Execution assembly, carrying execution mechanism and carrying robot

Abstract

The utility model provides an execution assembly, carrying execution mechanism and carrying robot, the execution assembly comprises a connecting seat, a telescoping mechanism, side clamping parts arranged in pairs and at least one end effector, the side clamping parts arranged in pairs are arranged at intervals along a first direction, the telescoping mechanism is connected between the side clamping parts and the connecting seat, and the end effector is connected with the connecting seat. The side clamping part can be driven to move relative to the connecting base in the second direction, and the second direction intersects with the first direction; the end effector comprises an electromagnetic driving part and a shifting fork, the shifting fork has magnetism and is movably connected with the electromagnetic driving part, the electromagnetic driving part is arranged on the side clamping part, and the electromagnetic driving part can drive the shifting fork to move to the inner side of the side clamping part through a magnetic field; and an outward pushing part is further arranged between the side clamping parts, and the outward pushing part and the end effector are arranged in a spaced mode in the second direction. The end executor in the execution assembly is simpler in structure, the manufacturing cost is reduced, control is more convenient, and the conveying efficiency of the material box can be guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and specifically, to an execution component, a handling execution mechanism including the execution component, and a handling robot including the handling execution mechanism. Background Art

[0002] Bin robots are often used in material transportation operations. They can automatically receive bins into their own interiors and smoothly unload the bins at designated positions to achieve automatic loading and unloading. The execution mechanism of a bin robot generally includes a base and a telescopic structure. The telescopic structure can extend from the base and carry the bin back into the execution mechanism. Then, with the help of the moving platform at the bottom of the bin robot, operations such as bin handling and temporary storage are realized.

[0003] Specifically, a rotary fork is provided at the end of the telescopic structure. After the telescopic structure extends and receives the bin, the execution mechanism lowers the rotary fork so that the rotary fork frames the bin inside the telescopic structure. Then, when the telescopic structure retracts, the bin is driven to retract into the execution mechanism.

[0004] However, in the existing execution mechanisms of bin robots, the rotary fork structure is usually relatively complex, the manufacturing cost of the rotary fork is high, and the control actions of the rotary fork are cumbersome, resulting in slower bin loading and unloading actions and affecting the transmission efficiency. How to provide a loading and unloading structure with a simple structure and convenient control has become an urgent technical problem in this field. Summary of the Utility Model

[0005] The utility model aims to solve one of the technical problems in the related technologies to a certain extent. For this purpose, the utility model provides an execution component, which has a simple structure, low manufacturing cost, and convenient control.

[0006] To achieve the above object, as an aspect of the utility model, an execution component is provided. The execution component includes a connecting seat, a telescopic mechanism, a pair of side clamping parts arranged in pairs, and at least one end effector. The pair of side clamping parts are arranged at intervals in a first direction. The telescopic mechanism is connected between the side clamping parts and the connecting seat, and can drive the side clamping parts to move relative to the connecting seat in a second direction. The second direction intersects with the first direction;

[0007] The end effector includes an electromagnetic driving part and a fork. The fork is magnetic and is movably connected to the electromagnetic driving part. The electromagnetic driving part is arranged on the side clamping part, and the electromagnetic driving part can drive the fork to move to the inside of the side clamping part through a magnetic field;

[0008] An outer pushing part is further arranged between the side clamping parts. The outer pushing part and the end effector are arranged at intervals in the second direction.

[0009] Optionally, a limit column is provided on the electromagnetic drive part, and the limit column can abut against the first contact surface of the fork when the fork rotates to enter the inner side of the side clamping part, and abut against the second contact surface of the fork when the fork rotates to leave the inner side of the side clamping part, and the first contact surface and the second contact surface are located on opposite sides of the hinge axis.

[0010] Optionally, the shift fork is hinged to the electromagnetic drive unit.

[0011] Optionally, the fork includes an articulated portion and a blocking portion that are interconnected, the articulated portion is hinged to the electromagnetic drive portion, one end of the blocking portion extends along a side away from the articulated portion, and the blocking portion can enter or leave the inner side of the side clamping portion as the articulated portion rotates; one side of the articulated portion has the first contact surface, the second contact surface and a transition connection surface connected therebetween.

[0012] Optionally, a cross-sectional dimension of the blocking portion gradually decreases in a direction away from the hinge portion.

[0013] Optionally, the first contact surface is a concave arc surface.

[0014] Optionally, the limiting column is cylindrical in shape, the first contact surface is a concave cylindrical surface, and the first contact surface corresponds to the shape of the outer cylindrical surface of the limiting column.

[0015] Optionally, the second contact surface is a concave arc surface.

[0016] Optionally, the limiting column is cylindrical in shape, the second contact surface is a concave cylindrical surface, and the second contact surface corresponds to the shape of the outer cylindrical surface of the limiting column.

[0017] Optionally, the transition connection surface is an outwardly convex curved surface.

[0018] Optionally, the transition connection surface is an outwardly convex cylindrical surface.

[0019] Optionally, a status detection component is also provided on the electromagnetic drive part, and the shift fork can block the status detection component from moving toward one end of the shift fork when the shift fork is rotated until the limit post abuts against the first contact surface, or block the status detection component from moving toward one end of the shift fork when the limit post abuts against the second contact surface, so that the status detection component generates different status detection signals when the shift fork is in different states.

[0020] Optionally, the shift fork is made of metal material, and the state detection component is an eddy current sensor.

[0021] Optionally, the state detection member is disposed on a side of the hinge shaft away from the side clamping portion.

[0022] Optionally, an action detection member is further disposed on the electromagnetic driving portion. The fork has a first avoidance through hole and a second avoidance through hole. Axes of the first avoidance through hole and the second avoidance through hole are both arranged in the same direction as the hinge shaft. When the fork rotates to a position where the limiting post abuts against the first contact surface, a position of the first avoidance through hole corresponds to a position of the action detection member. When the fork rotates to a position where the limiting post abuts against the second contact surface, a position of the second avoidance through hole corresponds to a position of the action detection member. When the fork rotates to a position where the limiting post leaves the first contact surface and the second contact surface, the fork blocks an end of the action detection member facing the fork.

[0023] Optionally, the fork is made of a metallic material, and the action detection member is an eddy current sensor.

[0024] Optionally, the action detection member is disposed on a side of the hinge shaft facing the side clamping portion.

[0025] Optionally, the action detection member and the state detection member are symmetrically arranged on two sides of the side clamping portion.

[0026] Optionally, the electromagnetic driving portion includes an electromagnet and a mounting block. The mounting block is connected to one end of the electromagnet along the second direction. A rotating shaft is movably disposed in the mounting block. One end of the rotating shaft along the second direction is fixedly connected to the fork, and the rotating shaft can rotate about its own axis (i.e., the hinge shaft).

[0027] Optionally, a first mounting groove is provided in the mounting block, and the state detection member is fixedly disposed in the first mounting groove.

[0028] Optionally, a second mounting groove is provided in the mounting block, and the action detection member is fixedly disposed in the second mounting groove.

[0029] Optionally, at least a part of the hinge portion has a first magnetic polarity, and the remaining part of the hinge portion and the blocking portion have a second magnetic polarity, and the first magnetic polarity is opposite to the second magnetic polarity.

[0030] Optionally, a first magnetic member is embedded in the hinge portion, and two poles of the first magnetic member are distributed along the second direction.

[0031] Optionally, a first magnetic member and a second magnetic member are embedded in the shift fork. The first magnetic member and the second magnetic member are disposed on both sides of the hinge shaft. The two poles of the first magnetic member and the second magnetic member are both distributed along the second direction, and the magnetic field direction of the first magnetic member along the second direction is opposite to the magnetic field direction of the second magnetic member along the second direction.

[0032] Optionally, the extrapolation part is connected between the two side clamping parts on both sides.

[0033] Optionally, the extrapolation part is a rod-shaped member or a plate-shaped member extending along the first direction, and both ends of the extrapolation part along the first direction are fixedly connected to the two side clamping parts on both sides respectively.

[0034] Optionally, the telescopic mechanism includes a driving structure and a plurality of guiding structures. The guiding structures are arranged in pairs along the first direction on the outer sides of the side clamping parts. The guiding structure includes a mounting part and a guiding part. The mounting part is fixedly connected to the connecting seat. The guiding part is connected between the mounting part and the side clamping part, and the guiding part and the mounting part can slide relative to each other along the second direction. The guiding part and the side clamping part can slide relative to each other along the second direction. The driving structure is used to drive the side clamping part to move along the second direction.

[0035] Optionally, an inlaid wire belt and a limiting structure are arranged on the guiding part. The inlaid wire belt is sleeved on the limiting structure and can move around the limiting structure. Both sides of the inlaid wire belt along the first direction are in contact with the mounting part and the side clamping part respectively. A cable extending along the length direction of the inlaid wire belt is arranged inside the inlaid wire belt. The cable has a first connection point at the position where the inlaid wire belt is fixedly in contact with the side clamping part. The cable is electrically connected to the electromagnetic driving part at the first connection point.

[0036] Optionally, on the surface of the mounting part facing the guiding part, there are paired first limiting bosses arranged. The first limiting bosses extend along the second direction and are located on both sides of the inlaid wire belt along its width direction. On the surface of the side clamping part facing the guiding part, there are paired second limiting bosses arranged. The second limiting bosses extend along the second direction and are located on both sides of the inlaid wire belt along its width direction.

[0037] Optionally, a first guide rail extending along the second direction is arranged on one of the guiding part and the mounting part, and at least one first slider is arranged on the other of the guiding part and the mounting part. The first slider is connected to the first guide rail and can slide along the first guide rail.

[0038] A second guide rail extending along the second direction is arranged on one of the guide portion and the side clamp portion, and at least one second slider is arranged on the other of the guide portion and the side clamp portion. The second slider is connected to the second guide rail and can slide along the second guide rail.

[0039] Optionally, the first guide rail and the second guide rail correspond in position along the height direction.

[0040] Optionally, the first guide rail and the second guide rail are located between the wire-inserted belt and the end effector in the height direction.

[0041] Optionally, the mounting portion is a vertically arranged plate-shaped member.

[0042] Optionally, a guide bar is further provided on the mounting portion, the guide bar extends along the second direction, and the guide bar is bent outwardly corresponding to an end where the end effector is provided.

[0043] Optionally, the driving structure includes a driving motor, a driving driving wheel, a transmission belt and a driving pulley, the driving motor, the driving driving wheel and the driving pulley are all arranged on the connecting seat, the driving driving wheel is connected to the output shaft of the driving motor, the transmission belt is sleeved on the driving driving wheel and the driving pulley, the driving motor can drive the driving driving wheel to rotate, so as to drive the transmission belt to drive the driving pulley to rotate, the driving pulley contacts the bottom of the side clamping part, and can drive the side clamping part to move along the second direction.

[0044] Optionally, the connecting seat includes a connecting base plate and a plurality of connecting portions fixedly arranged on both sides of the connecting base plate along the first direction, and the connecting portions extend along the first direction and are fixedly connected to the mounting portions on both sides.

[0045] Optionally, the connecting base plate has an upwardly raised guiding slope corresponding to the end where the end effector is arranged.

[0046] Optionally, a baffle is provided at one end of the connecting base plate away from the end effector, and the baffle extends along the first direction and is arranged perpendicular to the connecting base plate.

[0047] Optionally, at least part of the hinge portion has a first magnetic polarity, and the remaining part of the hinge portion and the blocking portion have a second magnetic polarity, and the first magnetic polarity is opposite to the second magnetic polarity; or

[0048] A first magnetic member is embedded in the hinge portion, and two poles of the first magnetic member are distributed along the second direction; or

[0049] A first magnetic member and a second magnetic member are embedded in the fork. The first magnetic member and the second magnetic member are arranged on both sides of the hinge shaft. The two poles of the first magnetic member and the second magnetic member are both distributed along the second direction, and the magnetic field direction of the first magnetic member along the second direction is opposite to the magnetic field direction of the second magnetic member along the second direction.

[0050] As a second aspect of the present invention, a handling execution mechanism is provided, including a rotation assembly and the aforementioned execution assembly. The rotation assembly includes a rotation driving part and a connection chassis. The connection chassis is arranged at the bottom of the connection seat of the execution assembly, and the rotation driving part can drive the connection chassis to rotate relative to the connection seat.

[0051] Optionally, a chassis rotating shaft is fixedly arranged at the bottom of the connection seat. The connection chassis is arranged on the chassis rotating shaft and can rotate around the chassis rotating shaft. The rotation driving part includes a rotation motor, a chassis driving wheel, and a transmission belt. The chassis driving wheel is connected to the output shaft of the rotation motor. The transmission belt is sleeved on the chassis driving wheel and the connection chassis. The rotation motor can drive the chassis driving wheel to rotate, so as to drive the transmission belt to drive the connection chassis to rotate.

[0052] Optionally, a plurality of first mating teeth distributed around the axis of the connection chassis are provided on the outer side surface of the connection chassis. The first mating teeth extend along the axis direction of the connection chassis.

[0053] Optionally, a plurality of second mating teeth distributed around the axis of the chassis driving wheel are provided on the outer side surface of the chassis driving wheel. The second mating teeth extend along the axis direction of the chassis driving wheel.

[0054] Optionally, a plurality of assembly holes penetrating through the connection chassis along the axis direction are provided on the connection chassis. The connection chassis is used to be fixedly connected to the moving platform of the handling robot through fasteners passing through the assembly holes.

[0055] As a third aspect of the present invention, a handling robot is provided, including a moving platform and the aforementioned handling execution mechanism. The connection chassis at the bottom of the handling execution mechanism is fixedly connected to the moving platform, and the moving platform can drive the handling execution mechanism to move horizontally and / or lift in the height direction.

[0056] Optionally, the moving platform includes a guiding vehicle and a lifting assembly. A plurality of traveling wheels are arranged on the guiding vehicle. The traveling wheels can drive the guiding vehicle to move on a horizontal plane. The lifting assembly is arranged on the guiding vehicle, and the lifting assembly can drive the handling execution mechanism to lift in the height direction relative to the guiding vehicle.

[0057] Optionally, the lifting assembly includes a plurality of telescopic jacking mechanisms. The top end of the telescopic jacking mechanism is connected to the connection chassis of the handling execution mechanism, and the bottom end of the telescopic jacking mechanism is connected to the guiding vehicle. The telescopic jacking mechanism can be telescoped in the height direction to drive the handling execution mechanism to move up and down in the height direction; or,

[0058] The lifting assembly includes a guiding frame and a climbing mechanism. The guiding frame extends in the height direction and its bottom end is arranged on the guiding vehicle. The climbing mechanism can move along the guiding frame, and the handling execution mechanism is arranged on the climbing mechanism.

[0059] Optionally, the mobile platform includes a mobile seat, at least one vertical guide rail and at least one horizontal guide rail. The vertical guide rail and the horizontal guide rail are arranged in a cross manner. One of the vertical guide rail and the horizontal guide rail is movably arranged on the other and can move along the length direction of the other. The connection chassis at the bottom of the handling execution mechanism is fixedly connected to the mobile seat. The mobile seat is arranged on the one that is movably arranged among the vertical guide rail and the horizontal guide rail, and the mobile seat can move along the corresponding guide rail; or,

[0060] The mobile platform includes a mobile seat, at least one horizontal guide rail and at least one longitudinal guide rail. The horizontal guide rail and the longitudinal guide rail both extend in the horizontal direction and intersect with each other. For the horizontal guide rail and the longitudinal guide rail, the connection chassis at the bottom of the handling execution mechanism is fixedly connected to the mobile seat, and the mobile seat can move along the horizontal guide rail and the longitudinal guide rail.

[0061] In the execution assembly, the handling execution mechanism and the handling robot provided by the present utility model, the end effector of the execution assembly includes an electromagnetic driving part and a fork which has magnetism and is movably connected to the electromagnetic driving part. The electromagnetic driving part can drive the fork to move to the inner side of the side clamping part through the magnetic field, and drive the fork to leave the inner space of the side clamping part through the magnetic field. Therefore, only by changing the energizing direction of the electromagnetic driving part, the magnetic field of the electromagnetic driving part can be immediately changed, and the position of the fork can be quickly controlled.

[0062] Compared with the motor-driven method in the prior art, the structure of the end effector in the handling robot provided by the present utility model is simpler, and the manufacturing cost of the end effector arranged at the end of the side clamping part is reduced. Moreover, the control of the end effector in the handling robot provided by the present utility model is more convenient, and the action of driving the fork to switch the position state through the magnetic field is faster. Compared with the scheme of adjusting the fork angle by controlling the feed amount of the motor in the prior art, the completion rate of the loading and unloading action of the handling robot for the bin can be significantly improved, and thus the bin transmission efficiency can be ensured. Description of the Drawings

[0063] The present utility model will be further described below in conjunction with the accompanying drawings:

[0064] Figure 1 It is a schematic structural diagram of a handling actuator provided by an embodiment of the present utility model;

[0065] Figure 2 is Figure 1 A partial enlarged schematic diagram of the structure in area A in

[0066] Figure 3 It is a partial structural schematic diagram of a handling actuator provided by an embodiment of the present utility model;

[0067] Figure 4 It is a schematic diagram of the working principle of a handling actuator provided by an embodiment of the present utility model;

[0068] Figure 5 It is an exploded schematic diagram of the structure of a handling actuator provided by an embodiment of the present utility model;

[0069] Figure 6 It is a schematic diagram of the structure of a handling actuator with one side's side clamping part removed provided by an embodiment of the present utility model;

[0070] Figure 7 It is a schematic diagram of the structure of the end effector in the execution component provided by an embodiment of the present utility model;

[0071] Figure 8 It is a schematic diagram of the structure of the end effector in the execution component provided by an embodiment of the present utility model;

[0072] Figure 9 It is a front structural schematic diagram of the end effector in the execution component provided by an embodiment of the present utility model when in the low position state;

[0073] Figure 10 It is a front structural schematic diagram of the end effector in the execution component provided by an embodiment of the present utility model when in the high position state;

[0074] Figure 11 It is a schematic diagram of the structure of the end effector in the execution component provided by an embodiment of the present utility model;

[0075] Figure 12 It is a schematic diagram of the structure of the end effector in the execution component provided by another embodiment of the present utility model;

[0076] Figure 13 It is a schematic diagram of the structure of the end effector in the execution component provided by another embodiment of the present utility model;

[0077] Figure 14 It is a schematic diagram of the structure of a handling robot provided by an embodiment of the present utility model;

[0078] Figure 15 is Figure 14 a schematic diagram of the state of the lifting and handling actuator of the handling robot in

[0079] Figure 16 a schematic diagram of the structure of a handling robot provided by another embodiment of the present utility model;

[0080] Figure 17 is Figure 16 a schematic diagram of the state of the lifting and handling actuator of the handling robot in

[0081] Figure 18 a schematic diagram of the structure of a handling robot provided by another embodiment of the present utility model;

[0082] Figure 19 a schematic diagram of the structure of a handling robot provided by another embodiment of the present utility model.

[0083] Description of reference numerals:

[0084] Connecting seat 100; Connecting bottom plate 110; Baffle 111; Connecting portion 120; Telescopic mechanism 200; Driving structure 210; Driving driving wheel 211; Driving belt pulley 212; Guiding structure 220; Mounting portion 221; First limiting boss 201; Guiding portion 222; Second limiting boss 202; Embedded wire belt 230; Limiting structure 231; First connection point 232; Driving circuit board 233; First guide rail 241; First slider 242; Second guide rail 251; Second slider 252; Guide bar 260; Side clamping portion 300; Outer pushing portion 310; End effector 400; Electromagnetic driving portion 410; Electromagnet 411; Mounting block 412; Rotating shaft 413; Fork 420; Hinge portion 421; Blocking portion 422; First avoidance through hole 423; Second avoidance through hole 424; Limiting column 430; State detection member 441; Action detection member 442; First magnetic member 451; Second magnetic member 452; Rotating assembly 500; Driving portion 510; Rotating motor 511; Chassis driving wheel 512; Transmission belt 513; Connecting chassis 520; First direction x; Second direction y; First contact surface a1; Second contact surface a2; Guiding inclined surface b; Moving platform 10; Guiding vehicle 11; Lifting assembly 12; Traveling wheel 13; Telescopic lifting mechanism 121; Guide frame 122; Climbing mechanism 123; Moving seat 101; Vertical guide rail 102; Horizontal guide rail 103; Longitudinal guide rail 104; Shelf 20. Detailed implementation manners

[0085] Embodiments of the present utility model will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout. Based on the embodiments in the embodiments, it is intended to explain the present utility model and should not be construed as a limitation to the present utility model.

[0086] As used herein, the phrase "one embodiment" or "example" or "instance" means that a particular feature, structure, or characteristic described in connection with the embodiment itself may be included in at least one embodiment of the present disclosure. The appearances of the phrase "in one embodiment" in various places in the specification do not necessarily refer to the same embodiment.

[0087] In the actuating mechanism of the existing bin robot, the rotary fork structure is usually driven by a motor. However, the space at the end of the telescopic structure is limited, resulting in the need for a compact layout of the transmission structures such as the motor integrated at the end of the telescopic structure. As a result, the structure of the rotary fork part is complex, increasing the manufacturing cost of the rotary fork. Moreover, in order to prevent the excessive rotation angle of the rotary fork, it is necessary to accurately control the feed amount of the motor based on the motor feedback information to control the action of the rotary fork, resulting in cumbersome control actions of the rotary fork and slower bin loading and unloading actions, thus affecting the transmission efficiency.

[0088] To solve the above technical problems, as one aspect of the present utility model, an actuating assembly is provided, as Figures 1 to 5 shown. The actuating assembly includes a connecting seat 100, a telescopic mechanism 200, a pair of side clamping parts 300 arranged in pairs, and at least one end effector 400. Among them, the pair of side clamping parts 300 are arranged at intervals along the first direction x. The telescopic mechanism 200 is connected between the side clamping parts 300 and the connecting seat 100, and can drive the side clamping parts 300 to move relative to the connecting seat 100 along the second direction y. The second direction y intersects with the first direction x.

[0089] As Figure 7 、 Figure 8 shown, the end effector 400 includes an electromagnetic driving part 410 and a fork 420. The fork 420 is magnetic and is movably connected to the electromagnetic driving part 410. The electromagnetic driving part 410 is arranged on the side clamping part 300, and the electromagnetic driving part 410 can drive the fork 420 to move to the inner side of the side clamping part 300 (the inner side refers to the side facing the area between the two side clamping parts 300) through a magnetic field.

[0090] As Figure 1 、 Figure 5 shown, an outer pushing part 310 is further arranged between the side clamping parts 300. The outer pushing part 310 is arranged at an interval from the end effector 400 along the second direction y.

[0091] It can be understood that in the present utility model, the second direction y is the direction in which goods (such as a bin) enter the execution assembly. The side clamping portions 300 are arranged in pairs on both sides of the bin loading and unloading path along the first direction x to guide the two side surfaces of the bin. After the bin enters the space between the side clamping portions 300, the electromagnetic driving portion 410 can drive the fork 420 to move to the inner side of the side clamping portion 300 through a magnetic field, so that the fork 420 enters the bin loading and unloading path to limit the bin and prevent the goods from slipping out.

[0092] Specifically, when the execution assembly needs to receive and transport the bin, first, the telescopic mechanism 200 drives the paired side clamping portions 300 to extend toward one side of the bin along the second direction y, so that the bin enters between the two side clamping portions 300. The electromagnetic driving portion 410 drives the fork 420 to move to the inner side of the side clamping portion 300 through a magnetic field, as Figure 4 shown. Then, the telescopic mechanism 200 drives the side clamping portions 300 to retract along the second direction y, and the bin can be pushed by the fork 420, so that the bin retracts with the side clamping portions 300 and lands on the connecting seat 100.

[0093] When the execution assembly needs to place the bin at the process position, first, the telescopic mechanism 200 drives the paired side clamping portions 300 to extend toward one side of the bin along the second direction y, and the outer pushing portion 310 pushes the other side of the bin, so that the bin extends to the corresponding process position with the side clamping portions 300. The electromagnetic driving portion 410 drives the fork 420 to leave the inner side of the side clamping portion 300 through a magnetic field to avoid the bin loading and unloading path, so that the bin can freely slip out between the side clamping portions 300. Then, the telescopic mechanism 200 drives the side clamping portions 300 to retract along the second direction y, and the bin can be left at this process position.

[0094] In the execution assembly provided by the present utility model, the end effector 400 includes an electromagnetic driving portion 410 (electromagnet) and a fork 420 having magnetism and movably connected to the electromagnetic driving portion 410. The electromagnetic driving portion 410 can drive the fork 420 to move to the inner side of the side clamping portion 300 through a magnetic field, and drive the fork 420 to leave the inner space of the side clamping portion 300 through a magnetic field. Therefore, only by changing the energization direction of the electromagnetic driving portion 410, the magnetic field of the electromagnetic driving portion 410 can be immediately changed to quickly control the position of the fork 420.

[0095] Compared with the motor-driven method in the prior art, the structure of the end effector 400 in the actuating assembly provided by the present utility model is simpler, reducing the manufacturing cost of the end effector 400 provided at the end of the side clamping portion 300. Moreover, the control of the end effector 400 in the actuating assembly provided by the present utility model is more convenient, and the action of driving the fork 420 to switch the position state through the magnetic field is faster. Compared with the prior art solution of controlling the feed of the motor to adjust the angle of the fork 420, the completion rate of the loading and unloading operation of the material box of the actuating assembly can be significantly improved, thereby ensuring the transmission efficiency.

[0096] Optionally, the first direction x and the second direction y are perpendicular to each other.

[0097] In the present utility model, the connection form between the fork 420 and the electromagnetic driving portion 410 is not specifically limited. For example, the fork 420 can be slidably connected to the electromagnetic driving portion 410, and the fork 420 is driven to reciprocate along the first direction x by the attraction and repulsion between the magnetic field of the electromagnetic driving portion 410 and the magnetic field of the fork 420.

[0098] To reduce the friction between the fork 420 and other structures, as a preferred embodiment of the present utility model, as Figures 7 to 10 shown, the fork 420 is hinged to the electromagnetic driving portion 410, and the electromagnetic driving portion 410 can drive the fork 420 to rotate to the inside of the side clamping portion 300 or rotate out from the inside of the side clamping portion 300 through the magnetic field. In the embodiment of the present utility model, the fork 420 is hinged to the electromagnetic driving portion 410, so that the fork 420 only rubs against the other components at the hinge position, reducing the heat generated by friction during the high-speed movement of the fork 420 and improving the stability of the actuating assembly.

[0099] To improve the control accuracy of the rotation angle of the fork 420, as a preferred embodiment of the present utility model, as Figures 7 to 10 shown, a limiting post 430 is provided on the electromagnetic driving portion 410. The limiting post 430 can abut against the first contact surface a1 of the fork 420 when the fork 420 rotates to enter the inside of the side clamping portion 300, and abut against the second contact surface a2 of the fork 420 when the fork 420 rotates to leave the inside of the side clamping portion 300. The first contact surface a1 and the second contact surface a2 are located on opposite sides of the hinge axis.

[0100] In the embodiment of the present utility model, the fork 420 has a first contact surface a1 and a second contact surface a2, and the two contact surfaces can respectively abut against the limiting post 430 when it moves to the low position state of entering the inside of the side clamping portion 300 and when it moves to the high position state of leaving the inside of the side clamping portion 300, so as to prevent the fork 420 from rotating excessively and ensure the accuracy of the rotation angle of the fork 420.

[0101] As an optional implementation of the present utility model, Figures 7 to 10 As shown, the shift fork 420 includes a hinged portion 421 and a blocking portion 422 connected to each other, the hinged portion 421 is hinged to the electromagnetic driving portion 410, one end of the blocking portion 422 extends along a side away from the hinged portion 421, and the blocking portion 422 can rotate with the hinged portion 421 to enter or leave the inner side of the side clamping portion 300; Figure 9 , Figure 10 As shown, one side of the hinge portion 421 has a first contact surface a1, a second contact surface a2 and a transition connection surface connecting the two.

[0102] As an optional implementation of the present utility model, Figures 7 to 10 As shown, the cross-sectional dimension of the blocking portion 422 gradually decreases in a direction away from the hinge portion 421 .

[0103] As an optional implementation of the present utility model, Figure 9 , Figure 10 As shown, the first contact surface a1 is a concave arc surface.

[0104] As an optional implementation of the present utility model, Figure 9 , Figure 10 As shown, the limiting column 430 is cylindrical in shape, the first contact surface a1 is a concave cylindrical surface, and the first contact surface a1 corresponds to the outer cylindrical surface shape of the limiting column 430, thereby improving the stability of the mutual contact between the first contact surface a1 and the limiting column 430.

[0105] As an optional implementation of the present utility model, Figure 9 , Figure 10 As shown, the second contact surface a2 is a concave arc surface.

[0106] As an optional implementation of the present utility model, Figure 9 , Figure 10 As shown, the limiting column 430 is cylindrical in shape, the second contact surface a2 is a concave cylindrical surface, and the second contact surface a2 corresponds to the outer cylindrical shape of the limiting column 430, thereby improving the stability of the mutual cooperation and contact between the second contact surface a2 and the limiting column 430.

[0107] As an optional implementation of the present utility model, Figure 9 , Figure 10 As shown, the transition connection surface is an outwardly convex arc surface.

[0108] As an optional implementation of the present utility model, Figure 9 , Figure 10 As shown, the transition connection surface is an outwardly convex cylindrical surface.

[0109] In order to further ensure the control accuracy of the movement state of the fork 420, as a preferred embodiment of the present invention, Figures 7 to 10 As shown, a state detection member 441 is also provided on the electromagnetic drive unit 410, and the fork 420 can block the state detection member 441 toward one end of the fork 420 when the fork 420 is rotated to the limit column 430 abutting against the first contact surface a1, or block the state detection member 441 toward one end of the fork 420 when the limit column 430 is rotated to the limit column 430 abutting against the second contact surface a2, so that the state detection member 441 generates different state detection signals when the fork 420 is in different states.

[0110] In the embodiment of the utility model, a state detection member 441 is further provided on the electromagnetic drive part 410, and the fork 420 can block the state detection member 441 when moving to the low position state, and be staggered with the state detection member 441 when moving to the high position state (this situation is shown in the figure), or, be staggered with the state detection member 441 when moving to the low position state, and block the state detection member 441 when moving to the high position state, so that the current position state of the fork 420 can be determined according to the feedback result of the state detection member 441, thereby further ensuring the control accuracy of the movement state of the fork 420.

[0111] As an optional implementation of the present invention, the material of the fork 420 is metal material, and the state detection component 441 is an eddy current sensor, that is, it outputs a state signal when blocked by the fork 420, and no signal is output when not blocked.

[0112] As an optional implementation of the present invention, the state detection member 441 is arranged on a side of the hinge shaft away from the side clamping portion 300 .

[0113] In order to further ensure the control accuracy of the movement state of the fork 420, as a preferred embodiment of the present invention, Figures 7 to 10 As shown, an action detection member 442 is also provided on the electromagnetic drive portion 410, and a first avoidance through hole 423 and a second avoidance through hole 424 are provided on the fork 420. The axes of the first avoidance through hole 423 and the second avoidance through hole 424 are both arranged in the same direction as the hinge axis. When the fork 420 rotates until the limiting column 430 abuts against the first contact surface a1, the position of the first avoidance through hole 423 corresponds to the position of the action detection member 442. When the fork 420 rotates until the limiting column 430 abuts against the second contact surface a2, the position of the second avoidance through hole 424 corresponds to the position of the action detection member 442. When the fork 420 rotates until the limiting column 430 leaves the first contact surface a1 and the second contact surface a2, the fork 420 blocks the action detection member 442 from facing one end of the fork 420.

[0114] In the embodiment of the present utility model, an action detection member 442 is further provided on the electromagnetic driving part 410. When the fork 420 moves to the high position state or the low position state, the action detection member 442 corresponds to the position of the corresponding avoidance through hole. Only when the fork 420 is in the position between the high position state and the low position state, the action detection member 442 is blocked by the fork 420. Thus, it can be determined whether the fork 420 has performed a switching action between the high position state and the low position state through the action detection member 442. Moreover, after driving the fork 420 to rotate, it can also be determined whether the fork 420 actually rotates to the corresponding position according to the feedback result of the action detection member 442, further ensuring the control accuracy of the movement state of the fork 420.

[0115] As an alternative embodiment of the present utility model, the material of the fork 420 is a metal material, and the action detection member 442 is an eddy current sensor. That is, when the fork 420 is in the position between the high position state and the low position state, the eddy current sensor outputs a state signal, and no signal is output when the fork 420 is in the high position state or the low position state.

[0116] As an alternative embodiment of the present utility model, the action detection member 442 is arranged on one side of the hinge shaft facing the side clamping part 300.

[0117] As an alternative embodiment of the present utility model, as Figure 10 shown, the action detection member 442 and the state detection member 441 are symmetrically arranged on both sides of the side clamping part 300.

[0118] As an alternative embodiment of the present utility model, as Figures 7 to 10 shown, the electromagnetic driving part 410 includes an electromagnet 411 and a mounting block 412. The mounting block 412 is connected to one end of the electromagnet 411 along the second direction y. A rotating shaft 413 is movably arranged in the mounting block 412. One end of the rotating shaft 413 along the second direction y is fixedly connected to the fork 420, and the rotating shaft 413 can rotate around its own axis (i.e., the hinge shaft).

[0119] As an alternative embodiment of the present utility model, as Figure 7 shown, a first mounting groove is provided in the mounting block 412, and the state detection member 441 is fixedly arranged in the first mounting groove.

[0120] As an alternative embodiment of the present utility model, as Figure 8 shown, a second mounting groove is provided in the mounting block 412, and the action detection member 442 is fixedly arranged in the second mounting groove.

[0121] In the embodiments of the present utility model, the magnetic field distribution on the fork 420 is not specifically limited, as long as when the electromagnet 411 changes its magnetic field direction, the fork 420 can be driven to rotate in a predetermined direction. For example, as an alternative embodiment of the present utility model, the fork 420 can be a single piece of permanent magnet. Specifically, as Figure 11 shown, at least a part of the hinge portion 421 has a first magnetic polarity, and the remaining part of the hinge portion 421 and the blocking portion 422 have a second magnetic polarity, and the first magnetic polarity is opposite to the second magnetic polarity.

[0122] Alternatively, permanent magnets can also be embedded inside the fork 420. For example, as an alternative embodiment of the present utility model, as Figure 12 shown, a first magnetic member 451 is embedded in the hinge portion 421, and the two poles of the first magnetic member 451 are distributed along the second direction y.

[0123] Or, as another alternative embodiment of the present utility model, as Figure 13 shown, a first magnetic member 451 and a second magnetic member 452 are embedded in the fork 420. The first magnetic member 451 and the second magnetic member 452 are arranged on both sides of the hinge axis. The two poles of the first magnetic member 451 and the second magnetic member 452 are both distributed along the second direction y, and the magnetic field direction of the first magnetic member 451 along the second direction y is opposite to the magnetic field direction of the second magnetic member 452 along the second direction y.

[0124] As an alternative embodiment of the present utility model, as Figure 1 、 Figure 5 shown, the extrapolation portion 310 is connected between the side clamping portions 300 on both sides.

[0125] As an alternative embodiment of the present utility model, as Figure 1 、 Figure 5 shown, the extrapolation portion 310 is a rod-shaped or plate-shaped member extending along the first direction x, and both ends of the extrapolation portion 310 along the first direction x are fixedly connected to the side clamping portions 300 on both sides.

[0126] As an alternative embodiment of the present utility model, as Figures 1 to 5 shown, the telescopic mechanism 200 includes a driving structure 210 and a plurality of guiding structures 220. The guiding structures 220 are arranged in pairs along the first direction x on the outer sides of the side clamping portions 300. The guiding structure 220 includes a mounting portion 221 and a guiding portion 222. The mounting portion 221 is fixedly connected to the connecting seat 100. The guiding portion 222 is connected between the mounting portion 221 and the side clamping portion 300, and the guiding portion 222 and the mounting portion 221 can slide relative to each other along the second direction y, and the guiding portion 222 and the side clamping portion 300 can slide relative to each other along the second direction y; the driving structure 210 is used to drive the side clamping portion 300 to move along the second direction y.

[0127] In an embodiment of the present utility model, the guiding structure 220 includes a mounting portion 221 and a guiding portion 222. The mounting portion 221, the guiding portion 222, and the side clamping portion 300 are connected in sequence from outside to inside, and adjacent components can slide relative to each other along the second direction y. Thus, while ensuring the stroke length of the side clamping portion 300, the overall size of the actuating assembly along the second direction y is reduced, achieving the compactness of the device.

[0128] To further simplify the overall structure of the actuating assembly, as a preferred embodiment of the present utility model, as Figures 2 to 4 shown, a wire-embedded belt 230 and a limiting structure 231 are provided on the guiding portion 222. The wire-embedded belt 230 is sleeved on the limiting structure 231 and can move around the limiting structure 231. Both sides of the wire-embedded belt 230 along the first direction x are in contact with the mounting portion 221 and the side clamping portion 300 respectively. A cable extending along the length direction of the wire-embedded belt 230 is provided inside the wire-embedded belt 230. As Figure 6 shown, the cable has a first connection point 232 at the position where the wire-embedded belt 230 is fixedly in contact with the side clamping portion 300. The cable is electrically connected to the electromagnetic driving portion 410 at the first connection point 232.

[0129] In an embodiment of the present utility model, a wire-embedded belt 230 and a limiting structure 231 are provided on the guiding portion 222. The wire-embedded belt 230 is sleeved on the limiting structure 231 and can move around the limiting structure 231. The two side surfaces of the wire-embedded belt 230 along the first direction x are in contact with the mounting portion 221 and the side clamping portion 300 respectively. Thus, under the action of friction, a part of the surface of the wire-embedded belt 230 always maintains a stable contact state with the mounting portion 221 and the side clamping portion 300. The inner side of the wire-embedded belt 230 has a first connection point 232 at the stable contact position, and the cable inside the wire-embedded belt 230 is led out from the first connection point 232 and electrically connected to the electromagnetic driving portion 410. Thus, the power supply cable of the end effector 400 is integrated inside the guiding structure 220, reducing the space occupied by the wire harness and reducing the use of the drag chain, making the overall structure of the actuating assembly more concise and compact.

[0130] Optionally, as Figure 4 shown, the limiting structure 231 includes a plurality of rollers, and the plurality of rollers are arranged at intervals along the second direction y. The wire-embedded belt 230 is wound around the plurality of rollers. Alternatively, in other embodiments of the present utility model, the limiting structure 231 can also be a fixed component with a smooth surface and extending along the second direction, and the wire-embedded belt 230 can slide along the surface of the limiting structure 231.

[0131] Optionally, as Figure 6As shown, a drive circuit board 233 is further provided between the first connection point 232 and the electromagnetic drive unit 410. The cable of the wire-inserting belt 230 is electrically connected to the electromagnetic drive unit 410 through the drive circuit board 233.

[0132] Optionally, the cable has a second connection point at the portion where the wire-inserting belt 230 is fixedly in contact with the installation part 221. The cable has an external connector at the second connection point, and the control device is connected to the cable inside the wire-inserting belt 230 through the external connector, so as to control the end effector 400 to perform a switching action.

[0133] As an optional implementation manner of the present utility model, as Figure 3 shown, on the surface of the installation part 221 facing the guiding part 222, there are paired first limiting bosses 201 arranged. The first limiting bosses 201 extend along the second direction y and are located on both sides of the wire-inserting belt 230 along its width direction; on the surface of the side clamping part 300 facing the guiding part 222, there are paired second limiting bosses 202 arranged. The second limiting bosses 202 extend along the second direction y and are located on both sides of the wire-inserting belt 230 along its width direction.

[0134] As an optional implementation manner of the present utility model, as Figures 2 to 4 shown, on one of the guiding part 222 and the installation part 221, there is a first guide rail 241 extending along the second direction y, and on the other of the guiding part 222 and the installation part 221, there is at least one first slider 242. The first slider 242 is connected to the first guide rail 241 and can slide along the first guide rail 241;

[0135] On one of the guiding part 222 and the side clamping part 300, there is a second guide rail 251 extending along the second direction y, and on the other of the guiding part 222 and the side clamping part 300, there is at least one second slider 252. The second slider 252 is connected to the second guide rail 251 and can slide along the second guide rail 251.

[0136] As an optional implementation manner of the present utility model, as Figures 2 to 4 shown, the positions of the first guide rail 241 and the second guide rail 251 in the height direction correspond to each other.

[0137] As an optional implementation manner of the present utility model, as Figures 2 to 4 shown, the positions of the first guide rail 241 and the second guide rail 251 in the height direction are located between the wire-inserting belt 230 and the end effector 400.

[0138] As an optional implementation manner of the present utility model, as Figures 2 to 4 shown, the installation part 221 is a vertically arranged plate-shaped member.

[0139] As an optional implementation of the present invention, Figures 1 to 5 As shown, a guide bar 260 is also provided on the mounting portion 221, and the guide bar 260 extends along the second direction y, and the guide bar 260 is bent outward corresponding to one end of the end effector 400, and the guide bar 260 is used to guide the material box to enter and exit the interior of the actuator assembly in an accurate direction.

[0140] As an optional implementation of the present invention, Figure 5 As shown, the driving structure 210 includes a driving motor (not shown in the figure), a driving active wheel 211, a transmission belt (not shown in the figure) and a driving pulley 212. The driving motor, the driving active wheel 211 and the driving pulley 212 are all arranged on the connecting seat 100. The driving active wheel 211 is connected to the output shaft of the driving motor. The transmission belt is sleeved on the driving active wheel 211 and the driving pulley 212. The driving motor can drive the driving active wheel 211 to rotate, so as to drive the transmission belt to drive the driving pulley 212 to rotate. The driving pulley 212 contacts the bottom of the side clamping part 300 and can drive the side clamping part 300 to move along the second direction y.

[0141] As an optional implementation of the present invention, Figure 5 As shown, the connection base 100 includes a connection base plate 110 and a plurality of connection portions 120 fixedly disposed on both sides of the connection base plate 110 along a first direction x. The connection portions 120 extend along the first direction x and are fixedly connected to the mounting portions 221 on both sides.

[0142] As an optional implementation of the present invention, Figure 5 As shown, the connecting base plate 110 has an upwardly raised guiding slope b at one end corresponding to the end where the end effector 400 is arranged, so that the material box can automatically tilt upward when it is pushed out from the inside of the execution assembly, so as to facilitate the material box to fall on the corresponding process position.

[0143] As an optional implementation of the present invention, Figure 5 As shown, a baffle 111 is disposed at one end of the connecting base plate 110 away from the end effector 400 . The baffle 111 extends along the first direction x and is disposed perpendicular to the connecting base plate 110 .

[0144] As a second aspect of the present invention, a transport actuator is provided, such as Figure 1 , Figure 5 As shown, the transport actuator includes a rotating assembly 500 and an actuator provided by the present invention. The rotating assembly 500 includes a rotating drive unit 510 and a connecting chassis 520. The connecting chassis 520 is arranged at the bottom of the connecting seat 100 of the actuator. The rotating drive unit 510 can drive the connecting chassis 520 to rotate relative to the connecting seat 100.

[0145] In the handling actuator provided by the present utility model, the end effector 400 of the execution component includes an electromagnetic drive part 410 and a fork 420 that has magnetism and is movably connected to the electromagnetic drive part 410. The electromagnetic drive part 410 can drive the fork 420 to move to the inner side of the side clamping part 300 through a magnetic field, and drive the fork 420 to leave the inner side of the side clamping part 300 through a magnetic field. Therefore, by only changing the energization direction of the electromagnetic drive part 410, the magnetic field of the electromagnetic drive part 410 can be immediately changed, realizing the rapid control of the position of the fork 420.

[0146] Compared with the motor drive method in the prior art, the structure of the end effector 400 in the handling actuator provided by the present utility model is simpler, reducing the manufacturing cost of the end effector 400 provided at the end of the side clamping part 300. Moreover, the control of the end effector 400 in the handling actuator provided by the present utility model is more convenient, and the action of driving the fork to switch the position state through the magnetic field is faster. Compared with the scheme of controlling the feed amount of the motor to adjust the angle of the fork 420 in the prior art, it can significantly improve the completion rate of the loading and unloading actions of the handling actuator for the bin, thereby ensuring the bin transmission efficiency.

[0147] It can be understood that the connecting chassis 520 is used for fixedly connecting with the mobile platform. When the handling actuator needs to turn, the rotation drive part 510 drives the connecting chassis 520 to rotate relative to the connecting seat 100, so that the connecting seat 100 drives the entire execution component to rotate relative to the mobile platform, thereby changing the orientation of the execution component.

[0148] As an alternative embodiment of the present utility model, as Figure 5 shown, a chassis rotating shaft 413 (not shown in the figure) is fixedly provided at the bottom of the connecting seat 100. The connecting chassis 520 is arranged on the chassis rotating shaft 413 and can rotate around the chassis rotating shaft 413. The rotation drive part 510 includes a rotation motor 511, a chassis driving wheel 512, and a transmission belt 513. The chassis driving wheel 512 is connected to the output shaft of the rotation motor 511. The transmission belt 513 is sleeved on the chassis driving wheel 512 and the connecting chassis 520. The rotation motor 511 can drive the chassis driving wheel 512 to rotate, so as to drive the transmission belt 513 to drive the connecting chassis 520 to rotate.

[0149] As an alternative embodiment of the present utility model, as Figure 5 shown, a plurality of first mating teeth distributed around the axis of the connecting chassis 520 are provided on the outer side surface of the connecting chassis 520. The first mating teeth extend along the axis direction of the connecting chassis 520.

[0150] As an alternative embodiment of the present utility model, as Figure 5As shown, on the outer side surface of the chassis driving wheel 512, there are a plurality of second mating teeth distributed around the axis of the chassis driving wheel 512, and the second mating teeth extend along the axial direction of the chassis driving wheel 512.

[0151] As an alternative implementation manner of the present utility model, the connecting chassis 520 has a plurality of assembly holes (not shown in the figure) that penetrate the connecting chassis 520 along the axial direction, and the connecting chassis 520 is used to be fixedly connected to the moving platform of the handling robot through fasteners passing through the assembly holes.

[0152] As the third aspect of the present utility model, a handling robot is provided, as Figures 14 to 17 shown, the handling robot includes a moving platform 10 and the handling execution mechanism provided by the present utility model. The connecting chassis 520 at the bottom of the handling execution mechanism is fixedly connected to the moving platform 10, and the moving platform 10 can drive the handling execution mechanism to move horizontally and / or lift in the height direction.

[0153] In the handling robot provided by the present utility model, the end effector 400 of the execution component includes an electromagnetic driving part 410 and a fork 420 that has magnetism and is movably connected to the electromagnetic driving part 410. The electromagnetic driving part 410 can drive the fork 420 to move to the inner side of the side clamping part 300 through a magnetic field, and drive the fork 420 to leave the inner space of the side clamping part 300 through a magnetic field. Therefore, only by changing the energization direction of the electromagnetic driving part 410, the magnetic field of the electromagnetic driving part 410 can be immediately changed, realizing rapid control of the position of the fork 420.

[0154] Compared with the motor driving method in the prior art, the structure of the end effector 400 in the handling robot provided by the present utility model is simpler, reducing the manufacturing cost of the end effector 400 arranged at the end of the side clamping part 300. Moreover, the control of the end effector 400 in the handling robot provided by the present utility model is more convenient, and the action of driving the fork to switch the position state through a magnetic field is faster. Compared with the scheme of controlling the feed amount of the motor to adjust the angle of the fork 420 in the prior art, it can significantly improve the completion rate of the material box loading and unloading actions of the handling robot, thereby ensuring the material box transmission efficiency.

[0155] As an alternative implementation manner of the present utility model, as Figures 14 to 17 shown, the moving platform 10 includes a guiding vehicle 11 and a lifting component 12. A plurality of traveling wheels 13 are arranged on the guiding vehicle 11, and the traveling wheels 13 can drive the guiding vehicle 11 to move along the horizontal plane. The lifting component 12 is arranged on the guiding vehicle 11, and the lifting component 12 can drive the handling execution mechanism to lift in the height direction relative to the guiding vehicle 11.

[0156] Optionally, the traveling wheels 13 include a pair of driving wheels and a plurality of universal wheels. The guiding vehicle 11 can drive the driving wheels to move synchronously to drive the guiding vehicle 11 to go straight, or drive the driving wheels to rotate differentially to drive the guiding vehicle 11 to turn.

[0157] As an alternative embodiment of the present invention, as Figures 14 to 15 shown, the lifting assembly 12 includes a plurality of telescopic lifting mechanisms 121. The top ends of the telescopic lifting mechanisms 121 are connected to the connection chassis 520 of the handling execution mechanism, and the bottom ends of the telescopic lifting mechanisms 121 are connected to the guiding vehicle 11. The telescopic lifting mechanisms 121 can be telescoped in the height direction to drive the handling execution mechanism to move up and down in the height direction; or,

[0158] As Figures 16 to 17 shown, the lifting assembly 12 includes a guiding frame 122 and a climbing mechanism 123. The guiding frame 122 extends in the height direction and its bottom end is arranged on the guiding vehicle 11. The climbing mechanism 123 can move along the guiding frame 122, and the handling execution mechanism is arranged on the climbing mechanism 123.

[0159] Optionally, as Figures 16 to 17 shown, a plurality of buffer platforms 124 are arranged on the guiding frame 122. The plurality of buffer platforms 124 are arranged at intervals along the extending direction of the guiding frame 122. The handling execution mechanism can place goods or bins on the buffer platforms 124 to enable the mobile platform 10 to carry multiple goods or bins simultaneously.

[0160] In other embodiments of the present invention, the mobile platform 10 can also be a mobile device arranged on a shelf, which can drive the handling execution mechanism to move back and forth between different layers of the shelf in the height direction, drive the handling execution mechanism to move horizontally to different storage positions on the same layer, or drive the handling execution mechanism to move back and forth between multiple shelves.

[0161] Specifically, as Figure 18 、 Figure 19 shown, the mobile platform 10 can include a mobile base 101 and a guide rail structure corresponding to the layout of the shelf 20. The mobile base 101 moves on the guide rail structure to drive the handling execution mechanism to move. For example, as an alternative embodiment of the present invention, as Figure 18 shown, the mobile platform 10 can include a mobile base 101, at least one vertical guide rail 102 and at least one horizontal guide rail 103. The vertical guide rail 102 and the horizontal guide rail 103 are arranged crosswise. One of the vertical guide rail 102 and the horizontal guide rail 103 is movably arranged on the other and can move along the length direction of the other. The connection chassis 520 at the bottom of the handling execution mechanism is fixedly connected to the mobile base 101. The mobile base 101 is arranged on the movably arranged one of the vertical guide rail 102 and the horizontal guide rail 103, and the mobile base 101 can move along the corresponding guide rail.

[0162] It is understandable that the vertical guide rail 102 and the horizontal guide rail 103 are used to be arranged on the side of the shelf 20. The vertical guide rail 102 extends in the height direction, while the horizontal guide rail 103 extends in the horizontal direction, and the relative position of one of them is fixed with respect to the shelf 20.

[0163] For example, as Figure 18 shown, when the horizontal guide rail 103 is relatively fixed to the shelf 20, the vertical guide rail 102 is movably arranged on the horizontal guide rail 103, and the moving seat 101 is movably arranged on the vertical guide rail 102. Thus, the vertical guide rail 102 can drive the moving seat 101 and the handling actuator connected thereto to move horizontally along the horizontal guide rail 103, and the moving seat 101 can drive the handling actuator to move up and down along the vertical guide rail 102, so as to move the handling actuator to each layer at different heights of the shelf 20 and each storage location arranged horizontally in each layer, so that the handling actuator can perform picking and placing operations on the bins or goods in different storage locations on the entire shelf 20.

[0164] As another alternative embodiment of the present invention, as Figure 19 shown, the mobile platform 10 may also include a moving seat 101, at least one horizontal guide rail 103 and at least one longitudinal guide rail 104. The horizontal guide rail 103 and the longitudinal guide rail 104 both extend in the horizontal direction and intersect with each other. For the horizontal guide rail 103 and the longitudinal guide rail 104, the connecting chassis 520 at the bottom of the handling actuator is fixedly connected to the moving seat 101, and the moving seat 101 can move along the horizontal guide rail 103 and the longitudinal guide rail 104.

[0165] It is understandable that both the horizontal and the longitudinal directions are the extending directions along the horizontal plane. As Figure 19 shown, the horizontal guide rail 103 and the longitudinal guide rail 104 are arranged in a staggered manner along the horizontal plane, so that the moving seat 101 can drive the handling actuator to move to different storage locations of each shelf 20 along the horizontal plane or move between multiple shelves 20, and perform picking and placing operations on the bins or goods in different storage locations of each shelf 20.

[0166] Optionally, after the handling actuator takes out the bin or goods from the storage location, the moving seat 101 can drive the handling actuator to move to dock with a temporary shelf 20 arranged near the shelf 20. The handling actuator places the bin or goods on the temporary shelf 20, and then, by means of transferring the entire temporary shelf 20, transports the bins or goods stored on the temporary shelf 20 to the destination;

[0167] Alternatively, the moving seat 101 can also drive the handling actuator to move to dock with a handling vehicle (such as an AGV cart) parked beside the shelf 20. The handling actuator places the bin or goods on the handling vehicle, and the handling vehicle transports the bin or goods to the destination.

[0168] Alternatively, the moving seat 101 can also drive the handling actuator to move to dock with a conveyor belt (such as a belt conveyor device) arranged near the shelf 20. The handling actuator places the bin or goods on the conveyor belt and makes the bin or goods transported along the conveyor belt to the destination.

[0169] The above is only the specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes but is not limited to the content described in the drawings and the above specific implementation mode. Any modification that does not deviate from the functional and structural principles of the present invention will be included in the scope of the claims.

Claims

1. An execution component, characterized in that: The actuator assembly comprises a connecting seat (100), a telescopic mechanism (200), a pair of side clamping parts (300) and at least one end actuator (400), wherein the pair of side clamping parts (300) are arranged at intervals along a first direction (x), the telescopic mechanism (200) is connected between the side clamping parts (300) and the connecting seat (100), and is capable of driving the side clamping parts (300) to move relative to the connecting seat (100) along a second direction (y), wherein the second direction (y) intersects with the first direction (x); The end effector (400) comprises an electromagnetic driving part (410) and a shift fork (420); the shift fork (420) is magnetic and movably connected to the electromagnetic driving part (410); the electromagnetic driving part (410) is arranged on the side clamping part (300), and the electromagnetic driving part (410) can drive the shift fork (420) to move to the inner side of the side clamping part (300) through a magnetic field; An outward pushing portion (310) is also arranged between the side clamping portions (300), and the outward pushing portion (310) and the end effector (400) are arranged at intervals along the second direction (y).

2. The execution assembly according to claim 1, characterized in that: The shift fork (420) is hinged to the electromagnetic drive part (410), and a limit column (430) is provided on the electromagnetic drive part (410). The limit column (430) can abut against a first contact surface (a1) of the shift fork when the shift fork (420) rotates to enter the inner side of the side clamp part (300), and abut against a second contact surface (a2) of the shift fork (420) when the shift fork (420) rotates to leave the inner side of the side clamp part (300), and the first contact surface (a1) and the second contact surface (a2) are located on opposite sides of the hinge axis.

3. The execution assembly according to claim 2, characterized in that: The shift fork (420) comprises a hinged portion (421) and a blocking portion (422) which are connected to each other, wherein the hinged portion (421) is hingedly connected to the electromagnetic driving portion (410), one end of the blocking portion (422) extends along a side away from the hinged portion (421), and the blocking portion (422) can enter or leave the inner side of the side clamping portion (300) as the hinged portion (421) rotates; one side of the hinged portion (421) comprises the first contact surface (a1), the second contact surface (a2) and a transition connection surface connected therebetween.

4. The execution assembly according to claim 2, characterized in that: The electromagnetic drive part (410) is also provided with a state detection member (441), and the shift fork (420) can block one end of the state detection member (441) facing the shift fork (420) when the shift fork (420) is rotated to the limit column (430) abutting against the first contact surface (a1), or block one end of the state detection member (441) facing the shift fork (420) when the shift fork (420) is rotated to the limit column (430) abutting against the second contact surface (a2), so that the state detection member (441) generates different state detection signals when the shift fork (420) is in different states.

5. The execution assembly according to claim 2, characterized in that: The electromagnetic drive part (410) is also provided with an action detection member (442), the shift fork (420) has a first avoidance through hole (423) and a second avoidance through hole (424), the axes of the first avoidance through hole (423) and the second avoidance through hole (424) are both arranged in the same direction as the hinge axis, and when the shift fork (420) rotates until the limit column (430) abuts against the first contact surface (a1), the position of the first avoidance through hole (423) is aligned with the position of the action detection member (442). The shift fork (420) corresponds to the position of the first contact surface (a1) and the second contact surface (a2); when the shift fork (420) rotates until the limit post (430) abuts against the second contact surface (a2), the position of the second avoidance through hole (424) corresponds to the position of the action detection member (442); when the shift fork (420) rotates until the limit post (430) leaves the first contact surface (a1) and the second contact surface (a2), the shift fork (420) blocks one end of the action detection member (442) that is directed toward the shift fork (420).

6. The execution assembly according to claim 3, characterized in that: At least part of the hinge portion (421) has a first magnetic polarity, and the remaining part of the hinge portion (421) and the blocking portion (422) have a second magnetic polarity, and the first magnetic polarity is opposite to the second magnetic polarity; or A first magnetic member (451) is embedded in the hinge portion (421), and two poles of the first magnetic member (451) are distributed along the second direction (y); or A first magnetic component (451) and a second magnetic component (452) are embedded in the shift fork (420); the first magnetic component (451) and the second magnetic component (452) are arranged on both sides of the hinge shaft; the two poles of the first magnetic component (451) and the second magnetic component (452) are distributed along the second direction (y); and the magnetic field direction of the first magnetic component (451) along the second direction is opposite to the magnetic field direction of the second magnetic component (452) along the second direction (y).

7. The actuator according to any one of claims 1 to 6, characterized in that: The telescopic mechanism (200) comprises a driving structure (210) and a plurality of guiding structures (220); the guiding structures (220) are arranged in pairs on the outer sides of the side clamping parts (300) along the first direction (x); the guiding structures (220) comprise a mounting part (221) and a guiding part (222); the mounting part (221) is fixedly connected to the connecting seat (100); the guiding part (222) is connected between the mounting part (221) and the side clamping part (300); and the guiding part (222) and the mounting part (221) can slide relative to each other along the second direction (y); and the guiding part (222) and the side clamping part (300) can slide relative to each other along the second direction (y); the driving structure (210) is used for driving the side clamping part (300) to move along the second direction (y).

8. The actuator assembly according to claim 7, characterized in that: The guide portion (222) is provided with an embedded wire belt (230) and a limiting structure (231); the embedded wire belt (230) is sleeved on the limiting structure (231) and can move around the limiting structure (231); the embedded wire belt (230) is in contact with the mounting portion (221) and the side clamping portion (300) on both sides along the first direction (x) respectively; the embedded wire belt (230) has a cable extending along the length direction of the embedded wire belt (230); the cable has a first connection point (232) at a position where the embedded wire belt (230) is in fixed contact with the side clamping portion (300); the cable is electrically connected to the electromagnetic drive portion (410) at the first connection point (232).

9. The execution assembly according to claim 7, characterized in that: A first guide rail (241) extending along the second direction (y) is provided on one of the guide portion (222) and the mounting portion (221), and at least one first sliding block (242) is provided on the other of the guide portion (222) and the mounting portion (221), wherein the first sliding block (242) is connected to the first guide rail (241) and can slide along the first guide rail (241); A second guide rail (251) extending along the second direction (y) is arranged on one of the guide portion (222) and the side clamp portion (300), and at least one second slider (252) is arranged on the other of the guide portion (222) and the side clamp portion (300), and the second slider (252) is connected to the second guide rail (251) and can slide along the second guide rail (251).

10. A transport actuator, characterized in that: It comprises a rotating assembly (500) and an actuator assembly as described in any one of claims 1 to 9, wherein the rotating assembly (500) comprises a rotating driving unit (510) and a connecting chassis (520), wherein the connecting chassis (520) is arranged at the bottom of a connecting seat (100) of the actuator assembly, and the rotating driving unit (510) can drive the connecting chassis (520) to rotate relative to the connecting seat (100).

11. A transport robot, characterized in that: It comprises a mobile platform (10) and the transport actuator according to claim 10, wherein the connecting chassis (520) at the bottom of the transport actuator is fixedly connected to the mobile platform (10), and the mobile platform (10) can drive the transport actuator to move in a horizontal direction and / or to move up and down in a height direction.

12. The handling robot according to claim 11, characterized in that: The mobile platform (10) comprises a guide vehicle (11) and a lifting assembly (12); the guide vehicle (11) is provided with a plurality of traveling wheels (13), and the traveling wheels (13) are capable of driving the guide vehicle (11) to move along a horizontal plane; the lifting assembly (12) is arranged on the guide vehicle (11), and the lifting assembly (12) is capable of driving the transport actuator to move up and down relative to the guide vehicle (11) in a height direction.

13. The handling robot according to claim 12, characterized in that: The lifting assembly (12) comprises a plurality of telescopic lifting mechanisms (121), the top ends of the telescopic lifting mechanisms (121) are connected to the connecting chassis (520) of the transport actuator, the bottom ends of the telescopic lifting mechanisms (121) are connected to the guide vehicle (11), and the telescopic lifting mechanisms (121) can be extended and retracted in the height direction to drive the transport actuator to move up and down in the height direction; or, The lifting assembly comprises a guide frame (122) and a climbing mechanism (123); the guide frame (122) extends in a height direction and the bottom end is arranged on the guide vehicle (11); the climbing mechanism (123) can move along the guide frame (122); and the transport actuator is arranged on the climbing mechanism (123).

14. The handling robot according to claim 11, characterized in that: The mobile platform (10) comprises a mobile seat (101), at least one vertical guide rail (102) and at least one transverse guide rail (103); the vertical guide rail (102) and the transverse guide rail (103) are arranged crosswise; one of the vertical guide rail (102) and the transverse guide rail (103) is movably arranged on the other and can move along the length direction of the other; the connecting chassis (520) at the bottom of the transport actuator is fixedly connected to the mobile seat (101); the mobile seat (101) is arranged on one of the vertical guide rail (102) and the transverse guide rail (103) that is movably arranged, and the mobile seat (101) can move along the corresponding guide rail; or, The mobile platform (10) comprises a mobile seat (101), at least one transverse guide rail (103) and at least one longitudinal guide rail (104); the transverse guide rail (103) and the longitudinal guide rail (104) both extend in a horizontal direction and intersect each other; the transverse guide rail (103) and the longitudinal guide rail (104) and a connecting chassis (520) at the bottom of the transport actuator are fixedly connected to the mobile seat (101); and the mobile seat (101) can move along the transverse guide rail (103) and the longitudinal guide rail (104).

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