Material taking structure and feeding equipment

Abstract

The embodiment of the utility model provides a material taking structure and feeding equipment. The material taking structure comprises a material taking arm and an anti-collision structure. The material taking arm stretches out or retracts in the first direction to be used for conveying materials. The anti-collision structure comprises a movable part and an induction assembly, the movable part is movably connected to the material taking arm in the first direction, the induction assembly is fixed to the material taking arm, the movable part is provided with a first end and a second end, when the material taking arm stretches out, the first end is used for making contact with an obstacle when the material taking arm stretches out, and the second end is used for triggering the induction assembly. When the first end makes contact with the obstacle, the movable part moves in the direction of the material taking arm, and the second end can trigger the induction assembly so as to control the material taking arm to stop stretching out. According to the material taking structure provided by the embodiment of the invention, the problem that the material taking structure or materials are damaged due to the fact that the material taking structure touches a front-end obstacle is solved.

Description

Technical Field

[0001] This application relates to the field of feeding equipment technology, and in particular to a material handling structure and feeding equipment. Background Technology

[0002] With the rapid development of artificial intelligence and automation technologies, automated material feeding processes on production lines have become an important topic of concern. A material feeder is an automated device primarily used to transport materials from storage bins or hoppers to production lines or equipment. Material feeders can quickly and accurately transport materials to designated locations along a specific direction, significantly reducing the time and labor intensity of manual material feeding and improving production continuity and efficiency.

[0003] The material handling structure of a feeder can extend or retract into the feeder's cabinet for conveying materials. During the extension process, if an obstacle is present in front, the material handling structure may collide with it, potentially damaging the structure or the material. Related technologies utilize diffuse reflection fiber optic sensors installed at the front of the material handling structure to detect obstructions. If an obstacle is present, the sensor can control the material handling structure to stop extending, thus preventing collisions and damage to the structure or material.

[0004] However, diffuse reflection fiber optic sensors are easily affected by the color, shape, and angle of obstacles in front, which can lead to certain misjudgments. Therefore, there are still instances where the material-receiving structure extended from the feeder collidees with obstacles in front, causing damage to the material-receiving structure or the material. Utility Model Content

[0005] This application provides a material handling structure and a feeding device, which can solve the problem that the material handling structure or the material is damaged when it comes into contact with an obstacle at the front end.

[0006] In a first aspect, embodiments of this application provide a material handling structure, including a material handling arm and an anti-collision structure. The material handling arm extends or retracts along a first direction for conveying materials. The anti-collision structure includes a movable member and a sensing component. The movable member is movably connected to the material handling arm along the first direction, and the sensing component is fixed to the material handling arm. The movable member has a first end and a second end. When the material handling arm extends, the first end is used to contact an obstacle, and the second end is used to trigger the sensing component.

[0007] When the first end comes into contact with an obstacle, the moving part moves toward the material-picking arm, and the second end can trigger the sensing component to control the material-picking arm to stop extending.

[0008] The material handling structure provided in this application embodiment allows the first end of a movable component to touch an obstacle when the front end of the material handling arm extends in the direction of extension. Since the movable component can move along a first direction, no rigid collision occurs between the first end of the movable component and the obstacle during the continuous extension of the material handling arm. The force of interaction between the first end of the movable component and the obstacle causes the movable component to move in the direction of the material handling arm. When the first end touches the obstacle to a preset degree, the movement of the movable component triggers a sensing component at the second end. The sensing component can control the material handling arm to stop extending, thereby reducing the possibility of damage to the material handling structure or material caused by continuous pushing between the movable component and the obstacle.

[0009] It should be noted that in this embodiment, the movable component directly contacts the obstacle at its first end to determine whether an obstacle exists at the front end of the material-picking arm in the extension direction. Compared to related technologies that use diffuse reflection fiber optic sensors to determine obstacles, this embodiment has higher accuracy. The material-picking structure of this embodiment is not limited by factors such as the color, shape, position, and lighting conditions of the object in front (including obstacles, materials, etc.), but is based on the obstacle itself. This helps reduce the possibility of misjudging obstacles and causing damage to the material-picking structure or materials, thus resulting in higher accuracy.

[0010] In one possible implementation, the movable member slides along a first direction to have an initial position and a triggered position: when the movable member is in the initial position, its second end is spaced from the sensing component. When the movable member is in the triggered position, its second end corresponds to the sensing component to trigger the sensing component.

[0011] In this embodiment, when the material-picking structure is not extended or when the movable part has not touched an obstacle, the movable part can be in its initial position. At this time, there is a gap between the second end of the movable part and the sensing component. It should be noted that the gap between the second end and the sensing component ensures that the second end will not trigger the sensing component, thus the sensing component does not need to control the material-picking arm to stop extending. After the material-picking structure extends, and the movable part touches the obstacle to a preset degree, the second end and the sensing component can correspond, triggering the sensing component. This allows the sensing component to control the material-picking arm to stop extending, thus avoiding the possibility of the material-picking arm continuing to extend and colliding with the obstacle, damaging the material-picking structure and the material.

[0012] In one possible implementation, the anti-collision structure further includes an elastic reset member disposed on the movable member. The elastic reset member is used to drive the movable member to a trigger position when the first end collides with the obstacle to a preset degree.

[0013] In this embodiment, when the first end of the movable member contacts the obstacle, there is an interaction force between the movable member and the obstacle. Since the movable member can move along the first direction, it can move towards the material handling arm under the pushing action of the obstacle. As the material handling arm continues to extend, the movement of the movable member prevents the interaction force between the movable member and the obstacle from continuously increasing.

[0014] Firstly, the elastic reset element can have a buffering effect. By setting an elastic reset element on the moving part, the force exerted on the moving part by the obstacle can be buffered, thereby reducing the damage caused by the obstacle to the moving part, and thus reducing the possibility of the obstacle causing damage to the picking arm.

[0015] Secondly, the elastic reset component ensures stable movement of the movable component towards the picking arm when it contacts an obstacle, reducing the possibility of momentary movement or excessive distance traveled by the movable component towards the picking arm, which could lead to false triggering of the sensing component at the second end. Specifically, when the movable component contacts the obstacle, the elastic reset component generates an elastic force as the picking arm continues to extend. The interaction force between the elastic reset component and the obstacle maintains contact, thereby improving the stability of the movable component's movement towards the picking arm.

[0016] Thirdly, the elastic reset component can drive the movable component to reset. Specifically, since the elastic reset component can generate elastic deformation, when the movable component collides with the obstacle, as the picking arm continues to extend, the elastic reset component can generate elastic deformation and elastic force. Thus, when the picking arm retracts and the movable component is no longer in contact with the obstacle, the elastic force can be released, thereby driving the movable component to return to its initial position through the elastic force.

[0017] In one possible implementation, the anti-collision structure includes a fixing member connected to the material handling arm via the fixing member. A movable member passes through the fixing member along a first direction, with a first end and a second end located on opposite sides of the fixing member, the first end extending out from the side of the fixing member facing the obstacle. An elastic reset member is located on the side of the fixing member facing the obstacle and abuts against the fixing member.

[0018] In this embodiment, the anti-collision structure can be fixed to the material picking arm by a fixing member. Therefore, the movable member can be movably connected to the material picking arm by passing through the fixing member. Thus, the material picking arm does not need to be provided with a through hole for the movable member to pass through, which helps to ensure the structural strength of the material picking arm and improve the stability and reliability of the material picking arm in the process of conveying materials.

[0019] In one possible implementation, the sensing component includes a sensor having a sensing area. When the movable member is in the initial position, a second end is spaced from the sensing area. When the movable member is in the triggered position, the second end is located within the sensing area to trigger the sensor.

[0020] In this embodiment, the extension of the picking arm can be controlled by the cooperation of the movable component and the sensor. When there is no obstacle at the front end of the picking arm in the extension direction, the movable component can always remain in its initial position. There is a gap between the second end of the movable component and the sensing area, preventing the movable component from triggering the sensor to send a signal to the control module, thus allowing the picking arm to continue extending. When there is an obstacle at the front end of the picking arm in the extension direction, when the first end of the movable component collides with the obstacle to a preset degree, the movable component moves in the direction of the picking arm, causing the second end to move closer to the sensing area. When the second end is in the sensing area, it can trigger the sensor. The sensor can then send a signal to the control module to control the picking arm to stop extending.

[0021] In one possible implementation, the sensing component further includes a mounting base with an opening slot, a sensor disposed in the opening slot, the opening slot having a sensing area, and the sensor receiving light signals through the opening slot.

[0022] When the movable part is in the initial position, the second end is outside the opening slot, and the sensor receives the light signal. When the movable part is in the trigger position, at least part of the second end is in the sensing area inside the opening slot, and the second end blocks the sensor from receiving the light signal, thereby triggering the sensor.

[0023] In this embodiment, the sensor can be a light sensor. When the movable part is in its initial position, there is no obstruction in the opening slot, and the sensor can receive light signals. At this time, the sensor is not triggered, and the picking arm can continue to extend. When the first end of the movable part collides with an obstacle to a preset degree, the movable part moves towards the picking arm so that the second end is located in the opening slot. At this time, the second end can block the opening slot, preventing the sensor from receiving light signals, thereby triggering the sensor.

[0024] In one possible implementation, the movable element includes a trigger plate, with the second end located on the trigger plate.

[0025] In this embodiment, the second end used to trigger the sensing component can be a sheet-like structure. The trigger sheet of the sheet-like structure has a small thickness, so that it occupies a small space in the opening slot, thereby ensuring that the size of the opening slot is not large, which is beneficial to improving the reliability of optical signal transmission.

[0026] In one possible implementation, the anti-collision structure further includes a buffer member disposed at the first end of the movable member, the buffer member being used to contact an obstacle. One end of the resilient reset member abuts against the fixed member, and the other end of the resilient reset member abuts against the buffer member.

[0027] In this embodiment, by setting a buffer at the first end of the movable part, the first end of the movable part can contact the obstacle through the buffer when it encounters an obstacle. Contact between the buffer and the obstacle reduces the possibility of damage to the material handling structure or material caused by a hard impact.

[0028] In one possible implementation, the anti-collision structure further includes a guide member fixed to the fixing member, the guide member having a guide channel for the movable member to slide along a first direction.

[0029] In this embodiment of the application, by setting a guide channel in the guide member, the movable member can be kept to move in a straight line along the first direction, thereby reducing the possibility that the movable member will deflect during the movement, which may affect the accuracy of the judgment of obstacles.

[0030] Secondly, embodiments of this application also provide a feeding device, including the material handling structure in any of the above embodiments. Attached Figure Description

[0031] Figure 1 This is a partial three-dimensional structural diagram of the feeding structure provided in the embodiments of this application;

[0032] Figure 2 This is a partial three-dimensional structural diagram of the material handling structure provided in the embodiments of this application;

[0033] Figure 3 This is another partial three-dimensional structural schematic diagram of the material handling structure provided in the embodiments of this application;

[0034] Figure 4 This is a partial cross-sectional view of the material-taking structure when the movable part is in the initial position, as provided in the embodiments of this application.

[0035] Figure 5 This is a partial cross-sectional view of the material-retrieving structure when the active component is in the trigger position, as provided in the embodiments of this application.

[0036] Figure 6 This is a partial three-dimensional structural diagram of the material-retrieving structure when the active component is in the trigger position, as provided in the embodiments of this application.

[0037] Figure 7 This is an exploded structural diagram of the anti-collision structure provided in the embodiments of this application.

[0038] Explanation of reference numerals in the attached figures:

[0039] 10. Feeding equipment;

[0040] 100. Material handling structure;

[0041] 110. Material handling arm;

[0042] 120. Collision-resistant structure;

[0043] 121, Moving part; 121a, First end; 121b, Second end; 1211, Trigger piece; 1212, Moving post;

[0044] 122, Sensing component; 1221, Mounting base; 1221a, Opening slot; 1222, Sensor;

[0045] 123. Elastic reset component;

[0046] 124. Fasteners;

[0047] 125. Buffer components;

[0048] 126. Guide component; 126a. Guide channel;

[0049] 127. Limiting components;

[0050] 200. Cabinet;

[0051] 20. Obstacles;

[0052] X, the first direction; Y, the second direction. Detailed Implementation

[0053] The feeding equipment provided in this application embodiment can be applied to product assembly lines. The products can be, but are not limited to, electronic devices, computing devices, etc. For example, the product in this application embodiment can be a server. The server can be a rack server, a cabinet server, an AI server, etc., and is not limited thereto in this application.

[0054] In a network environment, servers provide computing or application services to other client machines (such as PCs, smartphones, device terminals, and large equipment). Servers have high-speed central processing unit (CPU) computing power, can operate reliably for long periods of time, and have good scalability.

[0055] Server chassis play a crucial role in data centers and other server rooms. They provide a secure and stable environment for housing various information technology equipment (IT) such as network devices, storage systems, and other hardware components.

[0056] The feeding device of this application embodiment can be used to transport server frames. During the production of the entire server, the server frames need to be transported from multi-layer material carts to the assembly line. The feeding device includes a material handling structure. The material handling structure can extend or retract from the cabinet of the feeding machine for conveying the frames. During the extension of the material handling structure, if there is an obstacle in front, the material handling structure will collide with the obstacle, thereby causing damage to the material handling structure or the frame.

[0057] It should be noted that the server chassis will be referred to as materials in this application.

[0058] In related technologies, by setting a diffuse reflection fiber optic sensor at the front end of the material-receiving structure, it is possible to determine whether there is an obstruction in front. In the event of an obstacle, the material-receiving structure can be controlled to stop extending, thereby avoiding the phenomenon that the material-receiving structure or the material may be damaged due to a collision with the obstacle.

[0059] Specifically, the working principle of diffuse reflection fiber optic sensors in related technologies is based on the law of reflection of light. Because the surface of an obstacle is rough or dark, when light shines on the obstacle surface, it scatters in all directions, forming diffuse reflection. The sensor, through a specific optical fiber, can receive the scattered diffuse light and convert it into an electrical signal, thereby controlling the extension of the picking arm to stop. It is easy to understand that diffuse reflection fiber optic sensors are easily affected by the color, shape, and angle of obstacles in front, and are prone to misjudgment. Therefore, there are still instances where the extending picking structure of the feeder collides with obstacles in front, causing damage to the picking structure or the material.

[0060] Based on the aforementioned technical problems, the applicant has improved the existing material handling structure. In this embodiment, the material handling arm is equipped with an anti-collision structure. The anti-collision structure includes a movable component and a sensing component. The first end of the movable component is designed to directly contact an obstacle; therefore, the movable component and the obstacle can make substantial contact. By determining whether an obstacle exists at the front end of the material handling arm in the extension direction through the substantial contact between the movable component and the obstacle, the material handling structure is not limited by factors such as the color, shape, position, or lighting conditions of the object in front (including obstacles, materials, etc.), but is based on the obstacle itself, thus possessing high accuracy.

[0061] Furthermore, since the second end of the moving part can be used to trigger the sensing component, the sensing component can be used to control the picking arm to stop extending, so as to avoid the picking arm continuing to extend and causing the collision force with the obstacle to intensify, resulting in damage to the picking arm or the material.

[0062] The material handling structure 100 and the feeding device 10 provided in this application embodiment will be described in detail below through specific implementation methods.

[0063] This application provides a feeding device 10, see [link to relevant documentation]. Figure 1 As shown, the feeding device 10 may include a cabinet 200 and a material handling structure 100.

[0064] The material handling structure 100 can be mounted on the cabinet 200. The cabinet 200 can be used to protect and secure components such as the material handling structure 100 within the feeding equipment 10. The material handling structure 100 can be mounted along the height direction (e.g., along the height direction). Figure 1 The Z-direction (in the middle) can rise or fall to be used for conveying materials.

[0065] In some examples, when the material handling structure 100 extends, the front end of the material handling structure 100 in the direction of extension may extend beyond the front end of the cabinet 200.

[0066] This application embodiment also provides a material handling structure 100, see [link]. Figures 2 to 7 As shown, the material handling structure may include a material handling arm 110 and a collision avoidance structure 120.

[0067] The picking arm 110 extends or retracts along a first direction X for conveying materials. When the picking arm 110 extends towards the material cart, it can retrieve materials. Materials can be placed on the picking arm 110. When the picking arm 110 extends towards the server's production line, it can place materials at a target location on the production line.

[0068] The anti-collision structure 120 may include a movable member 121 and a sensing component 122. The movable member 121 is movably connected to the picking arm 110 along a first direction X. The direction of movement of the movable member 121 is the same as the direction of movement of the picking arm 110. The sensing component 122 is fixed to the picking arm 110. The movable member 121 has a first end 121a and a second end 121b. When the picking arm 110 extends, the first end 121a can be used to contact the obstacle 20 when the picking arm 110 extends, and the second end 121b can be used to trigger the sensing component 122.

[0069] When the first end 121a comes into contact with the obstacle 20, the movable part 121 can move in the direction of the picking arm 110. The second end 121b can trigger the sensing component 122 to control the picking arm 110 to stop extending.

[0070] In this embodiment, during the extension of the picking arm 110, when there is an obstacle 20 at the front end of the picking arm 110 in the extension direction, the first end 121a of the movable member 121 can first touch the obstacle 20. Since the movable member 121 can move along the first direction X, no rigid collision will occur between the first end 121a of the movable member 121 and the obstacle 20 during the continuous extension of the picking arm 110. The force of interaction between the first end 121a of the movable member 121 and the obstacle 20 can cause the movable member 121 to move in the direction of the picking arm 110. When the first end 121a touches the obstacle 20 to a preset degree, the movement of the movable member 121 can trigger the sensing component 122 at the second end 121b. The sensing component 122 can control the picking arm 110 to stop extending, thereby reducing the possibility of damage to the picking structure 100 or the material caused by continuous pushing between the movable member 121 and the obstacle 20.

[0071] It should be noted that in this embodiment, the movable component 121 can directly contact the obstacle 20 through its first end 121a to determine whether an obstacle 20 exists at the front end of the extending direction of the picking arm 110. Therefore, compared with the method of judging the obstacle 20 by a diffuse reflection fiber optic sensor in related technologies, the judgment accuracy of this embodiment is higher. The picking structure 100 of this embodiment is not limited by the color, shape, position, lighting conditions, etc. of the object in front (including the obstacle 20, materials, etc.), which helps to reduce the possibility of damage to the picking structure 100 or the material due to misjudgment of the obstacle 20.

[0072] Furthermore, when the movable member 121 contacts the obstacle 20 to a preset degree, in order to prevent the picking arm 110 from continuing to move towards the obstacle 20 and to increase the interaction force between the movable member 121 and the obstacle 20, the second end 121b of the movable member 121 can trigger the sensing component 122. The sensing component 122 can control the picking arm 110 to stop extending via an electrical signal.

[0073] In some examples, the preset degree of contact between the movable part 121 and the obstacle 20 can be set according to the specific structure of the material-receiving structure 100, the type of material, and the material itself. Specifically, when the movable part 121 contacts the obstacle 20 but does not reach the preset degree, the movement of the movable part 121 in the first direction X can buffer the force exerted by the obstacle 20 on the movable part 121, making the material-receiving structure 100 less prone to damage.

[0074] In some examples, when the sensing component 122 controls the picking arm 110 to stop extending, the position of the picking arm 110 can be readjusted. For example, after adjusting the height of the picking arm 110, the picking arm 110 can be extended again, and then the anti-collision structure 120 can be used to determine again whether there is an obstacle 20 at the front end of the picking arm 110 in the direction of extension, until the conveying operation is completed.

[0075] In some examples, obstacle 20 can be a material cart or the material on the material cart. For example, when the picking arm 110 needs to pick up material from the material cart, if the picking arm 110 is misaligned with the material, a collision will occur between the picking arm 110 and the material, resulting in damage to the material.

[0076] In some examples, the feeding device 10 may also include a control module. The sensing component 122 may be electrically connected to the control module. When the second end 121b triggers the sensing component 122, the sensing component 122 may send an electrical signal to the control module to control the picking arm 110 to stop extending.

[0077] The control module can directly control the material-retrieving arm 110 to stop extending via an electrical signal. Alternatively, the control module can also control a mechanical structure via an electrical signal, which in turn stops the material-retrieving arm 110 from extending. This is not limited in the embodiments of this application.

[0078] In some examples, a light sensor may also be provided at the front end of the picking arm 110 along its extension direction. For example, the light sensor may be, but is not limited to, a diffuse optical fiber sensor, to assist in determining the presence of the obstacle 20.

[0079] The number of optical sensors can be, but is not limited to, one. When there are multiple optical sensors, they can correspond to different directions to detect whether there are obstacles 20 in different directions.

[0080] See also some of the possible implementation methods. Figures 2 to 6 As shown, the movable member 121 in this embodiment can slide along the first direction X to have an initial position and a trigger position. When the movable member 121 is in the initial position, the second end 121b and the sensing component 122 can have a gap. When the movable member 121 is in the trigger position, the second end 121b and the sensing component 122 can correspond to each other, and the second end 121b can trigger the sensing component 122.

[0081] In the embodiments of this application, see Figures 2 to 4As shown, when the material-picking structure 100 is not extended or when the movable member 121 has not touched the obstacle 20, the movable member 121 can be in its initial position. At this time, there is a gap between the second end 121b of the movable member 121 and the sensing component 122. It should be noted that the gap between the second end 121b and the sensing component 122 prevents the second end 121b from triggering the sensing component 122, thus the sensing component 122 does not need to control the material-picking arm 110 to stop extending. When the material-picking structure 100 extends and the movable member 121 touches the obstacle 20 to a preset degree, see... Figure 5 and Figure 6 As shown, the second end 121b can correspond to the sensing component 122, so that the sensing component 122 can be triggered by the second end 121b, thereby the sensing component 122 can control the picking arm 110 to stop extending, so as to avoid the possibility of the picking arm 110 continuing to extend and causing a collision with the obstacle 20, and damage to the picking structure 100 and the material.

[0082] It should be noted that the correspondence between the second end 121b of the movable member 121 and the sensing component 122 can mean that the second end 121b is located at a position where the sensing component 122 can be triggered. For example, at this time, the second end 121b and the sensing component 122 can be in contact. Alternatively, the distance between the second end 121b and the sensing component 122 can reach the distance required to trigger the sensing component 122. This is not limited in this embodiment.

[0083] See also some of the possible implementation methods. Figure 4 , Figure 5 and Figure 7 As shown, the anti-collision structure 120 of this application embodiment may further include an elastic reset member 123. The elastic reset member 123 may be disposed on the movable member 121. The elastic reset member 123 may be used to drive the movable member 121 to a trigger position when the first end 121a collides with the obstacle 20 to a preset degree.

[0084] When the first end 121a of the movable member 121 contacts the obstacle 20, there is an interaction force between the movable member 121 and the obstacle 20. Since the movable member 121 can move along the first direction X, it can move towards the material-retrieving arm 110 under the pushing action of the obstacle 20. As the material-retrieving arm 110 continues to extend, the movement of the movable member 121 prevents the interaction force between the movable member 121 and the obstacle 20 from continuously increasing.

[0085] In this embodiment, the elastic reset member 123 can have a buffering effect. By providing the elastic reset member 123 on the movable member 121, the force exerted by the obstacle 20 on the movable member 121 can be buffered, thereby reducing the damage caused by the obstacle 20 to the movable member 121 and thus reducing the possibility of the obstacle 20 damaging the picking arm 110.

[0086] Furthermore, the elastic reset member 123 can ensure that the movable member 121 moves stably towards the picking arm 110 when it contacts the obstacle 20, thereby reducing the possibility of the movable member 121 moving momentarily or moving a large distance towards the picking arm 110, which could cause the second end 121b to falsely trigger the sensing component 122. Specifically, when the movable member 121 contacts the obstacle 20, the elastic reset member 123 generates an elastic force as the picking arm 110 continues to extend. The elastic reset member 123 and the obstacle 20 have an interaction force, ensuring that the movable member 121 remains in contact with the obstacle 20, thereby improving the stability of the movable member 121's movement towards the picking arm 110.

[0087] Furthermore, the elastic reset member 123 can also drive the movable member 121 to reset. Specifically, since the elastic reset member 123 can generate elastic deformation, when the movable member 121 collides with the obstacle 20, as the picking arm 110 continues to extend, the elastic reset member 123 can generate elastic deformation and elastic force. Thus, when the picking arm 110 retracts and the movable member 121 is no longer in contact with the obstacle 20, the elastic reset member 123 can release the elastic force, thereby driving the movable member 121 to return to its initial position through the elastic force.

[0088] In some examples, the resilient reset member 123 is elastic. The resilient reset member 123 may be a spring. Alternatively, the resilient reset member 123 may be formed using an elastic material to be elastic. For example, the elastic material may be, but is not limited to, rubber.

[0089] See also some of the possible implementation methods. Figure 4 , Figure 5 and Figure 7 As shown, the anti-collision structure 120 of this embodiment may include a fixing member 124. The anti-collision structure 120 can be connected to the picking arm 110 via the fixing member 124. The movable member 121 can pass through the fixing member 124 along a first direction X. The first end 121a and the second end 121b can be located on both sides of the fixing member 124, respectively. The first end 121a extends out of the fixing member 124 on the side facing the obstacle 20. The elastic reset member 123 can be located on the side of the fixing member 124 facing the obstacle 20. The elastic reset member 123 can abut against the fixing member 124.

[0090] In this embodiment, the anti-collision structure 120 can be fixed to the material picking arm 110 by the fixing member 124. Therefore, the movable member 121 can be movably connected to the material picking arm 110 by passing through the fixing member 124. Thus, the material picking arm 110 does not need to be provided with a through hole for the movable member 121 to pass through, which helps to ensure the structural strength of the material picking arm 110 and improve the stability and reliability of the material picking arm 110 in the process of conveying materials.

[0091] In some examples, the fixing member 124 can be located at the front end of the picking arm 110 in the extension direction. By setting the first end 121a to extend out of the fixing member 124 on the side facing the obstacle 20, the first end 121a can contact the obstacle 20 first when the obstacle 20 is present, so as to buffer the force of the obstacle 20 on the picking arm 110, thereby protecting the entire picking structure 100 from damage.

[0092] In some examples, the fastener 124 may be detachably attached to the pick-up arm 110.

[0093] For example, the fastener 124 can be locked to the picking arm 110 by a locking fastener. Therefore, a mounting hole for the locking fastener can be provided in the existing picking structure to realize the installation of the anti-collision structure 120, thereby forming the picking structure 100 of this application embodiment. The installation method of the anti-collision structure 120 is simple, the amount of modification work required for the existing picking structure components is small, the modification cost is low, and material waste can be reduced.

[0094] See also some of the possible implementation methods. Figure 4 and Figure 5 As shown, the sensing component 122 in this embodiment may include a sensor 1222. The sensor 1222 may have a sensing area. When the movable member 121 is in the initial position, the second end 121b may be spaced apart from the sensing area. When the movable member 121 is in the triggered position, the second end 121b may be located in the sensing area to trigger the sensor 1222.

[0095] In this embodiment, the moving part 121 and the sensor 1222 cooperate to control the extension of the picking arm 110. When there is no obstacle 20 at the front end of the picking arm 110 in the extension direction, the moving part 121 can always be in the initial position. There is a gap between the second end 121b of the moving part 121 and the sensing area, so the moving part 121 will not trigger the sensor 1222 to send a signal to the control module, and the picking arm 110 can continue to extend. When there is an obstacle 20 at the front end of the picking arm 110 in the extension direction, when the first end 121a of the moving part 121 collides with the obstacle 20 to a preset degree, the moving part 121 moves in the direction of the picking arm 110 so that the second end 121b moves closer to the sensing area. When the second end 121b is in the sensing area, the second end 121b can trigger the sensor 1222. The sensor 1222 can send a signal to the control module to control the picking arm 110 to stop extending.

[0096] The sensing area of ​​sensor 1222 can be a region. Sensor 1222 can be triggered when the second end 121b enters the sensing area.

[0097] In some examples, sensor 1222 may be a proximity sensor. A proximity sensor may also be referred to as a proximity switch. The proximity sensor may be triggered without physical contact between the second end 121b of the moving part 121 and the sensor. The proximity sensor may be, but is not limited to, an inductive proximity sensor, a capacitive proximity sensor, a photoelectric proximity sensor, or an ultrasonic proximity sensor.

[0098] Taking the inductive proximity sensor 1222 as an example, when the second end 121b is located in the sensing area of ​​the sensor, the magnetic field characteristics of the sensing area can be changed, thereby triggering the sensor 1222. It should be noted that the material of the second end 121b used to trigger the inductive proximity sensor 1222 is a metallic material.

[0099] In some examples, when sensor 1222 is an inductive proximity sensor, the sensing area can refer to a circular area with a radius of 1mm-2mm centered on sensor 1222.

[0100] See also some of the possible implementation methods. Figure 6 As shown, the sensing component 122 in this embodiment may further include a mounting base 1221. The mounting base 1221 may be provided with an opening slot 1221a. The sensor 1222 may be disposed in the opening slot 1221a. The opening slot 1221a is provided with a sensing area. The sensor 1222 can receive light signals through the opening slot 1221a.

[0101] When the movable member 121 is in the initial position, the second end 121b can be located outside the opening slot 1221a, and the sensor 1222 can receive the light signal. When the movable member 121 is in the triggered position, at least a portion of the second end 121b is located within the sensing area of ​​the opening slot 1221a. The second end 121b can block the sensor 1222 from receiving the light signal, thereby triggering the sensor 1222.

[0102] In this embodiment, sensor 1222 can be a light sensor. When the movable member 121 is in its initial position, there is no obstruction within the opening slot 1221a, and sensor 1222 can receive light signals. At this time, sensor 1222 is not triggered, and the picking arm 110 can continue to extend. When the first end 121a of the movable member 121 collides with the obstacle 20 to a preset degree, the movable member 121 moves towards the picking arm 110, so that the second end 121b is located within the opening slot 1221a. At this time, the second end 121b can block the opening slot 1221a, preventing sensor 1222 from receiving light signals, thereby triggering sensor 1222.

[0103] Specifically, sensor 1222 may include a transmitter and a receiver. The transmitter and receiver may be located on opposite inner walls of the opening slot 1221a. When the movable member 121 is in the initial position, there is no obstruction in the opening slot 1221a, and the receiver can receive the light signal emitted by the transmitter. When the movable member 121 is in the triggered position, the second end 121b is located in the opening slot 1221a, and the light signal emitted by the transmitter is blocked by the second end 121b. The receiver cannot receive the light signal, thereby triggering sensor 1222 to send a signal to the control module to control the picking arm 110 to stop extending.

[0104] In some examples, along the first direction X, the second end 121b of the movable member 121 can correspond to the opening slot 1221a so that when the movable member 121 moves along the first direction X, the second end 121b of the movable member 121 can smoothly enter the opening slot 1221a.

[0105] In some examples, sensor 1222 may be, but is not limited to, a slotted photoelectric sensor or a through-beam light sensor.

[0106] See also some of the possible implementation methods. Figure 4 , Figure 5 and Figure 7 As shown, the active component 121 in this embodiment may include a trigger piece 1211, and the second end 121b may be located on the trigger piece 1211.

[0107] In this embodiment, the second end 121b used to trigger the sensing component 122 can be a sheet-like structure. The thickness of the sheet-like trigger sheet 1211 is small, so that it occupies a small space in the opening slot 1221a, thereby ensuring that the size of the opening slot 1221a is not large, which is beneficial to improving the reliability of optical signal transmission.

[0108] See in some examples Figure 7 As shown, the movable member 121 may further include a movable post 1212. The movable post 1212 passes through the fixed member 124. The first end 121a of the movable member 121 is located on the movable post 1212. The trigger piece 1211 may be disposed on the end of the movable post 1212 away from the first end 121a.

[0109] In some examples, the trigger piece 1211 can be fixed to the movable post 1212 by a locking fastener.

[0110] In some examples, there can be multiple movable pillars 1212. By setting multiple movable pillars 1212, the detection area of ​​the obstacle 20 can be increased, thereby improving the accuracy of the position determination of the obstacle 20. For example, when there are two movable pillars 1212, the two movable pillars 1212 can be set at intervals along the second direction Y.

[0111] In some examples, the material handling structure 100 may include two anti-collision structures 120. Along the second direction Y, the two anti-collision structures 120 may be located on both sides of the material handling arm 110 to detect obstacles 20 in the entire front end area of ​​the material handling arm 110 in the direction of extension.

[0112] See also some of the possible implementation methods. Figure 4 , Figure 5 and Figure 7 As shown, the anti-collision structure 120 of this embodiment may further include a buffer member 125. The buffer member 125 may be disposed at the first end 121a of the movable member 121. The buffer member 125 is used to contact the obstacle 20. One end of the elastic reset member 123 may abut against the fixed member 124, and the other end of the elastic reset member 123 may abut against the buffer member 125.

[0113] In this embodiment, by setting the buffer 125 at the first end 121a of the movable member 121, when encountering an obstacle 20, the first end 121a of the movable member 121 can contact the obstacle 20 through the buffer 125. By having the buffer 125 contact the obstacle 20, the possibility of damage to the material handling structure 100 or the material caused by a hard collision can be reduced.

[0114] In some examples, when there are multiple moving parts 121, the first ends 121a of each moving part 121 can be connected to the buffer 125, so that the buffer 125 can have a larger contact area with the obstacle 20. It is easy to understand that when the contact area between the buffer 125 and the obstacle 20 is large, the impact force of the obstacle 20 on the picking arm 110 can be reduced, thereby reducing the possibility of damage to the picking arm 110.

[0115] In some examples, the buffer 125 may be formed from an elastic or flexible material.

[0116] In some examples, the buffer 125 can be secured to the first end 121a of the movable part 121 by a locking fastener.

[0117] See also some of the possible implementation methods. Figure 4 , Figure 5 and Figure 7 As shown, the anti-collision structure 120 of this application embodiment may further include a guide member 126. The guide member 126 may be fixed to the fixing member 124. The guide member 126 is provided with a guide channel 126a for the movable member 121 to slide along the first direction X.

[0118] In this embodiment of the application, by providing a guide channel 126a in the guide member 126, the movable member 121 can be kept to move in a straight line along the first direction X, so as to reduce the possibility that the movable member 121 deflects during the movement, which may affect the accuracy of the judgment of the obstacle 20.

[0119] In some examples, the fastener 124 may also be provided with a fixing hole for fixing the guide 126. At least a portion of the guide 126 may be located within the fixing hole.

[0120] Among them, see Figure 4 and Figure 5 As shown, along the first direction X, at least one end of the guide member 126 may extend beyond the outer end face of the fixing member 124. Since the movable member 121 can slide within the guide channel 126a of the guide member 126, the anti-collision structure 120 may also include a limiting member 127. The limiting member 127 may be disposed on the outer end face of the fixing member 124 beyond which the guide member 126 extends. The limiting member 127 may engage with the exterior of a portion of the guide member 126, so that when the movable member 121 slides towards the material-taking arm 110, the limiting member 127 constrains the guide member 126 from being pulled out by the movable member 121. In other words, the guide member 126 is less likely to detach from the fixing hole, thereby improving the connection reliability between the guide member 126 and the fixing member 124.

[0121] For example, the outer wall of the portion of the guide member 126 extending beyond the fixing member 124 may be provided with an annular groove. A portion of the limiting member 127 may be located within the annular groove so that when the movable member 121 moves along the first direction X, the limiting member 127 will not disengage from the fixing hole along the first direction X.

[0122] Wherein, when both ends of the guide member 126 extend beyond the two opposite outer end faces of the fixing member 124 along the first direction X, the number of limiting members 127 can be two. The two limiting members 127 can be located on both sides of the fixing member 124 respectively. Correspondingly, two annular grooves can be provided on the outer wall of the guide member 126.

[0123] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, an indirect connection through an intermediate medium, or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0124] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of this application, and are not intended to limit them. Although the embodiments of this application have been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A material taking structure (100), characterized in that, The application relates to a material taking arm (110) which extends or retracts along a first direction (X) for conveying material; a collision prevention structure (120) which comprises a movable element (121) and a sensing assembly (122), the movable element (121) is movably connected to the material taking arm (110) along the first direction (X), the sensing assembly (122) is fixed to the material taking arm (110), the movable element (121) has a first end (121a) and a second end (121b), when the material taking arm (110) extends, the first end (121a) is used for touching an obstacle (20) when the material taking arm (110) extends, and the second end (121b) is used for triggering the sensing assembly (122); wherein when the first end (121a) touches the obstacle (20), the movable element (121) moves towards the material taking arm (110), and the second end (121b) can trigger the sensing assembly (122) to control the material taking arm (110) to stop extending. The movable element (121) slides along the first direction (X) to have an initial position and a triggering position; when the movable element (121) is located at the initial position, the second end (121b) has a spacing from the sensing assembly (122); when the movable element (121) is located at the triggering position, the second end (121b) corresponds to the sensing assembly (122) to trigger the sensing assembly (122). The collision prevention structure (120) further comprises an elastic reset element (123) which is arranged on the movable element (121), and is used for driving the movable element (121) to move to the triggering position when the first end (121a) collides with the obstacle (20) to a preset extent. The collision prevention structure (120) comprises a fixed element (124), the collision prevention structure (120) is connected to the material taking arm (110) through the fixed element (124), the movable element (121) is arranged on the fixed element (124) along the first direction (X), the first end (121a) and the second end (121b) are located on two sides of the fixed element (124) respectively, and the first end (121a) extends from one side of the fixed element (124) towards the obstacle (20).

2. The material taking structure (100) according to claim 1, characterized in that, The elastic reset element (123) is located on the side of the fixed element (124) which faces the obstacle (20) and abuts against the fixed element (124). The sensing assembly (122) comprises an inductor (1222) which has a sensing area; when the movable element (121) is located at the initial position, the second end (121b) has a spacing from the sensing area; when the movable element (121) is located at the triggering position, the second end (121b) is located in the sensing area to trigger the inductor (1222). ​ 3. The material taking structure (100) according to claim 2, characterized in that, ​ 4. The material taking structure (100) according to claim 3, characterized in that, ​ ​ 5. The material taking structure (100) according to claim 4, characterized in that, ​ ​ ​ 6. The material taking structure (100) according to claim 5, characterized in that The sensing assembly (122) further comprises a fixing base (1221) provided with an open slot (1221a), and the inductor (1222) is arranged in the open slot (1221a), wherein the open slot (1221a) is provided with the sensing area, and the inductor (1222) receives the light signal through the open slot (1221a); When the movable element (121) is located at the initial position, the second end (121b) is located outside the open slot (1221a), and the inductor (1222) receives the light signal; When the movable element (121) is located at the triggering position, at least part of the second end (121b) is located in the sensing area in the open slot (1221a), and the second end (121b) shields the inductor (1222) from receiving the light signal, so as to trigger the inductor (1222).

7. The material taking structure (100) according to claim 4, characterized in that, The movable element (121) comprises a triggering piece (1211), and the second end (121b) is located in the triggering piece (1211).

8. The material taking structure (100) according to claim 4, characterized in that, The anti-collision structure (120) further comprises a buffer element (125), which is arranged at the first end (121a) of the movable element (121) and used for being in contact with the obstacle (20); One end of the elastic reset element (123) is in abutment with the fixing element (124), and the other end of the elastic reset element (123) is in abutment with the buffer element (125).

9. The material taking structure (100) according to claim 4, characterized in that, The anti-collision structure (120) further comprises a guide element (126), which is fixed to the fixing element (124) and is provided with a guide channel (126a) for allowing the movable element (121) to slide in the first direction (X).

10. A loading apparatus (10), characterized in that, The material taking structure (100) comprises the anti-collision structure (120) and the sensing assembly (122). The material taking structure (100) comprises the anti-collision structure (120) and the sensing assembly (122).

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