located on the front wall of the bin facing the base 1. This eliminates the need to insert the docking member 5 into the storage space on the shelf to achieve docking with the bin. This significantly reduces the clearance between adjacent bins (only a certain clearance is needed to prevent mutual friction), improving the utilization efficiency of the storage space on the shelf.

[0035] In related technologies, when using telescopic fork arms, a gap of about 100mm is generally required between adjacent bins to allow the telescopic fork arms to move in and out of this gap. However, when using the bin loading and unloading mechanism provided in this application, a gap of about 10mm is generally required between adjacent bins. This gap is mainly to prevent adjacent bins from rubbing against each other during the relative storage position movement.

[0036] Furthermore, in this embodiment, hooks 51 are disposed at one end of the connecting rod 50, and multiple hooks 51 are disposed and evenly distributed along the circumference of the connecting rod 50. This arrangement increases the number of contact points between the connecting piece 9 and the groove structure on the material box, thereby improving the stability during the material box loading and unloading process.

[0037] like Figure 1 As shown in the figure, the bin picking and placing mechanism provided in this embodiment also includes an outer shell 14. In other optional embodiments, the outer shell 14 may not be provided, and the components of the bin picking and placing mechanism may be directly installed on the movable chassis of the bin handling robot.

[0038] like Figure 3 and Figure 4As shown, the rotating component 4 in this embodiment includes a first drive motor 40 fixedly mounted on the mounting base 3, and a docking piece 5 fixedly connected to the output shaft of the first drive motor 40. Specifically, the mounting base 3 in this embodiment includes a base plate and a seat body disposed on the base plate. The base plate is connected to the telescopic component 2 to telescopically move under the drive of the telescopic component 2. The seat body is provided with a mounting hole, and the connecting rod 50 is rotatably mounted into the mounting hole. A mounting bracket 41 is fixedly mounted on the seat body, and the first drive motor 40 is fixedly mounted on the mounting bracket 41, while the output shaft of the first drive motor 40 is fixedly connected to the end of the connecting rod 50 that extends into the mounting hole. To ensure the stability of the rotation of the connecting rod 50, a bearing 30 is also provided in the mounting hole in this embodiment, and the connecting rod 50 is designed as a round shaft, with the bearing 30 sleeved on the outside of the connecting rod 50. It is easy to understand that a retaining spring 31 is also provided for the bearing 30 in this embodiment, which can prevent the bearing from disengaging. In addition, a coupling 400 is provided between the output shaft of the first drive motor 40 and the connecting rod 50 to connect the connecting rod 50 and the output shaft of the first drive motor 40 together, preventing them from separating.

[0039] Combination Figure 5 As shown, the telescopic component 2 in this embodiment includes a second drive motor 20 and a transmission mechanism connected to the output end of the second drive motor 20. The mounting base 3 is fixedly mounted on the transmission mechanism. The transmission mechanism operates under the drive of the second drive motor 20 and drives the mounting base 3 to reciprocate in a set direction. In this embodiment, a chain drive structure 23 is used as the transmission mechanism. In other optional embodiments, a belt drive structure or a gear drive structure can also be used as the transmission mechanism.

[0040] The chain drive structure 23 used in this embodiment includes a driving sprocket 21, a driven sprocket 22, and a chain 23. Both the driving sprocket 21 and the driven sprocket 22 are rotatably mounted on the base 1. The driving sprocket 21 is fixedly connected to the output shaft of the second drive motor 20. The chain 23 is tensioned and sleeved between the driving sprocket 21 and the driven sprocket 22. The mounting base 3 is fixedly mounted on the chain 23. Specifically, the base plate of the mounting base 3 is fixedly mounted on the chain 23.

[0041] It is easy to understand that the material bin loading and unloading mechanism also includes a guide rail slider mechanism set on the base 1. Specifically, the guide rail slider mechanism includes a guide rail 10 fixed to the base 1 and a slider 11 slidably set on the guide rail 10. The slider is fixedly connected to the base plate in the mounting seat 3. In this way, when the mounting seat 3 is driven to extend and retract by the second drive motor 20, the limiting action of the guide rail slider mechanism can ensure that the mounting seat 3 moves back and forth in a straight line, preventing it from shaking significantly. In addition, combined with Figure 2 and Figure 5As shown in the diagram, the bin picking and placing mechanism provided in this embodiment also has a tray frame 12 fixedly installed on the base 1, and a bin support plate 13 fixedly installed on the tray frame 12. The bin is pulled out onto the bin support plate 13 by the bin picking and placing mechanism, or the bin is pushed out from the bin support plate 13 by the bin picking and placing mechanism. The tray frame 12 is welded to the base 1, and the bin support plate 13 is fixedly installed to the tray frame 12 by bolts.

[0042] The bin picking and placing mechanism provided in this embodiment can be used in bin handling robots, such as... Figure 6 As shown, the bin handling robot includes a movable chassis 6 and the bin picking and placing mechanism provided in this embodiment. The bin picking and placing mechanism is mounted on the movable chassis 6, and a stand 7 is also provided on the movable chassis 6. A storage space 70 is formed on the stand 7, which can be used as a buffer or storage space for placing bins. This bin handling robot can be used to transport bins. For example, when bins need to be stored in a warehouse, they need to be transported to a target location on a shelf. The bins can be placed on the storage space 70 first, and then the bin picking and placing mechanism can be used to move the bins to the target location on the shelf. Finally, the bin picking and placing mechanism can be used to remove the bins from the storage space 70 and place them at the target location on the shelf. Similarly, this bin handling robot can also be used to transport bins located on shelves to other target locations.

[0043] It should be noted that the bin handling robot can form storage positions in both the horizontal and vertical directions, and bins can be placed in the storage positions. The upright 7 of the bin handling robot also has a lifting track adapted to the bin picking and placing mechanism. The bin picking and placing mechanism is configured to be able to move up and down relative to the upright 7 along the lifting track. In this way, the bin picking and placing mechanism can move up and down relative to the upright 7 to move to the storage position 70, which is the target storage position, so as to perform the operation of picking and placing bins.

[0044] The working process of the bin handling robot equipped with the bin picking and placing mechanism provided in this embodiment in the warehousing system is described as follows:

[0045] As is easily understood, the warehousing system includes shelves and bins mounted on the shelves, and also includes the aforementioned bin-handling robot. The bins used in this warehousing system have a groove structure formed on their front wall facing the base 1. In this embodiment, a connector 9 forming the groove structure is provided on the front wall of the bin facing the base 1, combined with... Figure 7 , Figure 8 , Figure 9 , Figure 10 and Figure 11As shown, the connector 9 includes an annular main body 90 and protrusions 91 disposed on the inner wall of the main body 90. Further, multiple protrusions 91 may be provided, evenly arranged circumferentially along the inner wall of the main body 90, with a gap formed between adjacent protrusions 91 for the hooks 51 to pass through. Specifically, in this embodiment, the main body 90 is annular, and three protrusions 91 are provided, evenly arranged circumferentially along the annular main body 90. Correspondingly, three hooks 51 are also provided in the docking member 5. During docking, the hooks 51 are first aligned with the gap between two adjacent protrusions 91, and the telescopic component 2 drives the mounting base 3 to move, allowing the hooks 51 to pass through the gap. Then, the rotating component 4 drives the docking member 5 to rotate, causing the hooks 51 on the docking member 5 to rotate and align with the corresponding protrusions 91. Finally, the telescopic component 2 drives the mounting base 3 to move in the opposite direction, and the hook 51 applies pressure to the protrusion 91, thereby driving the material box to move onto the base 1 along with the docking part 5.

[0046] Preferably, the connector 9 and the docking part 5 can be arranged in a conical shape, which makes the docking more accurate and also facilitates the docking operation.

[0047] When a bin located on a bin-handling robot needs to be moved and placed on a target storage location on a shelf, the bin-handling robot first moves the bin to the target storage location. Then, the telescopic component 2 in the bin-picking and placing mechanism drives the mounting base 3 to move, pushing the bin towards the target storage location. After the bin reaches the target storage location, the rotating component 4 drives the docking part 5 to rotate, causing the hook 51 to rotate from a position aligned with the protrusion 91 to a position aligned with the gap between adjacent protrusions 91. Finally, the telescopic component 2 drives the mounting base 3 to move in the opposite direction, thereby retracting the docking part 5 and completing the bin placement.

[0048] Optionally, the connector 9 can be connected to the material box by bolt thread, glued to the material box, or injection molded as a single piece with the material box.

[0049] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Those skilled in the art should understand that this application includes, but is not limited to, the contents described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of this application will be included within the scope of the claims.

Claims

1. A material box picking and placing mechanism, characterized in that: The invention comprises a base (1), a telescopic assembly (2) arranged on the base (1), a mounting seat (3) capable of being driven by the telescopic assembly (2) to reciprocate along a set direction, a rotating assembly (4) arranged on the mounting seat (3), and a docking member (5) capable of being driven by the rotating assembly (4) to rotate circumferentially along a set direction; The docking member (5) comprises a connecting rod (50) and a draw hook (51) arranged on the connecting rod (50); the connecting rod (50) is rotatably arranged on the mounting seat (3) and connected to the rotating assembly (4).

2. The material box picking and placing mechanism according to claim 1, characterized in that: The draw hook (51) is arranged at one end of the connecting rod (50), and a plurality of the draw hooks (51) are arranged and are evenly distributed along the circumference of the connecting rod (50).

3. The material box picking and placing mechanism according to claim 1 or 2, characterized in that: The rotating assembly (4) comprises a first driving motor (40) fixedly mounted on the mounting seat (3), and the docking member (5) is fixedly connected to the output shaft of the first driving motor (40).

4. The material box picking and placing mechanism according to claim 1 or 2, characterized in that: The telescopic assembly (2) comprises a second drive motor (20) and a transmission mechanism connected to the output end of the second drive motor (20); the mounting seat (3) is fixedly arranged on the transmission mechanism; the transmission mechanism operates under the drive of the second drive motor (20) and drives the mounting seat (3) to reciprocate along a set direction.

5. The material box picking and placing mechanism according to claim 4, characterized in that: The transmission mechanism comprises a driving sprocket (21), a passive sprocket (22) and a chain (23); the driving sprocket (21) and the passive sprocket (22) are both rotatably arranged on the base (1); the driving sprocket (21) is fixedly connected to the output shaft of the second drive motor (20); the chain (23) is tensioned and sleeved between the driving sprocket (21) and the passive sprocket (22); and the mounting seat (3) is fixedly mounted on the chain (23).

6. A material box handling robot, comprising a movable chassis (6) and a stand (7) arranged on the movable chassis (6), wherein the stand (7) is formed with a storage position (70), characterized in that: The material box handling robot further comprises a material box picking and placing mechanism as claimed in any one of claims 1 to 5, wherein the material box picking and placing mechanism is mounted on the movable chassis (6).

7. The container handling robot according to claim 6, characterized in that: The stand (7) is also provided with a lifting track adapted to the material box picking and placing mechanism, and the material box picking and placing mechanism is configured to be able to be lifted and lowered relative to the stand (7) along the lifting track.

8. A storage system, comprising a shelf and a material box (8) arranged on the shelf, characterized in that: The warehousing system also includes a material box handling robot as described in claim 6 or 7, and a connecting piece (9) forming a groove structure is arranged on the front wall of the material box (8) facing the base (1), and the connecting piece (9) includes an annular main body (90) and a protrusion (91) arranged on the inner ring wall of the main body (90).

9. The storage system according to claim 8, characterized in that: A plurality of the protrusions (91) are provided, and the plurality of the protrusions (91) are evenly arranged along the circumference of the inner wall of the main body (90), and a gap is formed between two adjacent protrusions (91) for the hook to pass through.

10. The storage system according to claim 8, characterized in that: The connecting piece (9) is threadedly connected to the material box (8); Or, the connecting member (9) is bonded to the material box (8); Alternatively, the connecting member (9) and the material box (8) form an integrated structure.

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