Hook hand device and warehousing system

Abstract

The utility model discloses a hook device and a warehousing system, and relates to the technical field of biomedical equipment. The hook hand mechanism is rotationally arranged on the base, and the hook hand mechanism is provided with a hook hand used for hooking a goods frame; the detection mechanism is rotationally arranged on the base, the detection mechanism is connected to the hook hand mechanism, the detection mechanism is provided with detection ends parallel to the side wall of the goods frame, and the detection ends are at least distributed on the two sides of the hook hand relative to the rotating direction of the base; part of the detection ends abut against the goods frame, and the detection mechanism is made to rotate relative to the base so as to synchronously drive the hook hand mechanism to coaxially rotate. The utility model aims to quickly and accurately align to the hook groove on the goods frame through the hook hand, so that the hooking accuracy is improved, and the success rate and the efficiency of integrally hooking the goods frame by the hook hand device are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of biomedical equipment, and particularly relates to a hook hand device and a storage system. Background Art

[0002] In a storage system, with the development and improvement of the automation level, the picking, sending, and transferring of samples, goods, or products are all automatically completed by relevant mechanisms. For example, a gripper (hook hand) device is used to grab or hook a cargo box to achieve the transfer of samples, goods, or products.

[0003] Currently, the existing method is to hook the cargo box at the front end of the cargo box through a hooking device. When the position of the cargo box on the shelf is slightly skewed, it is difficult for the hook hand of the hooking device to fit with the front handle of the cargo box, resulting in hooking failure, reducing the success rate of hooking the cargo box, and thus affecting the transfer efficiency of samples, goods, or products. Summary of the Utility Model

[0004] The main purpose of the utility model is to propose a hook hand device and a storage system, aiming to enable quick positioning through the hook hand device, improve the accuracy of hooking, and increase the success rate and efficiency of the overall hook hand device for hooking the cargo box.

[0005] To achieve the above object, the utility model proposes a hook hand device for hooking a cargo box, and the hook hand device includes:

[0006] A base;

[0007] A hook hand mechanism rotatably arranged on the base, and the hook hand mechanism is provided with a hook hand for hooking the cargo box; and

[0008] A detection mechanism rotatably arranged on the base, the detection mechanism is connected to the hook hand mechanism, the detection mechanism is provided with a detection end parallel to the side wall of the cargo box, and the detection end is at least distributed on both sides of the relative rotation direction of the hook hand with respect to the base;

[0009] Wherein, part of the detection end abuts against the cargo box and causes the detection mechanism to rotate relative to the base, so as to synchronously drive the hook hand mechanism to rotate coaxially.

[0010] In one embodiment, the detection mechanism includes:

[0011] A detection main body rotatably arranged on the base and connected to the hook hand mechanism, and the detection main body is provided with the detection end;

[0012] A guiding structure arranged on the detection end, and the guiding structure is configured to first abut against the side wall of the cargo box.

[0013] In one embodiment, the guiding structure includes two detection rollers, the detection rollers are movably arranged at the detection end, and the two detection rollers are arranged on both sides of the hook hand.

[0014] In one embodiment, the guiding structure includes a detection rod, and the extending direction of the rod body of the detection rod is perpendicular to the rotation direction of the detection body relative to the base;

[0015] Or, the guiding structure includes a detection plate, and the plane where the plate surface of the detection plate is located is parallel to the rotation direction of the detection body relative to the base.

[0016] In one embodiment, the detection body includes:

[0017] A first mounting seat, the first mounting seat is rotatably arranged on the base and is connected to the hook hand mechanism;

[0018] A connecting arm assembly, the connecting arm assembly is rotatably connected to the first mounting seat and extends away from the base to connect the guiding structure.

[0019] In one embodiment, the connecting arm assembly includes:

[0020] A first connecting arm, the first connecting arm is rotatably connected to the first mounting seat;

[0021] A connecting rod, the connecting rod is connected to the first mounting seat, and the rod body of the connecting rod extends along a direction perpendicular to the rotation direction of the first mounting seat relative to the base; and

[0022] Two second connecting arms, each second connecting arm is connected to one end of the connecting rod, the two second connecting arms are symmetrically arranged on both sides of the hook hand, and the guiding structure is arranged on the two second connecting arms.

[0023] In one embodiment, the base includes a base and a support column, and the support column is arranged on the base;

[0024] The hook hand mechanism is provided with a first rotation hole, the detection mechanism is provided with a second rotation hole, and the support column passes through the first rotation hole and the second rotation hole so that the hook hand mechanism and the detection mechanism rotate around the axis of the support column.

[0025] In one embodiment, the hook hand mechanism includes:

[0026] A second mounting seat, the second mounting seat is provided with the first rotation hole, the second mounting seat is rotatably connected to the support column through the second rotation hole, and the second mounting seat is connected to the first mounting seat;

[0027] A baffle, the baffle is elastically connected to the second mounting seat, and the baffle is provided with an abutting surface; and

[0028] The hook, the hook is connected to the baffle, and a part of the hook is arranged at an interval from the abutting surface, and the hook and the abutting surface cooperate to hook the cargo box.

[0029] In one embodiment, the detection mechanism further includes a linkage rod, and the linkage rod is connected to the first mounting seat;

[0030] The second mounting seat is provided with a mounting hole corresponding to the linkage rod, and the linkage rod extends into the mounting hole so that the first mounting seat is connected to the second mounting seat;

[0031] And / or, the first mounting seat and the second mounting seat are slidably connected to the support column.

[0032] The present utility model further provides a warehousing system, and the warehousing system includes:

[0033] A storage rack for storing a plurality of cargo boxes;

[0034] The hook device as described above is used to hook or release the cargo box.

[0035] The hook device of the present utility model is used to hook a cargo box. The hook device includes a base, a hook mechanism and a detection mechanism. The hook mechanism and the detection mechanism are rotatably arranged on the base along the same axis. The hook mechanism is provided with a hook for hooking the cargo box. The detection mechanism is connected to the hook mechanism. The detection mechanism is provided with a detection end parallel to the side wall of the cargo box, and the detection ends are at least distributed on both sides of the rotation direction of the hook relative to the base, so that when the hook hooks the cargo box, at least one of the detection ends on both sides of the hook can first abut against the cargo box, and through the synchronous rotation of the hook mechanism and the detection mechanism relative to the base, all the detection ends on the detection mechanism can be quickly abutted against the outer wall of the cargo box to ensure that the hook can quickly and accurately align with the hook groove on the cargo box, thereby improving the accuracy of hooking and increasing the success rate and efficiency of the overall hooking of the hook device for the cargo box. Description of the Drawings

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0037] Figure 1 It is a schematic structural diagram of a hook device in an embodiment of the present utility model;

[0038] Figure 2 This is a schematic structural diagram of the detection mechanism in an embodiment of the present utility model;

[0039] Figure 3 This is a schematic structural diagram of another perspective of the detection mechanism in an embodiment of the present utility model;

[0040] Figure 4 This is a schematic structural diagram of the hook mechanism in an embodiment of the present utility model;

[0041] Figure 5 This is a schematic structural diagram of the base in an embodiment of the present utility model;

[0042] Figure 6 This is a schematic structural diagram of the hook device and the cargo box in an embodiment of the present utility model.

[0043] Explanation of the reference numerals in the drawings:

[0044] 100, hook device; 1, base; 11, base plate; 12, support column; 13, vertical plate; 2, hook mechanism; 21, second mounting seat; 211, first rotation hole; 212, mounting hole; 22, hook; 23, guide post; 24, baffle; 241, abutting surface; 3, detection mechanism; 31, detection main body; 311, first mounting seat; 3111, second rotation hole; 312, connecting arm assembly; 3121, first connecting arm; 3122, connecting rod; 3123, second connecting arm; 32, guiding structure; 321, detection roller; 322, detection end; 33, linkage rod; 4, cargo box.

[0045] The realization of the purpose, functional features and advantages of the present utility model will be further described in conjunction with the embodiments with reference to the accompanying drawings. Specific embodiments

[0046] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without making creative efforts shall fall within the protection scope of the present utility model.

[0047] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of the present utility model, the directional indications are only used to explain the relative positional relationship and movement conditions between the components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0048] In addition, if the descriptions such as "first" and "second" are involved in the embodiments of the present utility model, the descriptions of "first", "second", etc. are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, if "and / or" or "and / or" appears throughout the text, its meaning includes three parallel scenarios. Taking "A and / or B" as an example, it includes Scenario A, or Scenario B, or the scenario where both A and B are satisfied simultaneously. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement it. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

[0049] To achieve the above object, please refer to Figures 1 to 6 As shown, the present utility model provides a hook device 100 for hooking a cargo frame 4. The hook device 100 includes a base 1, a hook mechanism 2 and a detection mechanism 3. The hook mechanism 2 is rotatably arranged on the base 1. The hook mechanism 2 is provided with a hook 22 for hooking the cargo frame 4. The detection mechanism 3 is rotatably arranged on the base 1. The detection mechanism 3 is connected to the hook mechanism 2. The detection mechanism 3 is provided with a detection end 322 parallel to the side wall of the cargo frame. The detection end 322 is at least distributed on both sides of the rotation direction of the hook 22 relative to the base 1. Among them, part of the detection end 322 abuts against the cargo frame 4 and causes the detection mechanism 3 to rotate relative to the base 1, so as to synchronously drive the hook mechanism 2 to rotate coaxially.

[0050] In this embodiment, the hook device 100 is applied to a warehousing system. The warehousing system is applied to automated warehousing logistics centers for biological sample storage, blood bank cold storage, food and drug warehousing, and various products, samples, and goods such as new energy and semiconductors. The hook device 100 is used to grab or release a frame for storing products or samples or goods, such as the cargo frame 4. The hook device 100 includes a base 1, a hook mechanism 2 and a detection mechanism 3. The base 1 is a structural support component of the hook device 100. The base 1 can be a structure such as a frame, a mounting frame, or a mounting table. The base 1 is used to mount the hook mechanism 2 and the detection mechanism 3, and both the hook mechanism 2 and the detection mechanism 3 are rotatably arranged on the base 1.

[0051] In this embodiment, the hook mechanism 2 is the mechanism or structure for the hook device 100 to hook the cargo frame 4. A hook groove is provided on one side of the cargo frame 4 facing the hook device 100. The hook device 100 is provided with a hook 22, and the hook 22 can extend into the hook groove to hook the cargo frame 4 and drive the cargo frame 4 to move, so as to realize the transfer of the cargo frame 4. At the same time, the hook device 100 further includes a detection mechanism 3, the detection mechanism 3 is connected to the hook mechanism 2, and both the detection mechanism 3 and the hook mechanism 2 are rotatably arranged relative to the base 1 in the same direction.

[0052] It can be understood that the detection mechanism 3 is an auxiliary structure of the hook mechanism 2, which is used to first abut against the cargo frame 4 to contact the cargo frame 4 and correct the position of the hook 22. Specifically, the detection mechanism 3 is provided with a detection end 322 in the direction parallel to the side wall of the cargo frame 4, and the detection end 322 is located on both sides of the hook 22. When the detection end 322 of the detection mechanism 3 partially abuts against the side wall of the cargo frame 4, since the detection mechanism 3 can rotate relative to the base 1, when the hook device 100 continues to approach the cargo frame 4, the overall force on the detection mechanism 3 is uneven, and it begins to rotate relative to the base 1, and then the entire detection end 322 abuts against the side wall of the cargo frame 4. At this time, the entire detection end 322 is parallel to the side wall of the cargo frame 4, and at least the detection ends 322 of the detection mechanism 3 distributed on both sides of the rotation direction of the hook 22 relative to the base 1 can also accurately align the hook 22 in the middle with the hook groove of the cargo frame 4, realizing the rapid positioning of the hook 22, effectively improving the accuracy of the hook 22 in hooking the cargo frame, and improving the success rate and efficiency of the hook device 100 in overall hooking the cargo frame 4.

[0053] The hook device 100 of the present utility model is used to hook the cargo frame 4. The hook device 100 includes a base 1, a hook mechanism 2 and a detection mechanism 3. The hook mechanism 2 and the detection mechanism 3 are rotatably arranged on the base 1 along the same axis. The hook mechanism 2 is provided with a hook 22 for hooking the cargo frame. The detection mechanism 3 is connected to the hook mechanism 2. The detection mechanism 3 is provided with a detection end 322 parallel to the side wall of the cargo frame 4, and the detection end 322 is at least distributed on both sides of the rotation direction of the hook 22 relative to the base 1, so that when the hook 22 hooks the cargo frame 4, at least one of the detection ends 322 on both sides of the hook 22 can first abut against the cargo frame 4, and through the synchronous rotation of the hook mechanism 2 and the detection mechanism 3 relative to the base 1, the detection ends 322 on all the detection mechanisms 3 are quickly made to abut against the outer wall of the cargo frame 4, so as to ensure that the hook 22 can quickly and accurately align with the hook groove on the cargo frame 4, thereby improving the hooking accuracy and the success rate and efficiency of the hook device 100 in overall hooking the cargo frame 4.

[0054] In one embodiment, as Figures 1 to 3As shown in the figure, the detection mechanism 3 includes a detection main body 31 and a guiding structure 32. The detection main body 31 is rotatably arranged on the base 1 and is connected to the hook mechanism 2. The detection main body 31 is provided with the above-mentioned detection end 322, and the guiding structure 32 is arranged at the detection end 322. The guiding structure 32 is configured to first abut against the side wall of the cargo box 4.

[0055] In this embodiment, the detection main body 31 is the main structure of the detection mechanism 3. The detection main body 31 can be a frame structure, a connecting rod structure, or a support platform or support frame structure, etc., which is not limited herein. The detection main body 31 is rotatably arranged on the base 1, and the detection main body 31 is connected to the hook mechanism 2, so that when the detection main body 31 rotates, it can drive the hook mechanism 2 and the hook 22 arranged on the hook mechanism 2 to rotate together. And the detection main body 31 forms the above-mentioned detection end 322, and the guiding structure 32 is connected to the detection main body 31.

[0056] It can be understood that the detection main body 31 is the main support structure of the detection mechanism 3. On the one hand, it is used for rotatably connecting to the base 1, and on the other hand, it is used for installing and supporting the guiding structure 32. The detection main body 31 forms the above-mentioned detection end 322 at its end or edge far from the base 1. The guiding structure 32 is arranged at the detection end 322. The guiding structure 32 is used to first abut against the side wall of the cargo box 4 and keep the detection end 322 parallel to the side wall of the cargo box 4. The guiding structure 32 can be a plate structure, a rod (bar) structure, a roller structure, etc. By setting the guiding structure 32, part of the guiding structure 32 can first abut against and touch the side wall of the cargo box 4. And because the guiding structure 32 and the hook mechanism 2 can rotate relative to the base 1, all the detection ends 322 of the guiding structure 32 facing the cargo box 4 can abut against the side wall of the cargo box 4 after rotation, so as to correct the positions of the hook mechanism 2 and the hook 22 arranged on the hook mechanism 2, so as to drive the hook 22 to align with the hook slot on the cargo box 4.

[0057] At the same time, it is preferably to set the detection end 322 on both sides of the relative rotation direction of the hook 22 with respect to the base 1 (hereinafter referred to as both sides of the hook 22). When any part of the detection ends 322 on both sides of the hook 22 abuts against the side wall of the cargo box 4, it can drive the detection mechanism 3 and the hook mechanism 2 to rotate, so as to drive the hook 22 to rotate so that the hook 22 can be aligned with the hook slot on the cargo box 4, realizing precise docking and hooking, and effectively improving the success rate and efficiency of hooking.

[0058] In one embodiment, as Figures 1 to 3 shown, the guiding structure 32 includes two detection rollers 321. The detection rollers 321 are movably arranged at the detection end 322, and the two detection rollers 321 are arranged on both sides of the hook 22.

[0059] In this embodiment, a rotating shaft is provided at one end or one side of the detection body 31 facing the cargo box 4. Two detection rollers 321 are rotatably arranged on the rotating shaft. The rotation direction of the detection mechanism 3 and the hook mechanism 2 relative to the base 1 is the first direction, and the arrangement direction of the two detection rollers 321 is the second direction. At the same time, the axis of the rotating shaft also extends along the second direction, so that the detection rollers 321 can rotate around the second direction. The first direction and the second direction are perpendicular to each other, so that the two detection rollers 321 can be arranged on both sides of the hook 22 along the second direction.

[0060] It can be understood that for the two detection rollers 321 located on both sides of the hook 22 along the second direction, when one of the detection rollers 321 abuts against the side wall of the cargo box 4, the force on the guiding structure 32 is uneven. The detection body 31 will rotate relative to the base 1 around the first direction, and the detection body 31 will drive the connected hook mechanism 2 to rotate coaxially relative to the base 1 around the first direction, so as to correct the position of the hook 22, align the hook 22 with the hook groove on the cargo box 4, and achieve the rapid positioning of the hook 22, improving the accuracy of hooking.

[0061] At the same time, the two detection rollers 321 are arranged on both sides of the hook 22 along the second direction. By arranging the detection rollers 321, when the guiding structure 32 abuts against the cargo box 4 and the guiding structure 32 and the detection body 31 rotate relative to the base 1 around the first direction, the rolling of the detection rollers 321 relative to the side wall of the cargo box 4 can reduce the hard contact between the guiding structure 32 and the cargo box 4 caused by the uneven force on the guiding structure 32, and gradually transition to the situation where both detection rollers 321 abut against the side wall of the cargo box 4, so that the entire detection end 322 abuts against the side wall of the cargo box 4, improving the overall success rate and efficiency of hooking.

[0062] In one embodiment, the guiding structure 32 includes a detection rod, and the extending direction of the rod body of the detection rod is perpendicular to the rotation direction of the detection body 31 relative to the base 1; optionally, the guiding structure 32 includes a detection plate, and the plane where the plate surface of the detection plate is located is parallel to the rotation direction of the detection body 31 relative to the base 1.

[0063] It can be understood that the guiding structure 32 can also be a detection rod or a detection plate. The extending direction of the rod body of the detection rod and the extending direction of the plate body of the detection plate are arranged perpendicular to the rotation direction of the detection body 31 relative to the base 1, that is, they extend along the second direction. And when one end of the detection rod or one side edge of the detection plate abuts against the side wall of the cargo box 4, the guiding structure 32 drives the detection body 31 to rotate around the first direction together, so as to drive the hook mechanism 2 and the hook 22 arranged on the hook mechanism 2 to rotate together, realizing the accurate positioning of the hook 22 and the hook groove on the cargo box 4.

[0064] In one embodiment, as Figures 1 to 3As shown, the detection body 31 includes a first mounting seat 311 and a connecting arm assembly 312. The first mounting seat 311 is rotatably arranged on the base 1 and is connected to the hook mechanism 2. The connecting arm assembly 312 is rotatably connected to the first mounting seat 311 and extends away from the base 1 to connect the guiding structure 32.

[0065] In this embodiment, the first mounting seat 311 is a structural support component of the detection body 31 and the detection mechanism 3. The first mounting seat 311 can be a seat body, a table body or a frame structure. The first mounting seat 311 is rotatably arranged on the base 1 around the first direction. For example, a rotating hole is provided on the first mounting seat 311, and a rotating shaft is provided on the base 1 corresponding to the rotating hole. The rotating shaft extends along the first direction and is rotatably arranged in the rotating hole through the rotating shaft to realize the rotation of the first mounting seat 311 relative to the base 1. At the same time, the first mounting seat 311 is connected to the hook mechanism 2, such as integrally formed connection or connection by bolts, etc., which is not limited here.

[0066] At the same time, the connecting arm assembly 312 is used to connect the first mounting seat 311 and the guiding structure 32. The connecting arm assembly 312 has a support arm structure. The support arm structure extends away from the first mounting seat 311, that is, extends in the direction of the cargo box 4, so as to connect the guiding structure 32 at one end of the connecting arm assembly 312 away from the first mounting seat 311, so that the guiding structure 32 can protrude a certain area from the hook 22 and can make the guiding structure 32 first abut against the side wall of the cargo box 4, and then further make the hook 22 enter the hook groove. That is to say, the connecting arm assembly 312 can adjust the position of the guiding structure 32 and the distance protruding from the hook 22, and the above-mentioned rotating shaft or clamping hole and other structures are provided on the connecting arm assembly 312 for installing structures such as the detection roller 321, the detection rod or the detection plate.

[0067] In one embodiment, as Figures 1 to 3 shown, the connecting arm assembly 312 includes a first connecting arm 3121, a connecting rod 3122 and two second connecting arms 3123. The first connecting arm 3121 is rotatably connected to the first mounting seat 311. The connecting rod 3122 is connected to the first mounting seat 311. The rod body of the connecting rod 3122 extends along a direction perpendicular to the rotation direction of the first mounting seat 311 relative to the base 1. Each second connecting arm 3123 is connected to one end of the connecting rod 3122. The two second connecting arms 3123 are symmetrically arranged on both sides of the hook 22, and the guiding structure is arranged on the two second connecting arms 3123.

[0068] In this embodiment, the first connecting arm 3121 is rotatably connected to the first mounting seat 311. For example, a rotating shaft is provided on the first mounting seat 311, and a rotating hole is provided on the first connecting arm 3121. The first connecting arm 3121 is rotatably connected to the first mounting seat 311 through the rotational cooperation of the rotating hole and the rotating shaft. The other end of the first connecting arm 3121 extends away from the first mounting seat 311 and is connected to the connecting rod 3122. The connecting rod 3122 is a rod-shaped structure, and the rod body of the connecting rod 3122 extends along the second direction, that is, along the direction perpendicular to the direction in which the first mounting seat 311 rotates relative to the base 1. At both ends of the connecting rod 3122 along the second direction, a second connecting arm 3123 is respectively connected, so that the two second connecting arms 3123 are symmetrically arranged on both sides of the hook 22 along the second direction.

[0069] It can be understood that the first connecting arm 3121 is used to connect the first mounting seat 311 and the connecting rod 3122. The first connecting arm 3121 is a bent arm structure, so that one end of the first connecting arm 3121 is rotatably connected to the first mounting seat 311, and the other end of the first connecting arm 3121 is connected to the connecting rod 3122. For example, a mounting hole 212 is provided on the first connecting arm 3121, and the connecting rod 3122 extends into the mounting hole 212 to realize the connection between the connecting rod 3122 and the first connecting arm 3121. The second connecting arm 3123 is also a bent arm structure. One end of it is connected to the end of the connecting rod 3122, and the other end is connected to the guiding structure 32, such as the detection roller 321 or the detection rod, etc.

[0070] It can be understood that by connecting the two second connecting arms 3123 through the connecting rod 3122 and by setting the two second connecting arms 3123, an avoidance space can be formed for the connecting arm assembly 312 of the guiding structure 32 to avoid the hook 22 located between the two second connecting arms 3123, so that when one of the second connecting arms 3123 on both sides contacts the side wall of the goods box 4 with the guiding structure 32, the accurate positioning of the hook 22 and the hook groove on the goods box 4 can be ensured.

[0071] In one embodiment, as Figure 1 and Figure 5 shown, the base 1 includes a base 11 and a support column 12. The support column 12 is provided on the base 11; the hook mechanism 2 is provided with a first rotating hole 211, and the detection mechanism 3 is provided with a second rotating hole 3111. The support column 12 passes through the first rotating hole 211 and the second rotating hole 3111, so that the hook mechanism 2 and the detection mechanism 3 rotate around the axis of the support column 12.

[0072] It can be understood that the base 11 is a structural support member of the base 1. The base 11 can be a seat body, a table body or a plate body structure. The base 1 further includes a vertical plate 13. The vertical plate 13 is arranged on the base 11 along the first direction. One end of the support column 12 is arranged on the base 11, and the other end of the support column 12 is connected to the vertical plate 13 along the first direction to support and fix the support column 12 through the vertical plate 13, ensuring that the support column 12 is stably arranged along the first direction. The cross-section of the support column 12 along the first direction is circular, that is, the support column 12 is a cylindrical structure. The hook mechanism 2 includes a hook hand 22 body and a hook hand 22 connected to the hook hand 22 body. The hook hand 22 body is provided with a first rotation hole 211, and the first mounting seat 311 of the detection mechanism 3 is provided with a second rotation hole 3111. The support column 12 passes through the first rotation hole 211 and the second rotation hole 3111 in sequence, so that the hook mechanism 2 and the detection mechanism 3 rotate around the axis of the support column 12.

[0073] At the same time, a limit ring is also arranged on the support column 12. The hook mechanism 2 is arranged below the support column 12 along the first direction, that is, below the limit ring, and the detection mechanism 3 is arranged above the support column 12 along the first direction, that is, above the limit ring, so as to limit the positions of the hook mechanism 2 and the detection mechanism 3 on the support column 12.

[0074] In one embodiment, as Figure 1 and Figure 4 shown, the hook mechanism 2 includes a second mounting seat 21, a baffle 24 and a hook hand 22. The second mounting seat 21 is provided with a first rotation hole 211. The second mounting seat 21 is rotationally connected to the support column 12 through the second rotation hole 3111. The second mounting seat 21 is connected to the first mounting seat 311. The baffle 24 is elastically connected to the second mounting seat 21. The baffle 24 is provided with an abutting surface 241. The hook hand 22 is connected to the baffle 24. Part of the hook hand 22 is arranged at an interval from the abutting surface 241. The hook hand 22 and the abutting surface 241 cooperate to hook the cargo box 4.

[0075] It can be understood that the second mounting seat 21 is the main structure of the hook mechanism 2, that is, the above-mentioned hook hand 22 body. The second mounting seat 21 is provided with the above-mentioned first rotation hole 211 to be rotationally connected to the support column 12 through the second rotation hole 3111 and make the hook mechanism 2 rotate relative to the support column 12. At the same time, the second mounting seat 21 is connected to the first mounting seat 311, so that when the guiding structure 32 abuts against the side wall of the cargo box 4 and generates uneven force, the first mounting seat 311 drives the second mounting seat 21 to rotate together, and the second mounting seat 21 drives the hook hand 22 to rotate together to realize the change of the position of the hook hand 22 and the correspondence with the hook groove position, improving the success rate and efficiency of the hook hand 22 grabbing the cargo box 4;

[0076] Meanwhile, the hook mechanism 2 further includes a baffle 24 which is elastically connected to the second mounting seat 21. Specifically, the hook mechanism 2 further includes a guide post 23 and an elastic member. The second mounting seat 21 is provided with a guide hole, and the axial direction of the guide hole is perpendicular to both the first direction and the second direction, that is, it extends along the direction perpendicular to the side wall of the cargo frame 4. One end of the guide post 23 is connected to the baffle 24, and the other end of the guide post 23 is slidably disposed in the guide hole, so that the baffle 24 can slide along the direction perpendicular to both the first direction and the second direction, that is, along the direction close to or away from the cargo frame 4. Meanwhile, the elastic member is sleeved on the outer wall of the guide post 23, and both ends of the elastic member respectively abut against the baffle 24 and the second mounting seat 21.

[0077] Based on the above embodiment, further, the baffle 24 is provided with an abutting surface 241 which is a plane and is perpendicular to the first direction. The hook 22 in the hook mechanism 2 is a hook claw structure with a bend. One end of the hook 22 is connected to the baffle 24, and the end of the hook 22 with the bend extends away from the baffle and is spaced apart from the abutting surface 241, so that a hooking space is formed between a part of the hook 22 and the abutting surface 241.

[0078] It can be understood that a hook groove is provided on the side of the cargo frame 4 facing the hook device 100. When the abutting surface 241 of the baffle 24 abuts against the side wall of the cargo frame 4, the hook 22 can extend into the hook groove, and a part of the side wall of the cargo frame 4 is located in the hooking space formed by the hook mechanism 2, so as to realize the adaptive cooperation between the hook mechanism 2 and the hook groove of the cargo frame 4. Thus, through the cooperation of the hook 22 and the baffle 24, it can be ensured that the hook 22 can quickly and accurately extend into the hook groove, thereby improving the accuracy of the hook mechanism 2 for hooking the cargo frame 4 and enhancing the hooking success rate and efficiency of the hook 22 and the cargo frame 4.

[0079] It can be understood that by providing the guide post 23 and the elastic member, when the hook 22 abuts against the side wall of the cargo frame 4, the hook 22 can be buffered by the sliding of the guide post 23 relative to the guide hole and the compression of the elastic member sleeved on the outer wall of the guide post 23, avoiding the hard contact between the hook 22 and the side wall of the cargo frame 4, and making the docking tolerance of the hook 22 which is rotatably arranged relative to the support column 12 of the base 1 with the hook groove of the cargo frame 4 better, reducing the requirement for the angle of the hook 22, improving the accuracy of the hook 22 for hooking, and enhancing the hooking success rate and efficiency of the hook 22 and the cargo frame 4.

[0080] In one embodiment, as Figures 1 to 3As shown, the detection mechanism 3 further includes a linkage rod 33, and the linkage rod 33 is connected to the first mounting seat 311; the second mounting seat 21 is provided with a mounting hole 212 corresponding to the linkage rod 33, and the linkage rod 33 extends into the mounting hole 212 so that the first mounting seat 311 is connected to the second mounting seat 21; optionally, the first mounting seat 311 and the second mounting seat 21 are slidably connected to the support column 12.

[0081] In this embodiment, one end of the linkage rod 33 is connected to the first mounting seat 311, the other end of the linkage rod 33 extends into the mounting hole 212 of the second mounting seat 21, and the extending direction of the rod body of the linkage rod 33 extends along the first direction, so that when the guiding structure 32 in the detection mechanism 3 abuts against the side wall of the cargo box 4 and drives the detection main body 31 to rotate around the support column 12 in the first direction relative to the base 1, the second mounting seat 21 can be driven to rotate together through the linkage rod 33, so as to drive the hook 22 connected to the second mounting seat 21 to rotate together, realizing the linkage between the guiding structure 32 and the hook 22, so as to improve the response speed between the guiding structure 32 and the hook 22, enable the hook 22 to quickly correspond to the hook groove of the cargo box 4, and improve the hooking accuracy of the hook 22.

[0082] The present invention also proposes a warehousing system, which includes a storage rack and the above-mentioned hook device 100. The storage rack is used to store a plurality of cargo boxes, and the hook device 100 is used to grab or release the cargo boxes in the storage rack. The specific structure of the hook device 100 refers to the foregoing embodiments. Since this warehousing system adopts all the technical solutions of all the foregoing embodiments, it at least has all the beneficial effects brought by the technical solutions of the foregoing embodiments, and will not be elaborated herein one by one.

[0083] The above is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structural transformation made under the technical concept of the present invention by using the content of the specification and drawings of the present invention, or directly / indirectly applied to other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A hook device for hooking a cargo frame, characterized in that, The hook device includes: A base; A hook mechanism, which is rotatably arranged on the base, and the hook mechanism is provided with a hook for hooking a cargo box; and A detection mechanism, which is rotatably arranged on the base, the detection mechanism is connected to the hook mechanism, the detection mechanism is provided with a detection end parallel to the side wall of the cargo box, and the detection end is at least distributed on both sides of the relative rotation direction of the hook with respect to the base; Wherein, part of the detection ends abut against the cargo box and cause the detection mechanism to rotate relative to the base, so as to synchronously drive the hook mechanism to rotate coaxially.

2. The hook device according to claim 1, characterized in that, The detection mechanism includes: A detection main body, which is rotatably arranged on the base and is connected to the hook mechanism, and the detection main body is provided with the detection end; A guiding structure, which is arranged at the detection end, and the guiding structure is configured to first abut against the side wall of the cargo box.

3. The hook device according to claim 2, characterized in that, The guiding structure includes two detection rollers, the detection rollers are movably arranged at the detection end, and the two detection rollers are arranged on both sides of the hook.

4. The hook device according to claim 2, wherein, The guiding structure includes a detection rod, and the extending direction of the rod body of the detection rod is perpendicular to the relative rotation direction of the detection main body with respect to the base; Or, the guiding structure includes a detection plate, and the plane where the plate surface of the detection plate is located is parallel to the relative rotation direction of the detection main body with respect to the base.

5. The hook device according to claim 2, characterized in that, The detection main body includes: A first mounting seat, which is rotatably arranged on the base and is connected to the hook mechanism; A connecting arm assembly, which is rotatably connected to the first mounting seat and extends away from the base to connect the guiding structure.

6. The hook device according to claim 5, characterized in that, The connecting arm assembly includes: A first connecting arm, which is rotatably connected to the first mounting seat; A connecting rod, which is connected to the first mounting seat, and the extending direction of the rod body of the connecting rod is arranged along the direction perpendicular to the relative rotation of the first mounting seat with respect to the base; and Two second connecting arms, each second connecting arm is connected to one end of the connecting rod, the two second connecting arms are symmetrically arranged on both sides of the hook, and the guiding structure is arranged on the two second connecting arms.

7. The hook device according to any one of claims 5 to 6, characterized in that, The base includes a base plate and a support column, and the support column is arranged on the base plate; The hook mechanism is provided with a first rotation hole, the detection mechanism is provided with a second rotation hole, and the support column passes through the first rotation hole and the second rotation hole, so that the hook mechanism and the detection mechanism rotate around the axis of the support column.

8. The hook device according to claim 7, characterized in that, The hook mechanism includes: A second mounting seat, which is provided with the first rotation hole, the second mounting seat is rotatably connected to the support column through the second rotation hole, and the second mounting seat is connected to the first mounting seat; A baffle plate, which is elastically connected to the second mounting seat, and the baffle plate is provided with an abutting surface; and The hook, which is connected to the baffle plate, part of the hook is spaced from the abutting surface, and the hook and the abutting surface cooperate to hook the cargo box.

9. The hook device according to claim 8, characterized in that, The detection mechanism further includes a linkage rod, and the linkage rod is connected to the first mounting seat; The second mounting seat is provided with a mounting hole corresponding to the linkage rod, and the linkage rod extends into the mounting hole so that the first mounting seat is connected to the second mounting seat; and / or, the first mounting seat and the second mounting seat are slidably connected to the support column.

10. A warehousing system, characterized in that, The storage system includes: a storage rack for storing a plurality of storage bins; a hook device according to any one of claims 1 to 9, the hook device being used for hooking or releasing the storage bin.

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