Goods taking and placing device and loading and unloading robot
By designing the conveying and gripping components to work in tandem, the problem of goods falling off the robotic arm was solved, achieving stable conveying and efficient loading and unloading of goods.
Patent Information
- Application Number
- CN202520288366.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-24
- Publication Date
- 2025-12-26
- Estimated Expiration
- 2035-02-24
AI Technical Summary
In existing robotic arms, goods are easily detached from the arms during handling, resulting in low handling efficiency.
A cargo handling device was designed, including a conveying component and a gripping component. The gripping component is driven to move by the conveying component, and the gripping component pulls the cargo onto the conveying component. The conveying component then reverses its rotation to transport the cargo to the target position, preventing the cargo from falling and improving the efficiency of cargo handling.
This effectively avoids the problem of goods falling off the robotic arm, improving the efficiency and stability of loading and unloading.
Smart Images
Figure CN223722126U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of logistics equipment, and particularly relates to a cargo taking and placing device and a loading and unloading robot. BACKGROUND
[0002] In the logistics industry, it is necessary to transport goods between warehouses and containers (for example, containers). In the traditional way, the transportation of goods is completed by manual labor, but manual transportation is high in cost and low in efficiency. With the continuous development of automatic equipment, some automatic loading and unloading equipment is gradually applied to the loading and unloading of goods in the logistics industry, which reduces the labor cost.
[0003] In the related art, the automatic loading and unloading equipment includes a mechanical hand for loading and unloading goods and a conveying line for conveying goods, the mechanical hand pulls the goods from a stacked goods pile and places the goods on the conveying line, and the conveying line conveys the goods to a designated position.
[0004] However, when the mechanical hand in the prior art transports goods, the goods are prone to fall off the mechanical hand. Utility model content
[0005] The present application provides a cargo taking and placing device and a loading and unloading robot to improve the loading and unloading efficiency of goods. In a first aspect, the present application provides a cargo taking and placing device, comprising:
[0006] a conveying assembly;
[0007] a grabbing assembly arranged on the conveying assembly, the conveying assembly driving the grabbing assembly to move, the grabbing assembly being configured to pull the goods onto the conveying assembly, and the conveying assembly and the grabbing assembly together transferring the goods to a target position.
[0008] In a feasible implementation, the conveying assembly is provided with one, and the grabbing assembly is provided with at least one group, the grabbing assembly being arranged on the conveying assembly;
[0009] When the grabbing assembly is provided with multiple groups, the multiple grabbing assemblies are sequentially arranged on the conveying assembly along the width direction of the conveying assembly, and the multiple grabbing assemblies simultaneously or respectively act to pull the goods.
[0010] In a feasible implementation, the cargo taking and placing device further comprises a fixing frame, the conveying assembly has multiple, the multiple conveying assemblies are sequentially arranged on the fixing frame along the width direction of the fixing frame, and all the conveying assemblies are driven by a same driving motor or are respectively driven by corresponding driving motors.
[0011] In a feasible implementation, the grabbing assembly is provided with multiple groups, the multiple groups of grabbing assemblies are respectively arranged on the conveying assembly, and the conveying assembly drives the grabbing assemblies to approach and move away from the goods to be grabbed.
[0012] In an implementation, the grabbing assembly is provided with a plurality of groups, and the groups of grabbing assemblies are respectively arranged between two adjacent conveying assemblies, the grabbing assembly is connected with the adjacent conveying assembly, and the grabbing assembly is driven by the adjacent conveying assembly to approach and move away from the to-be-grabbed goods.
[0013] In an implementation, the conveying assembly comprises a frame, a flexible conveying member, and a driving motor, the driving motor is arranged on the frame, the flexible conveying member is arranged around the frame, the driving motor drives the flexible conveying member to rotate, and the grabbing assembly is connected with the flexible conveying member.
[0014] In an implementation, the grabbing assembly comprises a goods grabbing part and a sliding seat.
[0015] The sliding seat is slidingly connected with the frame, the sliding seat is connected with the flexible conveying member, the goods grabbing part is arranged on the sliding seat, and the goods grabbing part is used for grabbing goods.
[0016] In an implementation, the goods grabbing part comprises a support and a suction part, the support is arranged on the sliding seat, and the suction part is arranged on the support and used for sucking goods.
[0017] In an implementation, the goods grabbing part comprises a linear driving component, a hinged seat, a linkage assembly, and a suction part, the hinged seat is arranged on the sliding seat, one end of the linkage assembly is hinged to the hinged seat, the other end of the linkage assembly is hinged to the suction part, the linear driving component is arranged on the sliding seat, a moving end of the linear driving component is connected with a hinged point of the linkage assembly, and the linear driving component adjusts the position of the suction part through the linkage assembly.
[0018] In an implementation, the suction part comprises a fixing seat and a suction disc, the fixing seat is hinged to the linkage assembly, and the suction disc is arranged on the fixing seat and used for sucking goods.
[0019] In a second aspect, the embodiments of the present application further provide a loading and unloading robot, comprising the goods taking and placing device of the first aspect.
[0020] In a first aspect, the embodiments of the present application provide a goods taking and placing device, comprising a conveying assembly and a grabbing assembly. The grabbing assembly is arranged on the conveying assembly, the conveying assembly drives the grabbing assembly to move, and the grabbing assembly pulls the goods to the conveying assembly. When the conveying assembly and the grabbing assembly move above a conveying line, the conveying assembly reversely operates to convey the goods to a target position. The goods grabbing assembly pulls the goods to the conveying assembly, and the conveying assembly can lift the goods, thereby avoiding the problem of goods falling due to the goods being too heavy or the grabbing assembly not pulling the goods firmly in the prior art, and improving the goods taking and placing efficiency.
[0021] In a second aspect, the embodiments of the present application further provide a loading and unloading robot, which comprises the goods taking and placing device of the first aspect to load and unload the goods. Since the loading and unloading robot comprises the goods taking and placing device in any of the above solutions, it has all the beneficial effects of the goods taking and placing device in any of the above solutions, which will not be described here again. BRIEF DESCRIPTION OF DRAWINGS
[0022] The accompanying drawings, which are included to provide a further understanding of the present application and are incorporated in and constitute a part of this application, illustrate embodiments of the present application and serve to explain the principles of the present application, and, wherein:
[0023] In the drawings:
[0024] Figure 1 is a schematic diagram of the overall structure of the goods taking and placing device provided by an embodiment of the present application;
[0025] Figure 2 is a first state schematic diagram of the goods taking and placing device in Figure 1
[0026] Figure 3 is a second state schematic diagram of the goods taking and placing device in Figure 1
[0027] Figure 4 is a schematic diagram of the structure of the goods taking and placing device provided by another embodiment of the present application.
[0028] Explanation of reference signs:
[0029] 100-conveying assembly; 200-grasping assembly; 300-fixing frame;
[0030] 110-frame body; 120-flexible conveying member; 130-driving motor; 210-goods grasping part; 220-sliding seat;
[0031] 211-bracket; 212-suction part; 213-linear driving part; 214-hinge seat; 215-linkage assembly;
[0032] 2121-fixing seat; 2122-suction disc.DETAILED DESCRIPTION
[0033] In order to enable persons skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by persons skilled in the art without creative labor should fall within the protection scope of the present application.
[0034] In the description of the embodiments of the present application, the terms "first", "second" are only used for descriptive purpose and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first" and "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise explicitly specified.
[0035] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and other terms should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integrated; it can be mechanical connection; it can be direct connection or indirect connection through intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.
[0036] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium. Moreover, the first feature "above", "over" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "under" and "under" the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.
[0037] In the logistics industry, it is necessary to transport goods between warehouses and containers (such as containers). In the traditional way, the transportation of goods is completed by manual labor, but manual transportation is high in cost and low in efficiency. With the continuous development of automatic equipment, some automatic loading and unloading equipment has been gradually applied to the loading and unloading of goods in the logistics industry, which reduces the labor cost.
[0038] In the related art, the automatic loading and unloading equipment includes a mechanical hand for loading and unloading goods and a conveying line for conveying goods, the mechanical hand pulls the goods from the stacked goods pile and places them on the conveying line, and the conveying line conveys the goods to the designated position.
[0039] However, when the mechanical hand in the prior art transports the goods, the goods are prone to fall off the mechanical hand.
[0040] In order to solve the above problems, the present application provides a goods taking and placing device and a loading and unloading vehicle, which will be described in detail below in conjunction with the drawings of the specification.
[0041] Figure 1 is a schematic diagram of the overall structure of a goods taking and placing device provided by an embodiment of the present application.
[0042] Referring to Figure 1 , an exemplary first aspect, the embodiment of the present application provides a goods taking and placing device, which comprises a conveying assembly 100 and a grabbing assembly 200. Wherein, the grabbing assembly 200 is arranged on the conveying assembly 100, the conveying assembly 100 drives the grabbing assembly 200 to move, and the grabbing assembly 200 pulls the goods onto the conveying assembly 100. When the conveying assembly 100 and the grabbing assembly 200 move above the conveying line, the conveying assembly 100 reverses to convey the goods to the target position, such as the conveying line. The goods grabbing assembly 200 pulls the goods onto the conveying assembly 100, and the conveying assembly 100 can lift the goods, avoiding the problem of goods falling due to the goods being too heavy or the grabbing assembly 200 not pulling the goods firmly in the prior art, and improving the goods taking and placing efficiency.
[0043] The goods taking and placing device is arranged at the end of the mechanical hand. When taking and placing goods from the container, the mechanical hand is inserted into the container, the conveying assembly 100 rotates clockwise, and drives the grabbing assembly 200 to move towards the end of the conveying assembly 100 until the grabbing assembly 200 contacts the goods. Then, the conveying assembly 100 reverses to rotate counterclockwise, and drives the grabbing assembly 200 to move reversely. The goods move onto the conveying assembly 100 under the joint action of the pulling of the grabbing assembly 200 and the driving of the conveying assembly 100. Then, the end of the mechanical hand moves to the target position (such as the designated conveying line), the grabbing assembly 200 disconnects from the goods, the conveying assembly 100 rotates clockwise again, and the goods move towards the end of the conveying assembly 100 under the driving of the conveying assembly 100 and the pushing of the grabbing assembly 200, until the goods are separated and fall to the designated position.
[0044] Exemplarily, the conveying assembly 100 can be a conveying belt assembly or a conveying chain assembly. The grabbing assembly 200 can be a suction cup suction assembly or other structure assembly, which can grab or pull the goods to move.
[0045] Exemplarily, the conveying assembly 100 can be provided with one, the grabbing assembly 200 is provided with at least one, the grabbing assembly 200 is arranged on the conveying assembly 100, and the conveying assembly 100 drives all the grabbing assemblies to move.
[0046] When the grabbing assembly 200 is provided with multiple, the multiple grabbing assemblies 200 are sequentially arranged on the conveying assembly 100 along the width direction of the conveying assembly 100, and the multiple grabbing assemblies 200 simultaneously or respectively act to pull the goods.
[0047] In some examples, the plurality of grabbing assemblies 200 are arranged along the width direction of the conveying assembly 100, and the plurality of grabbing assemblies 200 pull the goods at the same time, so as to ensure that the goods can be pulled to the conveying assembly 100. In the examples, the width of the conveying assembly 100 is large, and the conveying assembly 100 is provided with the plurality of grabbing assemblies 200. The conveying assembly 100 drives all the grabbing assemblies 200 to move at the same time.
[0048] In some other examples, the plurality of grabbing assemblies 300 are arranged between the adjacent conveying assemblies 100, and the grabbing assemblies 300 are connected with the adjacent conveying assemblies 100, so that the adjacent conveying assemblies 100 drive the grabbing assemblies 300 to move close to or away from the goods.
[0049] Referring to Figure 1 In some examples, the goods taking and placing device is provided with the plurality of conveying assemblies 100 and the plurality of grabbing assemblies 200, and the grabbing assemblies 200 are arranged one by one with the conveying assemblies 100, and each conveying assembly 100 can drive the corresponding grabbing assembly 200 to move.
[0050] The plurality of conveying assemblies 100 are arranged along the width direction of the fixing frame 300 and are fixed to the fixing frame 300, and the fixing frame 300 is fixed to the end of the mechanical arm. It can be understood that, since each grabbing assembly 200 can move flexibly, the appropriate grabbing assembly 200 can be selected according to the size and the storage position of the goods, so that the goods can be taken and placed more flexibly, quickly and efficiently. It should be noted that, the width direction of the fixing frame 300 can be indicated by the y direction of Figure 1 .
[0051] Figure 2 is a first state diagram of the goods taking and placing device in Figure 1 . Figure 3 is a second state diagram of the goods taking and placing device in Figure 1 .
[0052] Referring to Figure 2 and Figure 3As shown, the conveying assembly 100 comprises a frame 110, a flexible conveying member 120 and a driving motor 130. The driving motor 130 is arranged on the frame 110, the flexible conveying member 120 is arranged around the frame 110, and the driving motor 130 drives the flexible conveying member 120 to rotate. It should be noted that the frame 110 is provided with turning shafts at both ends, the flexible conveying member 120 is arranged on the turning shafts in a matched manner, and the driving motor 130 is connected to the turning shafts through a transmission member, so that the driving motor 130 drives the flexible conveying member 120 to rotate. For example, the flexible conveying member 120 can be a conveying belt or a conveying chain. The driving motor 130 can be a servo motor, which can be connected to the turning shafts at the ends of the frame 110 through a transmission chain.
[0053] For example, the grabbing assembly 200 is arranged on the frame 110 through sliding of a guide rail, and the grabbing assembly 200 is connected to the flexible conveying member 120. The driving motor 130 drives the flexible conveying member 120 to rotate, and the flexible conveying member 120 drives the grabbing assembly 200 to move along the length direction of the frame 110. It should be noted that the length direction of the frame 110 can be indicated by the x direction in FIG. 1. Figure 1
[0054] For example, as shown in FIG. 2, the grabbing assembly 200 comprises a cargo grabbing part 210 and a sliding seat 220. The sliding seat 220 is arranged on the frame 110 through sliding of a guide rail, and the sliding seat 220 is connected to the flexible conveying member 120. The cargo grabbing part 210 is arranged on the sliding seat 220, and the flexible conveying member 120 drives the cargo grabbing part 210 to move along the frame 110. The cargo grabbing part 210 is used to pull the cargo. For example, the cargo grabbing part 210 can be arranged as a suction cup grabbing assembly, or can be arranged as a mechanical hand grabbing assembly.
[0055] Figure 4 FIG. 3 is a structural schematic diagram of a cargo taking and placing device provided by another embodiment of the present application.
[0056] Referring to FIG. 1, Figure 4 In some examples, the cargo grabbing part 210 comprises a support 211 and a suction part 212. The support 211 is arranged on the sliding seat 220, and the suction part 212 is arranged on the support 211 and used to suck the cargo. The support 211 is in an L shape, the upper end of the support 211 is away from the sliding seat 220 by a certain distance, and the suction part 212 is arranged at the upper end of the support 211. For example, the distance between the suction part 212 and the sliding seat 220 can be 1 / 2 of the height of the cargo, so that the suction part 212 can be sucked to the vicinity of the center of the cargo, and the cargo can be stably moved in the process of being pulled by the suction part 212. In some other examples, the height of the support 211 can be adjusted, so that the height can be adjusted according to the cargo of different volumes, and the suction part 212 can be sucked to the vicinity of the center of the cargo.
[0057] As Figure 2 and Figure 3 shown, in some other examples, the cargo grabbing part 210 includes a linear driving part 213, a hinged seat 214, a connecting rod assembly and a suction part 212. The hinged seat 214 is arranged on the sliding seat 220, one end of the connecting rod assembly is hinged to the hinged seat 214, the other end is hinged to the suction part 212, the linear driving part 213 is arranged on the sliding seat 220, the moving end of the linear driving part 213 is connected to the hinged point of the connecting rod assembly, and the linear driving part 213 adjusts the position of the suction part 212 through the connecting rod assembly. For example, the connecting rod assembly can be configured as a four-bar linkage, one end of the four-bar linkage is connected to the suction part 212, the other end is connected to the hinged seat 214, and the action end of the linear driving part 213 is connected to another hinged point of the four-bar linkage.
[0058] As Figure 3 shown, when the action end of the linear driving part 213 extends, the suction part 212 moves downward under the action of the four-bar linkage, and when the action end of the linear driving part 213 retracts, the suction part 212 moves upward under the action of the four-bar linkage, as Figure 2 shown. That is, the lifting of the suction part 212 can be controlled by the extension and retraction of the action end of the linear driving part 213 to adapt to cargo of different sizes. As Figure 2 and Figure 3 shown, for example, the suction part 212 includes a fixed seat 2121 and a suction cup 2122, the fixed seat 2121 is hinged to the connecting rod assembly, and the suction cup 2122 is arranged on the fixed seat 2121. The suction cup 2122 is connected to an external vacuum assembly (this is prior art and not shown in the figure), and the suction cup 2122 is used to suck the cargo. In order to ensure that the cargo can be moved stably, a plurality of suction cups 2122 can be arranged on the fixed seat 2121, and the plurality of suction cups 2122 are evenly distributed on the fixed seat 2121.
[0059] In addition, it should be noted that the linear driving part 213 can be a cylinder, a hydraulic cylinder, an electric cylinder, etc. This is prior art and will not be described one by one.
[0060] It is easy to understand that those skilled in the art can combine, split, recombine, etc. the embodiments of the present application on the basis of the several embodiments provided by the present application to obtain other embodiments, and these embodiments do not exceed the protection scope of the present application.
[0061] The above detailed description of the embodiments of the present application is merely intended to provide a further detailed description of the purpose, technical solutions and beneficial effects of the embodiments of the present application. It should be understood that the above is only a specific implementation of the embodiments of the present application, and is not used to limit the protection scope of the embodiments of the present application. Any modification, equivalent replacement, improvement, etc. made on the basis of the technical solutions of the embodiments of the present application shall be included in the protection scope of the embodiments of the present application.
Claims
1. A cargo loading and unloading apparatus characterized by comprising: The application relates to a goods taking and placing device. The device comprises a conveying assembly (100) and a grabbing assembly (200) arranged on the conveying assembly (100), the conveying assembly (100) drives the grabbing assembly (200) to move, the grabbing assembly (200) is used for pulling goods to the conveying assembly (100), and the conveying assembly (100) and the grabbing assembly (200) jointly transfer the goods to a target position. The conveying assembly (100) is provided with one, and the grabbing assembly (200) is provided with at least one.
2. The goods loading and unloading apparatus according to claim 1, characterized by When the grabbing assembly (200) is provided with multiple, the multiple grabbing assemblies (200) are sequentially arranged on the conveying assembly (100) along the width direction of the conveying assembly (100), and the multiple grabbing assemblies (200) simultaneously or respectively act to pull the goods. The device further comprises a fixing frame (300), the conveying assembly (100) is provided with multiple, the multiple conveying assemblies (100) are sequentially arranged on the fixing frame (300) along the width direction of the fixing frame (300), all the conveying assemblies (100) are driven by a same driving motor or are respectively driven by corresponding driving motors.
3. The goods loading and unloading apparatus according to claim 1, characterized by The grabbing assembly (300) is provided with multiple, the multiple grabbing assemblies (300) are respectively arranged on corresponding conveying assemblies (100), and each conveying assembly (100) drives the corresponding grabbing assembly (300) to approach or move away from the goods to be grabbed.
4. The goods loading and unloading apparatus according to claim 3, characterized by: The grabbing assembly (300) is provided with multiple, the multiple grabbing assemblies (300) are respectively arranged between adjacent two conveying assemblies (100), the grabbing assembly (300) is connected with the adjacent conveying assembly (100), and the grabbing assembly (300) is driven by the adjacent conveying assembly (100) to approach or move away from the goods to be grabbed.
5. The goods loading and unloading apparatus according to claim 3, characterized by: The conveying assembly (100) comprises a frame body (110), a flexible conveying member (120) and a driving motor (130), the driving motor (130) is arranged on the frame body (110), the flexible conveying member (120) is arranged around the frame body (110), the driving motor (130) drives the flexible conveying member (120) to rotate, and the grabbing assembly (200) is connected with the flexible conveying member (120).
6. The goods loading and unloading apparatus according to any one of claims 3 to 5, characterized by, The grabbing assembly (200) comprises a goods grabbing part (210) and a sliding base (220).
7. The goods loading and unloading apparatus according to claim 6, characterized by The sliding base (220) is slidingly connected with the frame body (110), the sliding base (220) is connected with the flexible conveying member (120), the goods grabbing part (210) is arranged on the sliding base (220), and the goods grabbing part (210) is used for grabbing the goods. The goods grabbing part (210) comprises a support (211) and an adsorbing part (212), the support (211) is arranged on the sliding base (220), and the adsorbing part (212) is arranged on the support (211).
8. The goods loading and unloading apparatus according to claim 7, characterized by 9. The goods loading and unloading apparatus according to claim 7, wherein The cargo grabbing part (210) comprises a linear driving part (213), a hinged seat (214), a connecting rod assembly (215) and a suction part (212), the hinged seat (214) is arranged on the sliding seat (220), one end of the connecting rod assembly (215) is hinged with the hinged seat (214), the other end is hinged with the suction part (212), the linear driving part (213) is arranged on the sliding seat (220), the moving end of the linear driving part (213) is connected with the hinged point of the connecting rod assembly (215), and the linear driving part (213) adjusts the position of the suction part (212) through the connecting rod assembly (215).
10. The goods loading and unloading apparatus according to claim 9, characterized by The suction part (212) comprises a fixed seat (2121) and a suction disc (2122), the fixed seat (2121) is hinged with the connecting rod assembly (215), and the suction disc (2122) is arranged on the fixed seat (2121), and the suction disc (2122) is used for sucking the cargo.
11. A straddle loader robot characterized by, The cargo taking and placing device comprises the cargo taking and placing device according to any one of claims 1-10.