Finger mechanism, pallet fork and robot

Abstract

The utility model provides a finger mechanism, a pallet fork and a robot, and belongs to the technical field of warehouse logistics. The finger mechanism comprises a driving assembly; a transmission structure; the finger assembly is in transmission connection with the driving assembly through a transmission structure, so that the driving assembly drives the finger assembly to rotate; the transmission structure is configured to disconnect the driving assembly and the finger assembly when the driving force of the driving assembly is larger than or equal to the preset force. When the finger assembly is blocked due to the fact that the finger assembly is blocked by a material box or other structures, or the finger assembly is overloaded, the finger assembly and the driving assembly can be disconnected, and the damage probability of the finger mechanism is reduced.

Description

TECHNICAL FIELD

[0001] The application relates to the warehouse logistics technical field, in particular to a finger mechanism, a fork and a robot. BACKGROUND

[0002] The logistics robot can take and place the material box through the telescopic fork.

[0003] The fork of the logistics robot comprises a fork body and a finger mechanism arranged on the fork body. The finger mechanism comprises a motor, a transmission shaft and a finger rod. The motor drives the finger rod to rotate through the transmission shaft to switch between a vertical position and a horizontal position. When the finger rod is in the horizontal position, the material box can be pushed and pulled.

[0004] However, when the existing robot fork pushes and pulls the material box, if the finger mechanism is blocked or overloaded, the finger mechanism is prone to be damaged. UTILITY MODEL CONTENT

[0005] The application provides a finger mechanism, a fork and a robot to solve the problem that the existing finger mechanism is prone to be damaged when pushing and pulling the material box.

[0006] In a first aspect, the application provides a finger mechanism, comprising: a driving assembly; a transmission structure; a finger assembly, the finger assembly being drivingly connected to the driving assembly through the transmission structure, so that the driving assembly drives the finger assembly to rotate; the transmission structure is configured to disconnect the driving assembly and the finger assembly when the driving force of the driving assembly on the finger assembly is greater than or equal to a preset force.

[0007] In a possible implementation, the finger mechanism provided by the application comprises: a driven shaft assembly, the driven shaft assembly comprising a driven shaft, the driven shaft being connected to the finger assembly, the driven shaft having a first matching part; a driving shaft assembly, the driving shaft assembly comprising a driving shaft, the driving shaft being connected to the driving assembly, the driving shaft having a second matching part, the second matching part being adaptively connected to the first matching part; the first matching part is configured to be disconnected from the second matching part when the driving force of the driving assembly is greater than or equal to the preset force.

[0008] In a possible implementation, the finger mechanism provided by the application, one of the first matching part and the second matching part is provided with a wedge-shaped groove, and the other is provided with a wedge-shaped protrusion adaptively matched with the wedge-shaped groove, the wedge-shaped groove and the wedge-shaped protrusion both have inclined surfaces, and the wedge-shaped groove and the wedge-shaped protrusion are mutually embedded through the inclined surfaces; the first matching part is configured to move away from the second matching part or rotate relative to the second matching part to drive the wedge-shaped groove and the wedge-shaped protrusion to disengage from each other when the driving force of the driving assembly is greater than or equal to the preset force.

[0009] In a possible implementation, the finger mechanism provided by the present application, the driven shaft assembly further comprises a reset member, the reset member abuts against the driven shaft; the reset member is configured to drive the driven shaft to connect with the driving shaft when the driving force of the driving assembly on the driven shaft is less than a preset force.

[0010] In a possible implementation, the finger mechanism provided by the present application, the reset member is an elastic member.

[0011] In a possible implementation, the finger mechanism provided by the present application, the driven shaft further has a first shaft body, the first shaft body is provided with a connecting portion, the connecting portion and the first matching portion are respectively arranged on opposite sides of the first shaft body, the finger assembly is provided with a connecting hole, and the connecting portion is connected with the connecting hole; the driving shaft further has a second shaft body, the second shaft body is arranged on a side of the second matching portion away from the first matching portion and connected with the driving assembly.

[0012] In a possible implementation, the finger mechanism provided by the present application, the connecting portion is provided with a rotation-stopping surface, and the rotation-stopping surface rotationally cooperates with the connecting hole.

[0013] In a possible implementation, the finger mechanism provided by the present application, the driven shaft assembly further comprises a driven shaft seat, the driven shaft seat is connected with the driving assembly; the driven shaft is rotationally arranged in the driven shaft seat and slidably connected with the driven shaft seat, and the driven shaft slides away from the driving shaft to be disconnected with the driving shaft.

[0014] In a possible implementation, the finger mechanism provided by the present application, the driven shaft assembly further comprises a first bearing, a shaft hole is formed in the driven shaft seat, the first bearing is arranged in the shaft hole, and the driven shaft is slidably inserted into the first bearing and rotationally connected with the first bearing.

[0015] In a possible implementation, the finger mechanism provided by the present application, the driving shaft assembly further comprises: a second bearing, the second bearing is arranged in the driving assembly, and the driving shaft is inserted into the second bearing; and a clamping member, the clamping member is clamped on the second bearing.

[0016] In a possible implementation, the finger mechanism provided by the present application further comprises a control and detection assembly, the control and detection assembly is electrically connected with the driving assembly to detect whether the driving assembly and the finger assembly are disconnected; the control and detection assembly is configured to control the driving assembly to stop running and send an alarm prompt when the driving assembly and the finger assembly are disconnected.

[0017] In a possible implementation, the finger mechanism provided by the present application, the control detection assembly comprises a detection piece arranged between the driving shaft assembly and the driven shaft assembly to detect whether the driving shaft assembly and the driven shaft assembly are disconnected; and a controller, the driving assembly and the detection piece are electrically connected to the controller, and the controller is configured to control the driving assembly to stop running and send an alarm prompt when the driving shaft assembly and the driven shaft assembly are disconnected.

[0018] In a possible implementation, the finger mechanism provided by the present application, the control detection assembly further comprises an encoder, the controller and the driving assembly are electrically connected to the encoder, and the encoder is configured to detect the running current of the driving assembly, and the controller is further configured to control the driving assembly to stop running and send an alarm prompt when the running current is greater than a preset current.

[0019] In a possible implementation, the finger mechanism provided by the present application, the finger assembly comprises a finger rod connected to the transmission structure, and the finger rod extends radially towards the transmission structure to push and pull the container; and a fastener fastening the finger rod and the transmission structure.

[0020] In a possible implementation, the finger mechanism provided by the present application, the finger assembly comprises a finger rod connected to the transmission structure, and the finger rod extends radially towards the transmission structure to push and pull the container; and a fastener fastening the finger rod and the transmission structure.

[0021] In a possible implementation, the finger mechanism provided by the present application, the finger assembly comprises a finger rod connected to the transmission structure, and the finger rod extends radially towards the transmission structure to push and pull the container; and a fastener fastening the finger rod and the transmission structure.

[0022] The finger mechanism, the fork and the robot provided by the present application, the transmission structure is arranged between the finger assembly and the driving assembly, the driving assembly is connected to the finger assembly through the transmission structure to drive the rotation of the finger assembly, if the driving force of the driving assembly on the finger assembly is greater than a preset force, the transmission structure will disconnect the connection between the driving assembly and the finger assembly. Furthermore, if the finger assembly is stuck during the rotation of the finger assembly, the finger assembly and the driving assembly can be disconnected to avoid the damage of the driving assembly caused by the excessive running current, or if the container is overloaded during the pushing and pulling of the container by the finger mechanism, the finger assembly and the driving assembly can also be disconnected to buffer the finger assembly and avoid the damage of the finger assembly, so as to improve the safety performance of the finger mechanism and reduce the damage probability of the finger mechanism. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained based on these drawings without creative labor.

[0024] Figure 1 The structural schematic diagram of the finger mechanism provided in the embodiments of the present application is shown in FIG. 1.

[0025] Figure 2 The use state diagram of the finger mechanism in the embodiments of the present application is shown in FIG. 2. Figure 1

[0026] The exploded view of the finger mechanism in the embodiments of the present application is shown in FIG. 3. Figure 3 Figure 1 The exploded view of the driven shaft assembly of the finger mechanism in the embodiments of the present application is shown in FIG. 4.

[0027] Figure 4 Figure 3 The exploded view of the driving shaft assembly of the finger mechanism in the embodiments of the present application is shown in FIG. 5.

[0028] Figure 5 The exploded view of the driving assembly, the control detection assembly and the shell of the finger mechanism in the embodiments of the present application is shown in FIG. 6. Figure 3

[0029] The exploded view of the finger assembly of the finger mechanism in the embodiments of the present application is shown in FIG. 7. Figure 6 Figure 3 The matching schematic diagram of the driving shaft and the driven shaft in the embodiments of the present application is shown in FIG. 8.

[0030] Figure 7 Figure 3 The structural schematic diagram of the first matching part of the driven shaft in the embodiments of the present application is shown in FIG. 9.

[0031] Figure 8 The structural schematic diagram of the second matching part of the driving shaft in the embodiments of the present application is shown in FIG. 10. Figure 3

[0032] The A-A sectional view of the finger mechanism in the embodiments of the present application is shown in FIG. 11. Figure 9 Figure 8 The A-A sectional view of the finger mechanism in the embodiments of the present application is shown in FIG. 12.

[0033] Figure 10 Figure 8 The A-A sectional view of the finger mechanism in the embodiments of the present application is shown in FIG. 13.

[0034] Figure 11 The A-A sectional view of the finger mechanism in the embodiments of the present application is shown in FIG. 14. Figure 2 Figure 1

[0035] Figure 12 The A-A sectional view of the finger mechanism in the embodiments of the present application is shown in FIG. 15. Figure 2 Figure 2

[0036] ​​​​​​​​​​Figure 13 Force diagram of the wedge-shaped protrusion and the wedge-shaped groove;

[0037] Figure 14 Structure diagram of the fork provided by the embodiment of the application.

[0038] Legend of reference signs:

[0039] 10 - finger mechanism;

[0040] 100 - driving assembly;

[0041] 110 - driving member; 120 - motor base;

[0042] 200 - transmission structure;

[0043] 210 - driving shaft assembly; 211 - driving shaft; 2111 - second shaft body; 2112 - second matching part; 2113 - wedge-shaped groove; 212 - second bearing; 213 - clamping stopper;

[0044] 220 - driven shaft assembly; 221 - driven shaft base; 2211 - shaft hole; 222 - driven shaft; 2221 - first shaft body; 2222 - first matching part; 2223 - wedge-shaped protrusion; 2224 - connecting part; 2225 - rotation-stopping surface; 223 - reset member; 224 - first bearing;

[0045] 300 - finger assembly;

[0046] 310 - finger rod; 311 - connecting hole; 320 - fastener; 330 - gasket;

[0047] 400 - control and detection assembly;

[0048] 410 - detection member; 420 - controller; 430 - encoder;

[0049] 500 - housing;

[0050] 510 - housing body; 520 - housing cover; 530 - fixing assembly;

[0051] 20 - fork. DETAILED DESCRIPTION

[0052] In order to make the objects, technical solutions and advantages of the present application clearer, the following will be combined with the accompanying drawings for the preferred embodiments of the present application to make the technical solutions in the embodiments of the present application more clearly and in more detail. In the drawings, the same or similar notations represent the same or similar components or components with the same or similar functions throughout. The described embodiments are part of the embodiments of the present application, rather than all the embodiments. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application. The embodiments of the present application will be described in detail below with reference to the drawings.

[0053] In the description of the present application, it should be noted that unless specifically defined and limited, the terms "mount", "connect", "connection" should be interpreted in a broad sense and can be used interchangeably. For example, "connection" can be direct connection or indirect connection through an intermediate medium; it can be fixed connection or sliding connection. 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.

[0054] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the drawings, and are only used to facilitate the description of the present application and simplify the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be configured and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0055] The terms "first", "second", "third" in the specification and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0056] In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or display including a series of steps or modules, and is not limited to those clearly listed, but can include other steps or modules not clearly listed or inherent to the process, method, product or display.

[0057] As described in the background, the fork of the logistics robot includes a fork body and a finger mechanism arranged on the fork body. The finger mechanism includes a motor, a transmission shaft and a finger rod, the motor drives the finger rod to rotate through the transmission shaft to switch between the vertical position and the horizontal position. When the finger rod is in the horizontal position, the material box can be pushed and pulled.

[0058] The finger mechanism pushes and pulls the material box, and needs to be moved to the side of the material box first, and the finger rod is rotated relative to the material box. During the rotation of the finger rod, the finger rod may interfere or collide with the side of the material box or the shelf, so that the motor continuously outputs torque and the finger rod does not rotate, causing the motor to stall, the running current to overload and damage, and the finger rod to be deformed and broken.

[0059] When the finger rod is rotated and the material box is grabbed to move the material box, if the weight of the material box is too large to cause overload, the finger rod will be deformed or even broken due to excessive force, and the finger rod may also be deformed or broken due to a large impact force when the finger rod contacts the material box, or the material box may be damaged.

[0060] Therefore, if the finger mechanism of the existing robot fork is stalled or overloaded when pushing and pulling the material box, the finger mechanism is easily damaged.

[0061] In order to overcome the defects in the prior art, the finger mechanism, the fork and the robot are provided. The finger mechanism is connected with the driving assembly through the transmission structure between the finger assembly and the driving assembly, so that the driving assembly drives the rotation of the finger assembly. If the driving force of the driving assembly on the finger assembly is greater than the preset force, the transmission structure will disconnect the connection between the driving assembly and the finger assembly. Further, if the finger assembly is stalled due to being stuck by the material box or other structures during the rotation of the finger assembly, the connection between the finger assembly and the driving assembly is disconnected, so as to avoid damage of the driving assembly due to excessive running current, or if the material box is overloaded to cause the collision between the finger mechanism and the material box during the movement of the material box driven by the finger mechanism, the connection between the finger assembly and the driving assembly is also disconnected, so that the finger assembly can buffer the impact force between the finger assembly and the material box, and the finger assembly is prevented from being damaged. In this way, the safety performance of the finger mechanism is improved, and the damage probability of the finger mechanism is reduced.

[0062] The content of the present application will be described in detail below with reference to the drawings, so that those skilled in the art can more clearly and detailedly understand the content of the present application.

[0063] Referring to Figures 1 to 3 , and Figure 14As shown, the present application provides a finger mechanism 10, comprising: a driving assembly 100; a transmission structure 200; a finger assembly 300, the finger assembly 300 is drivingly connected with the driving assembly 100 through the transmission structure 200, so that the driving assembly 100 drives the finger assembly 300 to rotate; the transmission structure 200 is configured to disconnect the driving assembly 100 and the finger assembly 300 when the driving force of the finger assembly 300 driven by the driving assembly 100 is greater than or equal to a preset force.

[0064] Wherein, the finger mechanism 10 can be arranged on the fork 20, and the fork 20 can be arranged on a robot, and the robot is a logistics robot for carrying a container.

[0065] The finger mechanism 10 comprises a driving assembly 100, a transmission structure 200 and a finger assembly 300. Wherein, the driving assembly 100 can be connected with a preset mounting position on the fork 20, so as to provide mounting support for the finger mechanism 10. The output end of the driving assembly 100 is connected with the transmission structure 200, and the transmission structure 200 is connected with the finger assembly 300, so that when the driving assembly 100 operates, the finger assembly 300 can be driven by the transmission structure 200 to rotate relative to the driving assembly 100 and the fork 20. It can be understood that, as Figure 1 As shown, when the finger assembly 300 rotates to this position, the finger assembly 300 is parallel to the left and right sides of the container, and does not contact the front and rear sides of the container. The finger mechanism 10 can be moved along its own rotation axis relative to the container under the driving of the fork 20 or other external driving. Figure 2 As shown, when the finger assembly 300 rotates to this position, the finger assembly 300 is perpendicular to the left and right sides of the container, and can abut against the front and rear sides of the container, so as to drive the container to move in the front and rear directions.

[0066] The transmission structure 200 can transmit the output torque of the driving assembly 100 to the finger assembly 300, so that the finger assembly 300 can rotate. During the rotation of the finger mechanism 10, if the driving force of the finger assembly 300 driven by the driving assembly 100 is greater than the preset force, for example, the finger assembly 300 and the driving assembly 100 are blocked by the interference of the material box, or the material box is overloaded, causing the finger assembly 300 to be overloaded, but the driving assembly 100 continues to output, the transmission structure 200 can disconnect the transmission connection between the driving assembly 100 and the finger assembly 300, so that the driving assembly 100 temporarily stops driving the finger assembly 300, avoiding the finger assembly 300 continuously resisting the resistance under the torque of the driving assembly 100, or avoiding the finger assembly 300 forcibly moving the material box under the fork 20 or other external driving, so as to protect the finger assembly 300 and the driving assembly 100. Among them, the transmission structure 200 disconnects the transmission connection between the driving assembly 100 and the finger assembly 300, which can be that the transmission structure 200 disconnects the connection with one of the driving assembly 100 and the finger assembly 300, or the transmission structure 200 itself is separated into at least two parts to interrupt the power transmission. Hereinafter, the latter case will be taken as an example to illustrate the present application, and the corresponding interrupting power transmission structure in the latter case can also be taken as an example or reference for the interrupting power transmission structure in the former case.

[0067] Therefore, the finger mechanism 10 provided by the embodiments of the present application connects the driving assembly 100 and the finger assembly 300 through the transmission structure 200, so that the driving assembly 100 drives the rotation of the finger assembly 300 through the transmission structure 200. If the resistance of the finger assembly 300 is greater than the preset force, the transmission structure 200 will disconnect the connection between the driving assembly 100 and the finger assembly 300. Further, if the finger assembly 300 is blocked by the material box or other structures during the rotation of the finger assembly 300, the connection between the finger assembly 300 and the driving assembly 100 can be disconnected, avoiding the damage of the driving assembly 100 due to the excessive current, or if the material box is overloaded during the process of the finger mechanism 10 grabbing the material box, causing the collision or overload of the finger mechanism 10 and the material box, the connection between the finger assembly 300 and the driving assembly 100 can also be disconnected, so that the finger assembly 300 can be buffered to avoid damage, thereby improving the safety performance of the finger mechanism 10 and reducing the damage probability of the finger mechanism 10.

[0068] In some embodiments, referring to Figures 3 to 5As shown, the transmission structure 200 comprises: a driven shaft assembly 220, the driven shaft assembly 220 comprises a driven shaft 222, the driven shaft 222 is connected with the finger assembly 300, the driven shaft 222 has a first matching part 2222; a driving shaft assembly 210, the driving shaft assembly 210 comprises a driving shaft 211, the driving shaft 211 is connected with the driving assembly 100, the driving shaft 211 has a second matching part 2112, the second matching part 2112 is adaptively connected with the first matching part 2222; the first matching part 2222 is configured to be disconnected with the second matching part 2112 when the driving force of the driving assembly 100 is greater than or equal to a preset force.

[0069] It can be understood that by setting the driving shaft assembly 210 connected with the driving assembly 100, the driving assembly 100 can output power through the driving shaft assembly 210, and the driven shaft assembly 220 is arranged between the driving shaft assembly 210 and the finger assembly 300 and connected with both to transmit the power of the driving shaft assembly 210 to the finger assembly 300.

[0070] The first matching part 2222 is arranged on the driven shaft 222, and the second matching part 2112 is arranged on the driving shaft 211, so that the first matching part 2222 and the second matching part 2112 are connected through mutual cooperation, which can be separable abutment or insertion, to realize power transmission between the driving shaft 211 and the driven shaft 222, and when it is necessary to interrupt the power transmission between the driving assembly 100 and the finger assembly 300, the first matching part 2222 and the second matching part 2112 can be separated from each other.

[0071] In this way, when the driving force of the driving assembly 100 on the driven shaft assembly 220 is greater than the preset force that maintains the power transmission between the driven shaft 222 and the driving shaft 211, the driven shaft assembly 220 will be disconnected from the driving shaft assembly 210, so that the power transmission between the driving assembly 100 and the finger assembly 300 is interrupted.

[0072] For example, referring to Figures 3 to 5 , and Figures 8 to 12 As shown, one of the first matching part 2222 and the second matching part 2112 is provided with a wedge-shaped groove 2113, and the other is provided with a wedge-shaped protrusion 2223 which is adaptively connected with the wedge-shaped groove 2113, the wedge-shaped groove 2113 and the wedge-shaped protrusion 2223 both have inclined surfaces, and the wedge-shaped groove 2113 and the wedge-shaped protrusion 2223 are embedded with each other through the inclined surfaces; the first matching part 2222 is configured to move away from the second matching part 2112 or rotate relative to the second matching part 2112 to drive the wedge-shaped groove 2113 and the wedge-shaped protrusion 2223 to be disengaged when the driving force of the driving assembly 100 is greater than or equal to a preset force.

[0073] By setting the wedge-shaped groove 2113 and the wedge-shaped protrusion 2223, an adaptive inclined surface structure can be formed on the groove and the protrusion. The mutual abutment and fitting between the wedge-shaped groove 2113 and the wedge-shaped protrusion 2223 can realize the stable connection and power transmission between the driving shaft 211 and the driven shaft 222. When the driving force of the driving assembly 100 acting on the driven shaft 222 and the first matching part 2222 to drive the wedge-shaped groove 2113 and the wedge-shaped protrusion 2223 to separate is greater than the force of the mutual fitting of the wedge-shaped groove 2113 and the wedge-shaped protrusion 2223, the wedge-shaped groove 2113 and the wedge-shaped protrusion 2223 will move relatively. When the finger assembly 300 pulls the overweight material box, the relative movement direction of the wedge-shaped groove 2113 and the wedge-shaped protrusion 2223 is along the axial direction of the driven shaft 222. When the finger assembly 300 is blocked, the relative movement direction of the wedge-shaped groove 2113 and the wedge-shaped protrusion 2223 is the sum of the axial direction of the driven shaft 222 and the rotation direction of the driving shaft 211. When the wedge-shaped groove 2113 and the wedge-shaped protrusion 2223 move to disengage, the first matching part 2222 and the second matching part 2112 are disconnected, and the power transmission between the driving shaft 211 and the driven shaft 222 is interrupted.

[0074] Since the wedge-shaped groove 2113 and the wedge-shaped protrusion 2223 are uniformly and spacedly arranged along the corresponding end surface of the first matching part 2222 or the second matching part 2112 respectively, after any wedge-shaped protrusion 2223 is disengaged from the wedge-shaped groove 2113 and resets due to the overload of the material box, the wedge-shaped protrusion 2223 is still fitted with the original wedge-shaped groove 2113. After any wedge-shaped protrusion 2223 is disengaged from the wedge-shaped groove 2113 due to the blocking of the finger assembly 300, with the driving assembly 100 continuing to rotate the driving shaft 211, the wedge-shaped protrusion 2223 will be fitted with other wedge-shaped grooves 2113 during subsequent reset, unless the driving shaft 211 rotates exactly one round, the wedge-shaped protrusion 2223 will be fitted with the original wedge-shaped groove 2113.

[0075] And in some embodiments, as shown in Figure 3 , Figure 4 , Figure 11 and Figure 12 , the driven shaft assembly 220 further comprises a reset member 223, the reset member 223 abuts against the driven shaft 222; the reset member 223 is configured to drive the driven shaft 222 to connect with the driving shaft 211 when the driving force of the driving assembly 100 acting on the driven shaft 222 is less than a preset force.

[0076] It can be understood that by setting the reset member 223, after the driven shaft 222 and the driving shaft 211 are disconnected, the reset member 223 can be used to drive the driven shaft 222 to reset to reconnect with the driving shaft 211, so that the driven shaft 222 and the driving shaft 211 are conveniently and quickly reconnected.

[0077] Among them, the reset element 223 is an elastic element, specifically, it can be a compression spring.

[0078] The reset member 223 is set as an elastic member. When the driven shaft 222 is disconnected from the driving shaft 211, the elastic member is compressed, allowing the elastic member to accumulate elastic potential energy. When the resistance of the driven shaft 222 to the finger assembly 300 is less than a preset value, the elastic potential energy can be released and the driven shaft 222 can be connected to the driving shaft 211. The structure is simple and compact, and the cost is low.

[0079] Therefore, when the finger mechanism 10 pushes and pulls the hopper, the pressure from the hopper on the finger assembly 300 can be transmitted to the reset member 223 via the driven shaft 222, causing the reset member 223 to compress itself, thereby reducing the impact on the finger assembly 300 and achieving a shock absorption effect. Furthermore, the reset member 223, in its compressed state, has a tendency to reset, forming a clamping force that can press the driven shaft 222 against the drive shaft 211, eliminating the gap between the first mating part 2222 and the second mating part 2112. This facilitates a continuous and stable power output from the drive assembly 100, improving the transmission accuracy and service life between the first mating part 2222 and the second mating part 2112.

[0080] In some embodiments, refer to Figure 13 As shown, Figure 13 The wedge-shaped protrusion 2223 extends along the circumferential direction. Both the wedge-shaped groove 2113 and the wedge-shaped protrusion 2223 have at least one inclined surface. Preferably, both sides of the wedge-shaped groove 2113 and the wedge-shaped protrusion 2223 are inclined surfaces, and the inclined surfaces abut against each other. When the finger assembly 300 is stuck or the material box is overweight, when the driving force of the drive assembly 100 is greater than the friction force on the inclined surface and the component of the elastic force of the elastic element along the inclined surface, the two corresponding inclined surfaces move relative to each other, so that the wedge-shaped groove 2113 and the wedge-shaped protrusion 2223 disengage.

[0081] in, Figure 13 This is a schematic diagram of the forces acting on the inclined surfaces of the wedge-shaped groove 2113 and the wedge-shaped protrusion 2223 when they move relative to each other. At this time, the finger assembly 300 collides with an external object, such as a hopper, or the hopper is overloaded. The finger assembly 300 and the external object are relatively stationary, but the drive assembly 100 of the finger assembly 300 is constantly increasing the torque. The following is an analysis of the internal forces of the finger assembly 300.

[0082] Therefore,

[0083] The moving force of the wedge-shaped groove 2113 and the wedge-shaped protrusion 2223 along the inclined plane is:

[0084]

[0085] The friction between the wedge-shaped groove 2113 and the wedge-shaped protrusion 2223 is:

[0086]

[0087] Therefore, in order to enable the inclined surfaces of the wedge-shaped groove 2113 and the wedge-shaped protrusion 2223 to move relative to each other, the moving force of the wedge-shaped groove 2113 and the wedge-shaped protrusion 2223 along the inclined surface direction should be greater than the friction between the wedge-shaped groove 2113 and the wedge-shaped protrusion 2223, that is:

[0088]

[0089] wherein F1 is the pre-pressing force of the elastic member, F2 is the driving force of the driving assembly 100, k is the stiffness of the elastic member, a is the pressure angle of the wedge-shaped groove 2113 and the wedge-shaped protrusion 2223, μ is the friction coefficient between the wedge-shaped groove 2113 and the wedge-shaped protrusion 2223, and h is the height of the wedge-shaped groove 2113 and the wedge-shaped protrusion 2223.

[0090] In some embodiments, as shown in Figures 3 to 5 , and Figure 7 and Figure 8 , the driven shaft 222 further has a first shaft body 2221, the first shaft body 2221 is provided with a connecting portion 2224, the connecting portion 2224 and the first matching portion 2222 are respectively arranged on opposite sides of the first shaft body 2221, the finger assembly 300 is provided with a connecting hole 311, and the connecting portion 2224 is connected with the connecting hole 311; the driving shaft 211 further has a second shaft body 2111, the second shaft body 2111 is arranged on a side of the second matching portion 2112 away from the first matching portion 2222, and is connected with the driving assembly 100.

[0091] By arranging the first shaft body 2221 and the second shaft body 2111, power transmission between the driving assembly 100 and the second matching portion 2112, and between the first matching portion 2222 and the finger assembly 300 is achieved, so that the power transmission is more stable.

[0092] The connecting portion 2224 is arranged on a side of the first shaft body 2221 of the driven shaft 222 away from the first matching portion 2222, and the connecting hole 311 is arranged on the finger assembly 300, so that the connecting portion 2224 is adapted to be inserted into the connecting hole 311, to achieve stable connection between the driven shaft 222 and the finger assembly 300. A threaded hole can be arranged on the connecting portion 2224, the threaded hole is exposed through the connecting hole 311 after the connecting portion 2224 is inserted into the connecting hole 311, a fastener 320 such as a screw is connected with the threaded hole, and the finger assembly 300 can be fastened on the driven shaft 222, to prevent disconnection.

[0093] Further, as shown in Figure 8As shown, the connecting portion 2224 is provided with a rotation-stopping surface 2225, which rotation-stopping surface 2225 rotation-stops with the connecting hole 311.

[0094] By providing the rotation-stopping surface 2225 on the connecting portion 2224, the connecting hole 311 is adapted with the connecting portion 2224 having the rotation-stopping surface 2225, so that after the connecting portion 2224 is inserted into the connecting hole 311, the rotation of the finger assembly 300 relative to the driven shaft 222 is limited, the relative position between the finger assembly 300 and the driven shaft 222 is ensured to be stable, so as to prevent the posture of the finger assembly 300 from being skewed to affect the normal operation of the finger mechanism 10.

[0095] The rotation-stopping surface 2225 can be provided on opposite sides of the connecting portion 2224, or can be provided on only one side of the connecting portion 2224, which is not limited in the present application. The structure of the rotation-stopping surface 2225 is not limited to a plane, and can be other profile structures having a rotation-stopping function.

[0096] In some embodiments, referring to Figures 3 to 6 As shown, the driven shaft assembly 220 further comprises a driven shaft seat 221, which is connected with the driving assembly 100; the driven shaft 222 is rotationally arranged in the driven shaft seat 221 and is in sliding connection with the driven shaft seat 221, and the driven shaft 222 slides away from the driving shaft 211 to be disconnected with the driving shaft 211.

[0097] In this way, by providing the driven shaft seat 221 and connecting the driven shaft seat 221 with the driving assembly 100, the relative stability of the driven shaft seat 221 is ensured, and the driven shaft seat 221 can reliably support and limit the movement of the driven shaft 222.

[0098] The driven shaft 222 is rotationally arranged in the driven shaft seat 221 to rotate relative to the driven shaft seat 221 under the driving of the driving assembly 100 and the driving shaft 211. The driven shaft 222 is also in sliding connection with the driven shaft seat 221, so that when the motor assembly is overloaded due to the large mass of the bin pushed and pulled by the finger assembly 300, or is blocked due to the rotation jam of the finger assembly 300, the driven shaft 222 will slide away from the driving shaft 211 under the mutual cooperation of the wedge-shaped protrusions 2223 and the wedge-shaped grooves 2113 of the first cooperating portion 2222 and the second cooperating portion 2112, respectively, and is disconnected with the driving shaft 211, so as to prevent the motor assembly from being damaged due to continuous overload or blocking.

[0099] Further, referring to Figures 3 to 6 , Figure 11 and Figure 12As shown in FIGS. 22 and 23, the driven shaft assembly 220 further comprises a first bearing 224, a shaft hole 2211 is formed in the driven shaft seat 221, and the first bearing 224 is arranged in the shaft hole 2211. The driven shaft 222 is slidingly inserted into the first bearing 224 and rotationally connected with the first bearing 224.

[0100] It can be understood that, in order to make the rotation and sliding cooperation between the driven shaft 222 and the driven shaft seat 221 more smooth, the shaft hole 2211 is arranged in the driven shaft seat 221, the first bearing 224 is arranged in the shaft hole 2211, the driven shaft 222 is slidingly inserted into the first bearing 224 to slide relative to the first bearing 224, and after the driven shaft 222 is connected with the first bearing 224, the driven shaft 222 can be rotationally connected with the driven shaft seat 221 through the relative rotation between the inner ring and the outer ring of the first bearing 224.

[0101] In specific implementation, two first bearings 224 are arranged, and the two first bearings 224 are respectively arranged at opposite sides of the driven shaft seat 221. The stability of the connection between the driven shaft 222 and the driven shaft seat 221 can be improved by the two first bearings 224, and the deflection of the driven shaft 222 relative to the driven shaft seat 221 can be prevented. The reset member 223 is sleeved on the first shaft body 2221 and located at one side of the first bearing 224 to abut against the first bearing 224 and the first matching part 2222.

[0102] In addition, as shown in FIGS. 21 and 22, Figures 3 to 6 , and Figure 11 and Figure 12 , the driving shaft assembly 210 further comprises a second bearing 212 and a clamping piece 213. The second bearing 212 is arranged in the driving assembly 100, and the driving shaft 211 is inserted into the second bearing 212. The clamping piece 213 is clamped on the second bearing 212.

[0103] The driving shaft 211 is connected with the second bearing 212, and the stable rotation of the driving shaft 211 is realized through the relative rotation between the inner ring and the outer ring of the second bearing 212.

[0104] In order to make the connection between the driving shaft 211 and the second bearing 212 and the connection between the second bearing 212 and the driving assembly 100 more stable, the clamping piece 213 can also be arranged. Specifically, two clamping pieces 213 can be arranged, one of which is clamped on the driving shaft 211 and abuts against the inner ring of the second bearing 212, and the other of which is clamped on the outer ring of the second bearing 212 and abuts against the driving assembly 100, so as to prevent the axial movement of the second bearing 212.

[0105] In some embodiments, as shown in FIGS. 21 and 22, Figure 3 , Figure 6 , Figure 11 and Figure 12As shown, the finger mechanism 10 provided by the present application also includes a control detection assembly 400, which is electrically connected with the driving assembly 100 to detect whether the driving assembly 100 and the finger assembly 300 are disconnected; the control detection assembly 400 is configured to control the driving assembly 100 to stop when the driving assembly 100 and the finger assembly 300 are disconnected, and send an alarm prompt.

[0106] By setting the control detection assembly 400, when the driving assembly 100 and the finger assembly 300 are disconnected, the driving assembly 100 is controlled to stop by the control assembly, preventing the driving assembly 100 from continuously overloading operation, and ensuring the safety of the driving assembly 100. And the control detection assembly 400 can send an alarm prompt to remind personnel to adjust the weight or posture of the material box in time to ensure that the finger mechanism 10 can run stably subsequently.

[0107] As shown in Figure 3 、 Figure 6 、 Figure 11 and Figure 12 , the control detection assembly 400 includes: a detection piece 410, which is arranged between the driving shaft assembly 210 and the driven shaft assembly 220 to detect whether the driving shaft assembly 210 and the driven shaft assembly 220 are disconnected; a controller 420, which is electrically connected with the driving assembly 100 and the detection piece 410, and is configured to control the driving assembly 100 to stop when the driving shaft assembly 210 and the driven shaft assembly 220 are disconnected, and send an alarm prompt.

[0108] The detection piece 410 is arranged between the driving shaft assembly 210 and the driven shaft assembly 220, and can be arranged between the first matching part 2222 and the second matching part 2112. Whether the driving shaft assembly 210 and the driven shaft assembly 220 are disconnected is determined by detecting the relative distance between the first matching part 2222 and the second matching part 2112. In specific implementation, the detection piece 410 can be a distance sensor, such as an ultrasonic sensor, a laser sensor or an infrared sensor, etc. A mounting hole corresponding to the detection piece 410 is formed in the center of the first matching part 2222 of the driven shaft assembly 220, and the detection piece 410 is embedded in the mounting hole to rotate or move with the driven shaft assembly 220, and the detection end of the detection piece 410 faces the second matching part 2112. When the sensor moves a preset distance with the driven shaft assembly 220, the driven shaft assembly 220 and the driving shaft assembly 210 are separated from each other.

[0109] The controller 420 is electrically connected with the driving assembly 100 and the detection piece 410, so that when the sensor moves a preset distance, it can be considered that the driven shaft assembly 220 and the driving shaft assembly 210 are disconnected, and the driving assembly 100 is controlled to stop and an alarm prompt is sent.

[0110] In other embodiments, the detection member 410 can also be a pressure sensor embedded in the mounting hole, and by detecting the pressure value between the driving shaft assembly 210 and the driven shaft assembly 220, when the pressure value is zero, it is considered that the driven shaft assembly 220 is disconnected from the driving shaft assembly 210.

[0111] Or the detection member 410 is an optical sensor, located on one side of the driving shaft assembly 210 and the driven shaft assembly 220, when the driving shaft assembly 210 and the driven shaft assembly 220 are connected, the light path is blocked, and when the driving shaft assembly 210 and the driven shaft assembly 220 are disconnected, a gap is formed between the driving shaft assembly 210 and the driven shaft assembly 220, and the light path is conducted. The present application does not make any limitation.

[0112] And in some embodiments, referring to Figure 6 The control detection assembly 400 also includes an encoder 430, and the controller 420 and the driving assembly 100 are electrically connected to the encoder 430, and the encoder 430 is used to detect the running current of the driving assembly 100, and the controller 420 is further configured to control the driving assembly 100 to stop running and send an alarm prompt when the running current is greater than a preset current.

[0113] When the motor assembly is overloaded or locked, its running current will be greater than the preset current, so by setting the encoder 430 to detect the running current of the driving assembly 100, the controller 420 can also control the driving assembly 100 to stop running when the running current is greater than the preset current, so that the encoder 430 and the detection member 410 form a double protection, and the protection effect of the driving assembly 100 is improved.

[0114] In some embodiments, referring to Figure 1 , Figure 2 , Figure 7 And Figure 14 The finger assembly 300 includes a finger lever 310, the finger lever 310 is connected with the transmission structure 200, and the finger lever 310 extends radially towards the transmission structure 200 for pushing and pulling the material box; and a fastener 320, the fastener 320 fastens the finger lever 310 and the transmission structure 200.

[0115] The finger lever 310 is connected with the transmission structure 200 and extends radially towards the transmission structure 200, so as to be perpendicular to the extension direction of the transmission structure 200. In this way, when the transmission structure 200 drives the finger lever 310 to rotate, the finger lever 310 can swing in the fan-shaped area, and when the finger lever 310 swings in the left-right direction of the finger mechanism 10, the finger lever 310 can be blocked with the material box to push and pull the material box, and when the finger lever 310 swings in the up-down direction of the finger mechanism 10, the finger lever 310 can be unblocked with the material box to move relative to the material box.

[0116] The fastener 320 is connected with the connecting hole 311 of the finger lever 310 and the connecting part 2224 of the driven shaft 222 to fix the finger lever 310. A gasket 330 is arranged between the fastener 320 and the finger lever 310 to improve the reliability of the connection.

[0117] In addition, the driving assembly 100 comprises a driving member 110 and a motor base 120. The driving member 110 is connected with the driving shaft assembly 210 to realize power output and drive the driving shaft assembly 210, the driven shaft assembly 220 and the finger assembly 300 to rotate.

[0118] The driving member 110 is connected with the motor base 120. The motor base 120 can also be connected with a preset mounting position of the finger mechanism 10 on the fork 20 to ensure stable operation of the driving member 110.

[0119] In addition, the finger mechanism 10 is provided with an outer shell 500. The outer shell 500 comprises a shell body 510, a shell cover 520 and a fixing assembly 530. The shell body 510 and the shell cover 520 at least cover the driving assembly 100 and are connected with each other through the fixing assembly 530. The motor base 120 can be connected with the preset mounting position through the outer shell 500.

[0120] Referring to Figure 14 The application further provides a fork 20 comprising a telescopic arm and the finger mechanism 10 of any of the above embodiments. The finger mechanism 10 is arranged at the end of the telescopic arm and is used to push and pull the material box.

[0121] The finger mechanism 10 has been described in detail in the above embodiments and will not be described here.

[0122] The end of the telescopic arm is provided with a preset mounting position to be connected with the finger mechanism 10. The telescopic arm can drive the finger mechanism 10 to move along the telescopic direction of the telescopic arm.

[0123] The following describes the picking control process of the fork 20 and the finger mechanism 10 thereof.

[0124] The finger mechanism 10 detects the running current of the driving assembly 100, whether the transmission structure 200 is interrupted, the rotation angle of the finger assembly 300 and other information through the control detection assembly 400 in the whole picking process, so that the finger mechanism 10 can work normally and will not be overloaded, stuck or dropped.

[0125] When the fork 20 receives a picking instruction, the telescopic arm will be controlled to extend by a preset length, and then the finger mechanism 10 drives the finger assembly 300 to rotate from the state shown in Figure 1 to the state shown in Figure 2The state shown, and through the control detection assembly 400 collects and detects the operating current of the driving assembly during the rotation of the finger assembly 300, prevents the finger assembly 300 from being stuck due to abnormality of the material box or internal structure, and the like, and if the operating current exceeds the threshold value, the finger mechanism 10 may be stuck in Figure 11 The state shown, and through the control detection assembly 400 collects and detects the operating current of the driving assembly during the rotation of the finger assembly 300, prevents the finger assembly 300 from being stuck due to abnormality of the material box or internal structure, and the like, and if the operating current exceeds the threshold value, the finger mechanism 10 may be stuck in Figure 12 The state shown, and through the control detection assembly 400 collects and detects the operating current of the driving assembly during the rotation of the finger assembly 300, prevents the finger assembly 300 from being stuck due to abnormality of the material box or internal structure, and the like, and if the operating current exceeds the threshold value, the finger mechanism 10 may be stuck in

[0126] When the finger mechanism 10 contacts the material box, the control detection assembly collects and detects the distance between the first matching part 2222 and the second matching part 2112 when the finger assembly 300 pulls the material box, to determine whether the material box is overloaded, and if the distance between the first matching part 2222 and the second matching part 2112 exceeds the threshold value as shown Figure 12 The state shown, and through the control detection assembly 400 collects and detects the operating current of the driving assembly during the rotation of the finger assembly 300, prevents the finger assembly 300 from being stuck due to abnormality of the material box or internal structure, and the like, and if the operating current exceeds the threshold value, the finger mechanism 10 may be stuck in

[0127] When the finger mechanism 10 contacts the material box, the control detection assembly collects and detects the distance between the first matching part 2222 and the second matching part 2112 when the finger assembly 300 pulls the material box, to determine whether the material box is overloaded, and if the distance between the first matching part 2222 and the second matching part 2112 exceeds the threshold value as shown

[0128] The embodiment of the present application also provides a robot, which comprises a robot body and the fork 20 in the above-mentioned embodiment.

[0129] Wherein, the fork 20 and its finger mechanism 10 have been described in the above-mentioned embodiments, and will not be repeated here.

[0130] The finger mechanism 10, the fork 20 and the robot provided by the embodiments of the present application, the finger mechanism 10 is connected with the driving assembly 100 through the transmission structure 200 between the finger assembly 300 and the driving assembly 100, so that the driving assembly 100 drives the finger assembly 300 to rotate. If the driving force of the finger assembly 300 driven by the driving assembly 100 is greater than the preset force, the transmission structure 200 will disconnect the connection between the driving assembly 100 and the finger assembly 300. Further, if the finger assembly 300 is blocked during the rotation of the finger assembly 300, the finger assembly 300 and the driving assembly 100 will be disconnected, so as to avoid the damage of the driving assembly 100 caused by the excessive current, or if the fork is overloaded during the pushing and pulling of the fork, the finger assembly 300 and the driving assembly 100 will be disconnected, so that the finger assembly 300 can be buffered to avoid damage, thereby improving the safety performance of the finger mechanism 10 and reducing the damage probability of the finger mechanism 10.

[0131] Finally, it should be pointed out that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A finger mechanism characterized by, The application relates to a driving assembly, comprising: a driving assembly; a transmission structure; a finger assembly, which is in transmission connection with the driving assembly through the transmission structure, so that the driving assembly drives the finger assembly to rotate; the transmission structure is configured to disconnect the driving assembly and the finger assembly when the driving force of the driving assembly is greater than or equal to a preset force.

2. The finger mechanism of claim 1, wherein The transmission structure comprises: a driven shaft assembly, which comprises a driven shaft connected with the finger assembly, and the driven shaft has a first matching part; a driving shaft assembly, which comprises a driving shaft connected with the driving assembly, and the driving shaft has a second matching part which is in adaptive connection with the first matching part; the first matching part is configured to be disconnected with the second matching part when the driving force of the driving assembly is greater than or equal to the preset force.

3. The finger mechanism of claim 2, wherein, One of the first matching part and the second matching part is provided with a wedge-shaped groove, and the other is provided with a wedge-shaped protrusion which is adapted to the wedge-shaped groove, and the wedge-shaped groove and the wedge-shaped protrusion both have inclined surfaces and are mutually embedded through the inclined surfaces; the first matching part is configured to move away from the second matching part or rotate relative to the second matching part to drive the wedge-shaped groove and the wedge-shaped protrusion to be disengaged when the driving force of the driving assembly is greater than or equal to the preset force.

4. The finger mechanism of claim 3, wherein The driven shaft assembly further comprises a reset member which is in abutment with the driven shaft; the reset member is configured to drive the driven shaft to connect with the driving shaft when the driving force of the driving assembly is less than the preset force.

5. The finger mechanism of claim 4, wherein, The reset member is an elastic member.

6. The finger mechanism of claim 2, wherein The driven shaft further has a first shaft body provided with a connecting part, and the connecting part and the first matching part are respectively arranged on opposite sides of the first shaft body; the finger assembly is provided with a connecting hole, and the connecting part is connected with the connecting hole; the driving shaft further has a second shaft body which is arranged on a side of the second matching part away from the first matching part and is connected with the driving assembly.

7. The finger mechanism of claim 6, wherein The connecting part is provided with a rotation-stopping surface which is in rotation-stopping cooperation with the connecting hole.

8. The finger mechanism of claim 2, wherein, The driven shaft assembly further comprises a driven shaft seat which is connected with the driving assembly; the driven shaft is rotationally arranged in the driven shaft seat and is in sliding connection with the driven shaft seat, and the driven shaft slides away from the driving shaft to be disconnected with the driving shaft.

9. The finger mechanism of claim 8, wherein, The driven shaft assembly further comprises a first bearing, the driven shaft seat is provided with a shaft hole, the first bearing is arranged in the shaft hole, and the driven shaft is slidingly inserted in the first bearing and is in rotational connection with the first bearing.

10. The finger mechanism of claim 2, wherein, The driving shaft assembly further comprises: a second bearing which is arranged in the driving assembly, and the driving shaft is inserted in the second bearing; a clamping piece which is clamped on the second bearing.

11. The finger mechanism according to any of claims 2-10, characterized in that The control detection assembly is electrically connected with the driving assembly to detect whether the driving assembly and the finger assembly are disconnected; The control detection assembly is configured to control the driving assembly to stop and send an alarm prompt when the driving assembly and the finger assembly are disconnected.

12. The finger mechanism of claim 11, wherein, The control detection assembly comprises: a detection member arranged between the driving shaft assembly and the driven shaft assembly to detect whether the driving shaft assembly and the driven shaft assembly are disconnected; a controller electrically connected with the driving assembly and the detection member, the controller being configured to control the driving assembly to stop and send an alarm prompt when the driving shaft assembly and the driven shaft assembly are disconnected.

13. The finger mechanism of claim 12, wherein, The control detection assembly further comprises an encoder electrically connected with the controller and the driving assembly, the encoder being used to detect a running current of the driving assembly, and the controller being further configured to control the driving assembly to stop and send an alarm prompt when the running current is greater than a preset current.

14. The finger mechanism according to any of claims 1-10, characterized in that The finger assembly comprises: a finger rod connected with the transmission structure, the finger rod extending radially towards the transmission structure to push and pull the material box; a fastener fastening the finger rod and the transmission structure.

15. A fork comprising: The robot comprises a telescopic arm and the finger mechanism according to any one of claims 1-14, the finger mechanism being arranged at an end of the telescopic arm and used to push and pull the material box.

16. A robot, characterized in that The robot comprises a robot body and the fork according to claim 15, the fork being connected with the robot body.

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