Limiting component, material box taking and placing device and material box carrying robot

Abstract

The embodiment of the utility model provides a limiting component, a material box taking and placing device and a material box carrying robot, and relates to the technical field of warehouse logistics. According to the limiting component provided by the embodiment of the utility model, the shifting fork assembly is fixed at the front end of the material box taking and placing device through the mounting assembly, the driving mechanism is connected with the limiting shifting fork, the driving mechanism is mounted on the mounting assembly, and the limiting shifting fork protrudes out of the material box taking and placing device in the horizontal direction; the limiting shifting fork is rotated to the position below the material box taking and placing device; when the material box taking and placing device takes back the material box, the limiting shifting fork rotates upwards so as to limit the material box, the situation that the material box slides off from the material box carrying robot, and consequently material box carrying fails is avoided, and the material box transferring and carrying efficiency is improved. Therefore, through the limiting component provided by the embodiment of the utility model, the transfer and carrying efficiency of the workbin can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of warehousing logistics, in particular to a limiting component, a material box taking and placing device and a material box transporting robot. Background Art

[0002] In the field of warehousing and logistics technology, it is necessary to transfer and transport the boxes located on the warehouse shelves. After the box handling robot using the related technology picks up the box, during the box handling process, the box sometimes slips off the box handling robot due to the fast movement speed of the box handling robot, resulting in the failure of the box handling and reducing the efficiency of the box transfer and handling. Utility Model Content

[0003] The purpose of the embodiment of the utility model is to provide a limiting component, a material box picking and placing device and a material box handling robot to avoid the failure of material box handling caused by the material box sliding off the material box handling robot. The specific technical solution is as follows:

[0004] The embodiment of the present application provides a limiting component, which is applied to a material box picking and placing device, including: a mounting assembly and a fork assembly;

[0005] A mounting assembly connected to the fork assembly and used to fix the fork assembly to the front end of the material box picking and placing device;

[0006] The fork assembly comprises: a driving mechanism and a limit fork; the driving mechanism is connected to the limit fork, wherein the driving mechanism is mounted on the mounting assembly, and the limit fork protrudes from the material box picking and placing device in the horizontal direction;

[0007] The driving mechanism is used to drive the limit fork to rotate. When the material box picking and placing device has not retrieved the material box, the limit fork is rotated to a position lower than the material box support surface of the material box picking and placing device; when the material box picking and placing device retrieves the material box, the limit fork rotates upward to limit the material box.

[0008] In some embodiments, the limit fork has a preset length, and its first end in the length direction is a rotating end, which is connected to the driving mechanism; the second end in the length direction of the limit fork is a free end; when the material box picking and placing device takes back the material box, the limit fork rotates upward so that the limit fork limits the material box.

[0009] In some embodiments, the limit shift fork is a shift rod, the first end of the shift rod is a rotating end, connected to the driving mechanism; the second end of the shift rod is a free end; when the material box picking and placing device takes back the material box, the shift rod rotates upward to limit the material box.

[0010] In some embodiments, the driving mechanism is provided with a rotation output shaft toward the first end of the limit fork; the fork assembly also includes a limit fork shaft, the first end of the limit fork shaft is coaxially fixedly connected to the rotation output shaft; the second end of the limit fork shaft is fixedly connected to the limit fork, so that the limit fork rotates with the rotation of the rotation output shaft of the driving mechanism.

[0011] In some embodiments, the driving mechanism includes: a coaxially arranged fork motor and a fork reducer, and the rotary output shaft is arranged at one end of the fork reducer facing the limit fork;

[0012] The first end of the limit shift fork shaft is fixedly sleeved on the outside of the rotation output shaft, and the second end of the limit shift fork shaft is fixedly connected to the limit shift fork.

[0013] In some embodiments, the shift fork assembly further includes: a shift fork fixing seat, and the shift fork fixing seat is mounted on the limit shift fork shaft through a bearing sleeve.

[0014] In some embodiments, the shift fork assembly further includes: a shift fork motor seat; and the shift fork reducer is fixedly connected to the shift fork fixing seat via the shift fork motor seat.

[0015] In some embodiments, the mounting assembly includes a bent mounting plate; the bent mounting plate includes a first bent portion and a second bent portion, the first bent portion is used to be fixedly connected to the front end of the material box picking and placing device; the second bent portion is used to be fixedly connected to the fork fixing seat.

[0016] In some embodiments, a fork limiting pin is provided on the side of the limiting fork shaft; the fork fixing seat is provided with a limiting groove, the limiting groove has a limiting portion, and the limiting portion is used to abut against the fork limiting pin to limit the fork limiting pin.

[0017] In some embodiments, the limiting portion includes: a first limiting portion and a second limiting portion arranged at intervals along the rotation direction of the fork limiting pin; the first limiting portion and the second limiting portion are used to abut against the fork limiting pin to respectively limit the upper limit rotation angle and the lower limit rotation angle of the fork limiting pin.

[0018] In some embodiments, the fork assembly further includes:

[0019] The shift fork zero position sensor is arranged on the shift fork fixing seat; the shift fork zero position sensor is used to monitor the rotation position of the shift fork limit pin.

[0020] In some embodiments, the fork fixing seat is provided with a fixing groove, and the fork zero position sensor is arranged in the fixing groove; the bottom wall of the fixing groove is connected with the limit groove, so that the fork limit pin extends from the limit groove into the fixing groove, and when the limit fork rotates to the zero position, it corresponds to the position of the fork zero position sensor.

[0021] In some embodiments, a cable interface is provided at the second end of the driving mechanism away from the limit shift fork; the shift fork zero position sensor and the shift fork motor are electrically connected to a controller of a material box picking and placing device via the cable interface and a cable.

[0022] The embodiment of the present application further provides a material box picking and placing device, comprising any of the above-mentioned limiting components, bottom plate, telescopic mechanism, suction cup mechanism and material box support platform;

[0023] The telescopic mechanism has a front end and a rear end; wherein the front end is a telescopic end and the rear end is a fixed end; the fixed end is arranged at the rear end of the bottom plate;

[0024] The suction cup mechanism is arranged at the telescopic end; the telescopic mechanism is used to drive the suction cup mechanism to telescope in the front-back direction; the suction cup mechanism is used to suck the material box on the warehouse shelf and move it to the material box support platform, or push the material box on the material box support platform to move to the warehouse shelf;

[0025] The material box support platform is arranged on the bottom plate, and the material box support platform is installed along the telescopic direction of the telescopic mechanism, and is used to support the material box during the process of taking and placing the material box; the upper surface of the material box support platform is the material box support plane;

[0026] The limiting component is arranged at the front end of the bottom plate based on the mounting assembly, and the limiting component is used to limit the material box from slipping out along the front end of the bottom plate.

[0027] An embodiment of the present application also provides a material box handling robot, comprising the above-mentioned material box picking and placing device, a mobile chassis and a lifting device, wherein the lifting device is arranged on the mobile chassis, and the bottom plate of the material box picking and placing device is connected to the lifting device.

[0028] The limiting component provided by the embodiment of the utility model is that the fork assembly is fixed to the front end of the material box picking and placing device by the mounting assembly, and the driving mechanism is connected to the limiting fork, wherein the driving mechanism is mounted on the mounting assembly, and the limiting fork protrudes from the material box picking and placing device in the horizontal direction. When the material box picking and placing device does not retrieve the material box, the limiting fork is rotated to the bottom of the material box picking and placing device; when the material box picking and placing device retrieves the material box, the limiting fork rotates upward to limit the material box. In other words, the fork assembly is fixed to the front end of the material box picking and placing device, and the material box can be limited, thereby preventing the material box from slipping off the material box handling robot, thereby reducing the probability of failure in material box handling and improving the efficiency of material box transfer and handling.

[0029] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0031] Figure 1 A schematic diagram of a three-dimensional structure in which a limiting component provided in an embodiment of the present application is arranged on a material box picking and placing device;

[0032] Figure 2 for Figure 1 A schematic diagram of the local enlarged structure at point A in the middle;

[0033] Figure 3 A schematic diagram of the three-dimensional structure of the limiting component provided in an embodiment of the present application;

[0034] Figure 4 A schematic diagram of the exploded structure of the limiting component provided in an embodiment of the present application;

[0035] Figure 5 One of the cross-sectional structural schematic diagrams of the limiting component provided in the embodiment of the present application;

[0036] Figure 6 The second schematic cross-sectional structure diagram of the position limiting component provided in the embodiment of the present application;

[0037] Figure 7 A schematic diagram of the three-dimensional structure of a material box picking and placing device provided in an embodiment of the present application;

[0038] Figure 8 A schematic diagram of the three-dimensional structure of the material box handling robot provided in an embodiment of the present application.

[0039] Material box picking and placing device 1; limiting component 10; mounting assembly 100; bending mounting plate 110; first bending portion 111; second bending portion 112; mounting screw 113; fork assembly 200; driving mechanism 210; rotating output shaft 211; fork motor 212; fork reducer 213; cable 214; fork locking screw 215; retaining spring 216; limiting fork 220; lever 221; limiting protrusion 222; limiting fork Shaft 230; shift fork limiting pin 231; shift fork fixing seat 240; bearing 241; limiting groove 242; limiting portion 243; first limiting portion 244; second limiting portion 245; fixing groove 246; shift fork zero position sensor 250; shift fork motor seat 260; first fixing screw 261; second fixing screw 262; bottom plate 20; telescopic mechanism 30; suction cup mechanism 40; material box supporting platform 50; mobile chassis 2; lifting device 3. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field based on this application belong to the scope of protection of the utility model.

[0041] In order to avoid the failure of material box transportation caused by the material box slipping off the material box transportation robot, the embodiment of the utility model provides a limiting component, a material box picking and placing device and a material box transportation robot, which are described in detail below.

[0042] See also Figure 1-Figure 3 , Figure 1 This is a schematic diagram of a three-dimensional structure of a limiting component provided in an embodiment of the present application and arranged on a material box picking and placing device. Figure 2 for Figure 1 The local enlarged structural diagram at A in the middle, Figure 3 Schematic diagram of the three-dimensional structure of the limiting component provided in the embodiment of the present application. Figures 1 to 3As shown, the embodiment of the present application provides a limiting component 10, which is applied to the material box picking and placing device 1, and includes: a mounting assembly 100 and a fork assembly 200. The mounting assembly 100 is connected to the fork assembly 200, and is used to fix the fork assembly 200 to the front end of the material box picking and placing device 1. The fork assembly 200 includes a driving mechanism 210 and a limiting fork 220; the driving mechanism 210 is connected to the limiting fork 220, wherein the driving mechanism 210 is installed on the mounting assembly 100, and the limiting fork 220 protrudes from the material box picking and placing device 1 in the horizontal direction. The driving mechanism 210 is used to drive the limiting fork 220 to rotate. When the material box picking and placing device 1 does not retrieve the material box, the limiting fork 220 is rotated to a position lower than the material box support surface 50 of the material box picking and placing device 1; when the material box picking and placing device 1 retrieves the material box, the limiting fork 220 rotates upward to limit the material box.

[0043] The limiting component 10 provided in the embodiment of the utility model, because the mounting assembly 100 fixes the fork assembly 200 to the front end of the material box picking and placing device 1, the driving mechanism 210 is connected with the limiting fork 220, wherein the driving mechanism 210 is mounted on the mounting assembly 100, and the limiting fork 220 protrudes from the material box picking and placing device 1 in the horizontal direction, and when the material box picking and placing device 1 does not retrieve the material box, the limiting fork 220 is rotated to a position lower than the material box support surface of the material box picking and placing device 1, that is, the limiting fork 220 is in the zero position. When the material box picking and placing device 1 retrieves the material box, the limiting fork 220 rotates upward, that is, the limiting fork 220 is in the limiting position, so as to limit the material box. In other words, the fork assembly is fixed to the front end of the material box picking and placing device, and the material box can be limited, thereby preventing the material box from slipping off the material box handling robot, thereby reducing the probability of failure in material box handling, and improving the efficiency of material box transfer and handling.

[0044] It should be noted that the zero position refers to the initial position of the limit fork 220. When the limit fork 220 is at the zero position, the limit fork 220 will not block the material box picking and placing device 1 from picking up the material box. For example, the zero position can be a horizontal position. When the limit fork 220 is in the horizontal position, the material box picking and placing device 1 can smoothly pick up the material box. When the limit fork 220 rotates upward and forms a predetermined angle with the horizontal position, the limit fork 220 is in the limit position. The limit fork 220 blocks the material box from accidentally moving forward and exceeding the material box picking and placing device on the moving path of the material box, which may cause danger. That is, the limit fork 220 limits the material box picked up by the material box picking and placing device 1. Of course, in other embodiments, the zero position can also be the position where the limit fork 220 is tilted downward. As long as it does not block the material box picking and placing device 1 from picking up the material box.

[0045] In the embodiment of the present application, the limit fork 220 has a preset length, and the first end in the length direction is a rotating end, which is connected to the driving mechanism 210; the second end in the length direction of the limit fork 220 is a free end; when the material box picking and placing device 1 takes back the material box, the limit fork 220 rotates upward so that the limit fork 220 limits the material box. In this embodiment, the limit fork 220 has a preset length, so that its free end can be against the middle and lower part of the material box when the material box accidentally slides forward, which can ensure that the material box is effectively limited.

[0046] In the embodiment of the present application, the limit fork 220 can be in the shape of a lever, a Y-shape, a rectangle, a triangle or a fan, as long as the free end can be rotated upward to prevent the material box from accidentally moving forward on the moving path of the material box and exceeding the material box picking and placing device to cause danger. There is no limitation here.

[0047] In this embodiment, see Figure 4 , Figure 4 The exploded structure diagram of the limiting component 10 provided in the embodiment of the present application is as follows: Figure 4 As shown, the limit shift fork 220 is a lever 221, and the first end of the lever 221 is a rotating end connected to the driving mechanism 210. The second end of the lever 221 is a free end. When the material box picking and placing device 1 takes back the material box, the lever 221 rotates upward to limit the position of the material box. When the material box taken by the material box picking and placing device 1 slides toward the front end of the bottom plate 20, the free end abuts against the material box, which can prevent the material box from sliding out of the material box picking and placing device 1 from the front end of the bottom plate 20.

[0048] In this embodiment, the limit shift fork 220 is a shift rod 221, which has a simple structure and a relatively simple connection structure with the driving mechanism 210, making the installation more convenient and easier to implement.

[0049] In some embodiments, such as Figure 4 As shown, a chamfer is provided on the side of the free end facing away from the material box to prevent the limit fork 220 from exceeding the rotation range of the material box pick-up and placement device, thereby reducing the space required for the material box handling robot to rotate. A limit protrusion 222 is provided on the side of the free end facing the material box, and the limit protrusion 222 can abut against the material box that moves forward unexpectedly, so as to prevent the material box from exceeding the material box pick-up and placement device and causing danger. In addition, the limit protrusion 222 can also avoid the problem of the lever 221 becoming thinner and insufficient in strength due to the chamfer.

[0050] In some embodiments, such as Figure 4As shown, the driving mechanism 210 is provided with a rotating output shaft 211 at the first end facing the limit fork 220; the fork assembly 200 also includes a limit fork shaft 230, the first end of the limit fork shaft 230 is coaxially fixedly connected to the rotating output shaft 211; the second end of the limit fork shaft 230 is fixedly connected to the limit fork 220, so that the limit fork 220 rotates with the rotation of the rotating output shaft 211 of the driving mechanism 210. When the material box picking and placing device 1 takes back the material box, the driving mechanism 210 outputs a driving force to the rotating output shaft 211, and the rotating output shaft 211 drives the limit fork shaft 230 and the limit fork 220 to rotate, so that the limit fork 220 rotates upward to limit the material box.

[0051] It should be noted that a threaded hole may be provided at the second end of the limit fork shaft 230 , and the fork locking screw 215 cooperates with the threaded hole to achieve a fixed connection between the second end of the limit fork shaft 230 and the limit fork 220 .

[0052] In this embodiment, the rotation output shaft 211 of the driving mechanism 210 directly drives the limiting fork shaft 230 of the fork assembly 200 to rotate, without requiring a complex connection structure, and is convenient for installation.

[0053] In some embodiments, such as Figure 4 As shown, the driving mechanism 210 includes a coaxially arranged fork motor 212 and a fork reducer 213, and the rotating output shaft 211 is arranged at one end of the fork reducer 213 facing the limit fork 220. The first end of the limit fork shaft 230 is fixedly sleeved outside the rotating output shaft 211, and the second end of the limit fork shaft 230 is fixedly connected to the limit fork 220. The fork motor 212 is connected to the fork reducer 213, and the fork motor 212 is used to provide driving force to the fork reducer 213. The fork reducer 213 drives the rotating output shaft 211 to rotate. That is, the fork reducer 213 stably drives the limit fork 220 to rotate through the rotating output shaft 211, so that the limit fork 220 limits the material box taken by the material box picking and placing device 1.

[0054] In some embodiments, such as Figure 4 As shown, the fork assembly 200 further includes a fork fixing seat 240. The fork fixing seat 240 is sleeved on the limit fork shaft 230 through a bearing 241, and the fork fixing seat 240 fixes the fork assembly 200 to the mounting assembly 100. The bearing 241 can provide radial support and reduce rotation resistance when the limit fork shaft 230 rotates.

[0055] In this embodiment, the limit fork shaft 230 passes through the bearing 241 inside the fork fixing seat 240 , one end is connected to the output shaft of the fork reducer 213 , and the other end passes through the fork fixing seat 240 and is connected to the limit fork 220 .

[0056] It should be noted that a retaining spring 216 can be provided between the fork fixing seat 240 and the limit fork shaft 230, so that the connection stability between the fork fixing seat 240 and the limit fork shaft 230 is improved. Specifically, the limit fork shaft 230 is penetrated by a bearing 241, a fork fixing seat 240, a bearing 241 and a retaining spring 216 in sequence. In this embodiment, a retaining edge is provided at one end of the limit fork shaft 230 facing the fork reducer 213, and a retaining spring 216 is provided at one end of the limit fork shaft 230 facing the limit fork 220. The retaining spring 216 and the retaining edge limit the limit fork shaft 230 along the axial direction of the limit fork shaft 230, that is, both ends of the limit fork shaft 230 are axially limited, which can prevent the limit fork shaft 230 from driving the bearing 241 to axially move inside the fork fixing seat 240.

[0057] In some embodiments, such as Figure 4 As shown, the fork assembly 200 further includes a fork motor seat 260. The fork reducer 213 is fixedly connected to the fork fixing seat 240 through the fork motor seat 260. That is, the coaxially arranged fork motor 212 and the fork reducer 213 are fixed to the mounting assembly 100 through the fork motor seat 260.

[0058] It should be noted that the fork motor seat 260 is provided with a threaded hole, and the first fixing screw 261 cooperates with the threaded hole so that the fork motor seat 260 is fixedly connected to the fork fixing seat 240. The second fixing screw 262 cooperates with the threaded hole so that the fork reducer 213 is fixedly connected to the fork motor seat 260 to prevent the limit fork 220 from escaping from the limit fork shaft 230.

[0059] In this embodiment, the fork motor seat 260 is fixedly connected to the fork fixing seat 240, so that the installation of the fork assembly 200 is more stable.

[0060] In some embodiments, such as Figure 4 As shown, the mounting assembly 100 includes a bent mounting plate 110; the bent mounting plate 110 includes a first bent portion 111 and a second bent portion 112, the first bent portion 111 is used to be fixedly connected to the front end of the material box picking and placing device 1; the second bent portion 112 is used to be fixedly connected to the fork fixing seat 240. The first bent portion 111 and the second bent portion 112 are connected, and the first bent portion 111 and the second bent portion 112 are at a predetermined angle. When the predetermined angle is 90 degrees, the first bent portion 111 and the second bent portion 112 are perpendicular to each other. By providing the first bent portion 111 and the second bent portion 112, the difficulty of installing the limiting component 10 on the material box picking and placing device 1 is reduced, and the structure of the limiting component 10 is more compact.

[0061] It should be noted that both the first bending portion 111 and the second bending portion 112 are provided with threaded holes, and the mounting screws 113 cooperate with the threaded holes to fix the first bending portion 111 to the front end of the material box picking and placing device 1, and the mounting screws 113 cooperate with the threaded holes to fix the second bending portion 112 to the fork fixing seat 240.

[0062] In addition, the bending direction of the bending mounting plate 110 and the structure of the included bending portion can be flexibly set according to the actual position of the fork assembly installed in the material box picking and placing device, and there is no limitation here.

[0063] Figure 5 This is one of the cross-sectional structural diagrams of the limiting component 10 provided in the embodiment of the present application. Figure 6 The second schematic diagram of the cross-sectional structure of the limiting component 10 provided in the embodiment of the present application is as follows: Figure 4 , Figure 5 and Figure 6 As shown, in some embodiments, a fork limiting pin 231 is provided on the side of the limiting fork shaft 230; the fork fixing seat 240 is provided with a limiting groove 242, and the limiting groove 242 has a limiting portion 243, and the limiting portion 243 is used to abut against the fork limiting pin 231 to limit the fork limiting pin 231.

[0064] When the material box picking and placing device 1 picks up the material box, the limit fork shaft 230 drives the limit fork 220 to rotate toward the zero position, and the fork limit pin 231 rotates synchronously. When the limit fork 220 rotates to the zero position, the fork limit pin 231 abuts against the limit portion 243 to prevent the limit fork 220 from rotating beyond the zero position, ensuring that the limit fork 220 accurately reaches the zero position. After the material box picking and placing device 1 picks up the material box, the limit fork shaft 230 drives the limit fork 220 to rotate toward the limit position, and the fork limit pin 231 rotates synchronously. When the limit fork 220 rotates to the limit position, the fork limit pin 231 abuts against the limit portion 243 to prevent the limit fork 220 from rotating beyond the limit position, ensuring that the limit fork 220 accurately reaches the limit position.

[0065] In some embodiments, such as Figure 4 and Figure 5 As shown, the limiting portion 243 includes: a first limiting portion 244 and a second limiting portion 245 arranged at intervals along the rotation direction of the fork limiting pin 231; the first limiting portion 244 and the second limiting portion 245 are used to abut against the fork limiting pin 231 to limit the upper limit rotation angle and the lower limit rotation angle of the fork limiting pin 231 respectively.

[0066] When the material box picking and placing device 1 picks up the material box, the limit fork shaft 230 drives the limit fork 220 to rotate toward the zero position, and the fork limit pin 231 rotates synchronously. When the limit fork shaft 230 drives the limit fork 220 to rotate to the zero position, the fork limit pin 231 abuts against the second limit portion 245, that is, the fork limit pin 231 rotates to the lower limit rotation angle, preventing the limit fork 220 from rotating beyond the zero position, ensuring that the limit fork 220 accurately reaches the zero position.

[0067] When the material box picking and placing device 1 picks up the material box, the limit fork shaft 230 drives the limit fork 220 to rotate toward the limit position, and the fork limit pin 231 rotates synchronously. When the limit fork shaft 230 drives the limit fork 220 to rotate to the limit position, the fork limit pin 231 abuts against the first limit portion 244, that is, the fork limit pin 231 rotates to the upper limit rotation angle, preventing the limit fork 220 from rotating beyond the limit position, and ensuring that the limit fork 220 accurately reaches the limit position.

[0068] In some embodiments, such as Figure 4 , Figure 5 and Figure 6 As shown, the fork assembly 200 also includes a fork zero position sensor 250, which is disposed on the fork fixing seat 240. The fork zero position sensor 250 is used to monitor the rotation position of the fork limit pin 231. When the fork limit pin 231 rotates to the zero position, the fork zero position sensor 250 detects the fork limit pin 231, and the limit fork 220 is judged to have accurately reached the zero position according to the detection result of the fork zero position sensor 250. When the fork limit pin 231 does not rotate to the zero position, the fork zero position sensor 250 does not detect the fork limit pin 231, and the limit fork shaft 230 drives the limit fork 220 to continue to rotate toward the zero position.

[0069] In this embodiment, the fork zero position sensor 250 can be a photoelectric sensor, and whether the limit fork 220 reaches the zero position is determined by whether the fork limit pin 231 blocks the light emitted by the photoelectric sensor. In other embodiments, the fork zero position sensor 250 can also be a device that can indicate the rotation position, such as a proximity sensor, a Hall sensor, and an encoder.

[0070] In some embodiments, such as Figure 5 and Figure 6 As shown, the shift fork fixing seat 240 is provided with a fixing groove 246, and the shift fork zero position sensor 250 is arranged in the fixing groove 246; the bottom wall of the fixing groove 246 is communicated with the limiting groove 242, so that the shift fork limiting pin 231 extends from the limiting groove 242 into the fixing groove 246, and when the limiting shift fork 220 rotates to the zero position, it corresponds to the position of the shift fork zero position sensor 250. The shift fork zero position sensor 250 is fixed by providing the fixing groove 246, so as to reduce the installation space of the limiting component 10.

[0071] In some embodiments, such as Figure 5 and Figure 6 As shown, the second end of the driving mechanism 210 away from the limit shift fork 220 is provided with a cable interface; the shift fork zero position sensor 250 and the shift fork motor 212 are electrically connected to the controller of the material box picking and placing device 1 through the cable interface and the cable 214. When the shift fork limit pin 231 rotates to the zero position, the shift fork zero position sensor 250 detects the shift fork limit pin 231, and the shift fork zero position sensor 250 transmits the detection result to the controller, and the controller controls the shift fork motor 212 to stop working according to the detection result to prevent the limit shift fork 220 from exceeding the zero position. When the shift fork limit pin 231 does not rotate to the zero position, the shift fork zero position sensor 250 does not detect the shift fork limit pin 231, and the controller controls the shift fork motor 212 to continue working so that the limit shift fork 220 continues to rotate to the zero position.

[0072] In this embodiment, the fork motor 212 can be equipped with a built-in encoder, which can encode the number of rotations of the fork motor 212 and send the encoded value to the controller via a cable; the controller can control the current rotational position of the limit fork 220 based on the initial position and encoding value of the fork limit pin 231, and the signal feedback from the fork zero position sensor 250 indicating whether it is in the zero position.

[0073] That is to say, in this embodiment, the fork motor 212 and the fork zero position sensor 250 are connected to the controller, and the rotation position is controlled by the controller 250. When the limit fork 220 is in the initial position, the fork limit pin 231 triggers the fork zero position sensor 250, and the controller records that the position of the fork motor 212 is zero at this time, and converts it into an encoder signal according to the rotation angle required for the limit fork 220 to rise, controls the fork motor 212 to rotate to the specified position, and drives the limit fork 220 to rotate and rise.

[0074] In this embodiment, the shift fork fixing seat 240 is provided with a limiting groove 242, and the limiting groove 242 can prevent the shift fork motor 212 from excessively rotating due to encoder errors, mechanical structure gaps, and the like.

[0075] Figure 7 A schematic diagram of the three-dimensional structure of the material box picking and placing device 1 provided in an embodiment of the present application, as shown in FIG. Figure 7As shown, the embodiment of the present application also provides a material box picking and placing device 1, including any one of the above-mentioned limiting components 10, the base plate 20, the telescopic mechanism 30, the suction cup mechanism 40 and the material box support platform 50. The telescopic mechanism 30 has a front end and a rear end; wherein the front end is the telescopic end, and the rear end is the fixed end; the fixed end is arranged at the rear end of the base plate 20. The suction cup mechanism 40 is arranged at the telescopic end, and the telescopic mechanism 30 is used to drive the suction cup mechanism 40 to extend and retract in the front and rear directions. The suction cup mechanism 40 is used to suck the material box on the warehouse shelf and move it to the material box support platform 50, or to push the material box on the material box support platform 50 to move to the warehouse shelf. The material box support platform 50 is arranged on the base plate 20, and the material box support platform 50 is installed along the telescopic direction of the telescopic mechanism 30, and is used to support the material box during the process of picking and placing the material box. As shown Figure 7 As shown, the upper surface of the material box support platform 50 is the material box support plane. The limiting component 10 is arranged at the front end of the bottom plate 20 based on the mounting assembly 100, and the limiting component 10 is used to limit the material box from slipping out along the front end of the bottom plate 20.

[0076] In the material box picking and placing device 1 provided in the embodiment of the present application, when picking up a material box located on a shelf, the telescopic drive mechanism 210 drives the telescopic mechanism 30 to drive the suction cup mechanism 40 to extend toward the material box. Since the suction cup mechanism 40 is installed at the front end of the telescopic mechanism 30, the telescopic mechanism 30 can drive the suction cup mechanism 40 to extend and retract, so that the suction cup mechanism 40 absorbs the material box on the warehouse shelf and moves it to the material box support platform 50, or pushes the material box on the material box support platform 50 to move to the warehouse shelf. When the suction cup mechanism 40 absorbs the material box on the warehouse shelf and moves it to the material box support platform 50, the limiting component 10 limits the material box to prevent the material box from slipping out along the front end of the bottom plate 20. When the suction cup mechanism 40 pushes the material box on the material box support platform 50 to move to the warehouse shelf, the limiting component 10 releases the limit on the material box.

[0077] Figure 8 A schematic diagram of the three-dimensional structure of a material box handling robot provided in an embodiment of the present application is shown in FIG. Figure 8 As shown, an embodiment of the present application also provides a material box handling robot, including the above-mentioned material box picking and placing device 1, a mobile chassis 2 and a lifting device 3, the lifting device 3 is arranged on the mobile chassis 2, and the bottom plate 20 of the material box picking and placing device 1 is connected to the lifting device 3.

[0078] Since the bottom plate 20 of the material box picking and placing device 1 is connected to the lifting device 3, when picking up goods from different positions of the shelf, the lifting device 3 and the material box picking and placing device 1 are moved in the horizontal direction by the mobile chassis 2, and the material box picking and placing device 1 is moved in the vertical direction by the lifting device 3, so that the material box picking and placing device 1 reaches different positions of the shelf and picks up the material boxes at different positions. After the material box picking and placing device 1 picks up the material box, the limiting component 10 limits the material box to prevent the material box from escaping from the material box picking and placing device 1.

[0079] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A limiting component, characterized in that: Applicable to a material box picking and placing device (1), comprising: a mounting assembly (100) and a shift fork assembly (200); A mounting assembly (100) connected to the fork assembly (200) and used to fix the fork assembly (200) to the front end of the material box picking and placing device (1); The fork assembly (200) comprises: a driving mechanism (210) and a limiting fork (220); the driving mechanism (210) is connected to the limiting fork (220), wherein the driving mechanism (210) is mounted on the mounting assembly (100), and the limiting fork (220) protrudes from the material box picking and placing device (1) in a horizontal direction; The driving mechanism (210) is used to drive the limit fork (220) to rotate; when the material box picking and placing device (1) has not retrieved the material box, the limit fork (220) is rotated to a position lower than the material box support surface of the material box picking and placing device (1); when the material box picking and placing device (1) retrieves the material box, the limit fork (220) rotates upward to limit the position of the material box.

2. The limiting component according to claim 1, characterized in that: The limit fork (220) has a preset length, and its first end in the length direction is a rotating end connected to the driving mechanism (210); the second end in the length direction of the limit fork (220) is a free end; when the material box picking and placing device (1) takes back the material box, the limit fork (220) rotates upwards so that the limit fork (220) limits the position of the material box.

3. The limiting component according to claim 2, characterized in that: The limit shift fork (220) is a shift rod (221), the first end of the shift rod (221) is a rotating end, connected to the driving mechanism (210); the second end of the shift rod (221) is a free end; when the material box picking and placing device (1) takes back the material box, the shift rod (221) rotates upward to limit the position of the material box.

4. The limiting component according to claim 1, characterized in that: The driving mechanism (210) is provided with a rotation output shaft (211) at a first end facing the limit shift fork (220); the shift fork assembly (200) further comprises a limit shift fork shaft (230), the first end of the limit shift fork shaft (230) being coaxially fixedly connected to the rotation output shaft (211); the second end of the limit shift fork shaft (230) being fixedly connected to the limit shift fork (220), so that the limit shift fork (220) rotates along with the rotation of the rotation output shaft (211) of the driving mechanism (210).

5. The limiting component according to claim 4, characterized in that: The driving mechanism (210) comprises: a coaxially arranged shift fork motor (212) and a shift fork reducer (213); the rotary output shaft (211) is arranged at one end of the shift fork reducer facing the limit shift fork (220); The first end of the limit shift fork shaft (230) is fixedly sleeved outside the rotation output shaft (211), and the second end of the limit shift fork shaft (230) is fixedly connected to the limit shift fork (220).

6. The limiting component according to claim 5, characterized in that: The shift fork assembly (200) further comprises: a shift fork fixing seat (240), wherein the shift fork fixing seat (240) is sleeved on the limit shift fork shaft (230) via a bearing (241); the shift fork assembly (200) further comprises: a shift fork motor seat (260); and the shift fork reducer (213) is fixedly connected to the shift fork fixing seat (240) via the shift fork motor seat (260).

7. The limiting component according to claim 6, characterized in that: The mounting assembly (100) comprises a bent mounting plate (110); the bent mounting plate (110) comprises a first bent portion (111) and a second bent portion (112); the first bent portion (111) is used for fixedly connecting to the front end of the material box picking and placing device (1); the second bent portion (112) is used for fixedly connecting to the fork fixing seat (240).

8. The limiting component according to claim 6, characterized in that: A shift fork limiting pin (231) is arranged on the side of the limiting shift fork shaft (230); the shift fork fixing seat (240) is provided with a limiting groove (242), the limiting groove (242) has a limiting portion (243), and the limiting portion (243) is used to abut against the shift fork limiting pin (231) to limit the shift fork limiting pin (231).

9. The limiting component according to claim 8, characterized in that: The limiting portion (243) comprises: a first limiting portion (244) and a second limiting portion (245) arranged at intervals along the rotation direction of the shift fork limiting pin (231); the first limiting portion (244) and the second limiting portion (245) are used to abut against the shift fork limiting pin (231) to respectively limit an upper limit rotation angle and a lower limit rotation angle of the shift fork limiting pin (231).

10. The limiting component according to claim 8 or 9, characterized in that: The fork assembly (200) further includes: A shift fork zero position sensor (250) is arranged on the shift fork fixing seat (240); the shift fork zero position sensor (250) is used to monitor the rotation position of the shift fork limit pin (231).

11. The limiting component according to claim 10, characterized in that: The shift fork fixing seat (240) is provided with a fixing groove (246), and the shift fork zero position sensor (250) is arranged in the fixing groove (246); the bottom wall of the fixing groove (246) is connected with the limiting groove (242), so that the shift fork limiting pin (231) extends from the limiting groove (242) into the fixing groove (246), and corresponds to the position of the shift fork zero position sensor (250) when the limiting shift fork (220) rotates to the zero position.

12. The limiting component according to claim 11, characterized in that: A cable (214) interface is provided at the second end of the driving mechanism (210) away from the limit shift fork (220); the shift fork zero position sensor (250) and the shift fork motor (212) are electrically connected to a controller of the material box picking and placing device (1) via the cable (214) interface and the cable (214).

13. A material box picking and placing device (1), characterized in that: It comprises the limiting component as claimed in any one of claims 1 to 12, a bottom plate (20), a telescopic mechanism (30), a suction cup mechanism (40) and a material box supporting platform (50); The telescopic mechanism (30) has a front end and a rear end; wherein the front end is a telescopic end and the rear end is a fixed end; the fixed end is arranged at the rear end of the bottom plate (20); The suction cup mechanism (40) is arranged at the telescopic end; the telescopic mechanism (30) is used to drive the suction cup mechanism (40) to telescope in the front-rear direction; the suction cup mechanism (40) is used to suck the material box on the warehouse shelf and move it to the material box support platform (50), or to push the material box on the material box support platform (50) to move to the warehouse shelf; The material box support platform (50) is arranged on the bottom plate (20), and the material box support platform (50) is installed along the telescopic direction of the telescopic mechanism (30) and is used to support the material box during the process of taking and placing the material box; the upper surface of the material box support platform (50) is a material box support plane; The limiting component (10) is arranged at the front end of the bottom plate (20) based on the mounting assembly (100), and the limiting component is used to limit the material box from falling out along the front end of the bottom plate (20).

14. A material box handling robot, characterized in that: It comprises the material box picking and placing device (1) as claimed in claim 13, a mobile chassis (2) and a lifting device (3), wherein the lifting device (3) is arranged on the mobile chassis (2), and the bottom plate (20) of the material box picking and placing device (1) is connected to the lifting device (3).

Images