Finger assembly, goods picking and placing device and transfer robot

Abstract

The utility model relates to the technical field of intelligent warehousing, and discloses a finger assembly, a goods picking and placing device and a transfer robot. The driving part is fixedly connected to the base; the driving rotating shaft is rotationally connected to the base, one end of the driving rotating shaft is fixedly connected with an output shaft of the driving part, and the other end is provided with a driving bevel gear; the driven rotating shaft is rotationally connected to the base and is perpendicular to the driving rotating shaft, a driven bevel gear is arranged on the driven rotating shaft, and the driven bevel gear is meshed with the driving bevel gear; and the finger-shaped component is fixedly connected to the driven rotating shaft, and the finger-shaped component is used for rotating between a retracting angle and a swinging angle along with the driven rotating shaft. By means of the mode, the small size of the finger assembly in the width direction and the height direction can be achieved, and meanwhile the structural strength and working reliability of a transmission mechanism between the driving piece and the finger-shaped component are guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent warehousing, in particular to a finger assembly, a taking and placing device and a carrying robot. BACKGROUND

[0002] In a warehousing system, a plurality of sizes of containers are usually used, and the depth of a storage location on a shelf is generally designed to be able to accommodate the longest size of container, so that shorter size containers can also be stored in the same storage location. In order to improve the overall space utilization of the warehousing system, under the condition that space permits, two or more shorter size containers can be stored in one storage location.

[0003] A carrying robot is a key device responsible for transferring containers in a warehousing system, and the carrying robot is provided with a taking and placing device responsible for taking and placing containers. The taking and placing device has a telescopic fork, and the fork is provided with a finger assembly. The finger assembly is connected to the fork by a finger member which can be swung out or retracted. The finger member is swung out or retracted in cooperation with the telescopic fork to realize the taking and placing of containers.

[0004] In order to realize the taking and placing of multiple shorter containers in the same storage location, a secondary finger assembly is arranged at the middle position of the fork to place multiple shorter containers in the same storage location or take them out from the same storage location.

[0005] Since the size of the secondary finger assembly directly affects the size of the fork in which it is arranged, when the secondary finger assembly is large in size, the fork and the robot will be large in size, and a wider aisle needs to be reserved in the warehouse for the robot to work, which undoubtedly leads to a decrease in space utilization.

[0006] In existing secondary finger assemblies, due to the limitation of overall size requirements, the sizes of the transmission components in the secondary finger assembly are also relatively small, which makes their structural strength low and the stability of transmission poor. CONTENT OF THE UTILITY MODEL

[0007] In view of the above problems, the embodiments of the present application provide a finger assembly, a taking and placing device and a carrying robot, which can realize the structural strength and working reliability of the transmission mechanism between the driving member and the finger member without increasing the overall size of the finger assembly.

[0008] In a first aspect, the present application provides a finger assembly, comprising: a base; a driving member fixedly connected to the base; a driving shaft rotatably connected to the base, one end of the driving shaft being fixedly connected to an output shaft of the driving member, and the other end of the driving shaft being provided with a driving bevel gear; a driven shaft rotatably connected to the base and arranged perpendicularly to the driving shaft, the driven shaft being provided with a driven bevel gear, and the driven bevel gear being engaged with the driving bevel gear; and a finger member fixedly connected to the driven shaft, the finger member being configured to rotate with the driven shaft between a stowed angle and a deployed angle.

[0009] In an optional manner, a mounting hole is formed in the base; the driving member is fixed to one side of the mounting hole, the driving shaft is arranged in the mounting hole, and the driving bevel gear is located at the other side of the mounting hole; and a first bearing is arranged in the mounting hole, and the driving shaft is rotatably connected to the base through the first bearing.

[0010] In an optional manner, the first bearing is a plurality of bearings arranged in the mounting hole along the axial direction of the driving shaft.

[0011] In an optional manner, the first bearing is movably arranged in the mounting hole along the axial direction of the driving shaft; an adjusting member is further arranged in the mounting hole, the adjusting member is located at the side of the first bearing away from the driving bevel gear, and the adjusting member is movable and then fixed in the mounting hole along the axial direction of the driving shaft; the first bearing comprises an inner ring fixed relative to the driving shaft and an outer ring fixed relative to the inner wall of the mounting hole; in the axial direction of the driving shaft, the adjusting member abuts against the outer ring, the inner ring abuts against the driving shaft or the driving bevel gear, and the adjusting member is configured to move the driving bevel gear along the axial direction of the driving shaft through the first bearing and the driving shaft and then fix the driving bevel gear to adjust the engagement gap between the driving bevel gear and the driven bevel gear.

[0012] In an optional manner, the adjusting member comprises an externally threaded nut, the externally threaded nut is sleeved on the driving shaft, the inner periphery of the externally threaded nut has a gap with the driving shaft, and the outer periphery of the externally threaded nut is threadedly connected with the inner wall of the mounting hole.

[0013] In an optional manner, a fixing hole is formed in the base and communicates with the mounting hole, the fixing hole is arranged opposite to the adjusting member, a locking member is movably arranged in the fixing hole, and the locking member is configured to move towards the adjusting member and lock and fix the adjusting member after the adjusting member is moved into position.

[0014] In an optional manner, the base is internally provided with a cavity, the mounting hole communicates with the cavity, the driving member is fixed to the outer side of the mounting hole, and the driving bevel gear is arranged in the cavity; the driven shaft is at least partially arranged in the cavity, and the driving bevel gear and the driven bevel gear are engaged in the cavity.

[0015] In an optional manner, the cavity is filled with a lubricating medium.

[0016] In an alternative mode, an observation opening is formed in the base and communicates with the cavity, and a cover plate is detachably arranged at the observation opening.

[0017] In an alternative mode, a first through hole and a second through hole are arranged at opposite sides of the base respectively, and the first through hole and the second through hole both communicate with the cavity; a second bearing is arranged in the first through hole, and a third bearing is arranged in the second through hole; the driven rotating shaft is arranged in the first through hole, the cavity and the second through hole, and is rotatably connected with the base through the second bearing and the third bearing.

[0018] In an alternative mode, two ends of the driven rotating shaft are a connecting end and a locking end respectively; the connecting end protrudes from the second bearing, and the connecting end abuts against the outer side of the second bearing and is fixedly connected with the finger-shaped member; the locking end is provided with a rotation-stopping piece, the rotation-stopping piece abuts against the outer side of the third bearing, the rotation-stopping piece is fixedly connected with the locking end through a threaded fastener, and the rotation-stopping piece and the locking end are limitingly connected in the rotation direction of the driven rotating shaft.

[0019] In an alternative mode, the driving rotating shaft and the driving bevel gear are an integral structure.

[0020] In a second aspect, the application provides a taking and placing device, which comprises a bearing member, a fork and the finger assembly in any one of the first aspect, the fork is arranged on the bearing member, and the finger assembly is connected to the fork; the finger-shaped member in the finger assembly is used to rotate between the stowed angle and the deployed angle to be connected or separated from the container; and the fork is used to drive the finger assembly to move after the finger-shaped member is connected with the container, so as to transfer the container between the bearing member and the shelf.

[0021] In a third aspect, the application provides a carrying robot, which comprises a robot body and the taking and placing device described in the second aspect, and the taking and placing device is arranged on the robot body.

[0022] In the finger assembly provided by the embodiments of the application, the traditional straight gear transmission scheme is abandoned, and the driving member and the finger-shaped member are driven in the form of meshing of the driving bevel gear and the driven bevel gear based on the base as the mounting carrier. Since the axes of the driving bevel gear and the driven bevel gear are perpendicular to each other during transmission, the plane where the driving bevel gear is located is in the plane constituted by the width direction and the height direction of the fork, and the plane where the driven bevel gear is located is in the plane constituted by the width direction and the length direction (i.e. the extension direction) of the fork. This makes the driving bevel gear and the driven bevel gear be able to have a larger modulus under the premise of the same width size and height size compared with the straight gear transmission, so as to have better structural strength and transmission stability.

[0023] The above description is only a summary of the technical solutions of the present application. In order to make the technical means of the present application more clearly understood and implemented according to the content of the specification, and in order to make the above and other purposes, characteristics and advantages of the present application more obvious and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0024] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the embodiments. The accompanying drawings are merely schematic and are not intended to be limiting of the present application. Rather, for the purpose of explanation, the drawings provide principles of the present application. Furthermore, in the accompanying drawings:

[0025] Figure 1 A perspective view of a finger assembly in a stowed condition according to an embodiment of the present application;

[0026] Figure 2 A perspective view of a finger assembly in a deployed condition according to an embodiment of the present application;

[0027] Figure 3 An internal structure view of a finger assembly according to an embodiment of the present application;

[0028] Figure 4 An exploded view of a finger assembly according to an embodiment of the present application;

[0029] Figure 5a And Figure 5b Structure diagrams of engagement of two bevel gears and two spur gears under the same area condition;

[0030] Figure 6 A sectional view of a finger assembly according to an embodiment of the present application;

[0031] Figure 7 A Figure 6 An enlarged view at A;

[0032] Figure 8 A structure diagram of a driving member and a base of a finger assembly according to an embodiment of the present application after explosion;

[0033] Figure 9 A structure diagram of a finger assembly according to an embodiment of the present application in another exploded condition;

[0034] Figure 10 A structure diagram of a base and a driven shaft of a finger assembly according to an embodiment of the present application after explosion;

[0035] Figure 11 A Figure 6 An enlarged view at B;

[0036] Figure 12A top view of the finger assembly provided by the embodiment of the present application in a retracted state;

[0037] Figure 13 A top view of the finger assembly provided by the embodiment of the present application in a deployed state;

[0038] Figures 14 to 18 A top view of the picking and placing device provided by the embodiment of the present application in each state in the scenario of placing shorter containers in the storage location;

[0039] Figure 19 A top view of the picking and placing device provided by the embodiment of the present application in the scenario of placing longer containers in the storage location.

[0040] Reference signs in the detailed description are as follows:

[0041] 11, first bevel gear; 12, second bevel gear; 21, first spur gear; 22, second spur gear;

[0042] 100, finger assembly;

[0043] 110, base; 1101, stop block; 1102, protrusion; 111, mounting plate; 112, mounting hole; 113, fixing hole; 114, locking piece; 115, cavity; 116, observation port; 117, cover plate; 118, gasket; 1191, first through hole; 1192, second through hole;

[0044] 120, driving piece; 121, output shaft;

[0045] 130, driving shaft; 131, driving bevel gear; 132, first bearing; 1321, inner ring; 1322, outer ring; 133, adjusting piece; 1331, operation hole; 134, protrusion;

[0046] 140, driven shaft; 141, driven bevel gear; 142, second bearing; 143, third bearing; 144, support sleeve; 145, connecting end; 1451, fixing piece; 146, locking end; 1461, rotation-stopping piece; 1462, threaded fastener; 1463, clamping groove;

[0047] 150, finger member; 151, connecting hole;

[0048] 161, first fastener; 162, second fastener;

[0049] 200, carrier; 300, fork; 310, primary finger assembly; 320, push plate; 400, picking and placing device; 500, container; 600, storage location. DETAILED DESCRIPTION

[0050] The embodiments of the present application will be described in detail below with reference to the drawings. The following examples are only used to more clearly illustrate the technical solutions of the present application, and therefore only serve as examples, and cannot be used to limit the protection scope of the present application.

[0051] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application; the terms "comprising," "comprises" and "including" as used herein are synonymous with and meant to have the same meaning as the term "including"; the term "coupled" as used herein means the joining of two members together with one or more intervening members.

[0052] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly and specifically limited.

[0053] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearance of the phrase in various places in the specification does not necessarily all refer to the same embodiment, nor is it necessarily independent or alternative embodiments to each other. The skilled person explicitly and implicitly understands that the embodiments described herein can be combined with other embodiments.

[0054] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of existence of A, existence of A and B, and existence of B. In addition, the character " / " in this paper generally represents that the front and rear associated objects are a "or" relationship.

[0055] In the description of the embodiments of the present application, the term "a plurality of" refers to two or more (including two), and similarly, "a plurality of groups" refers to two or more groups (including two groups), and "a plurality of pieces" refers to two or more pieces (including two pieces).

[0056] In the description of the embodiments of the present application, the orientations or positional relationships indicated by the technical terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0057] In the description of the embodiments of the present application, unless otherwise explicitly specified and limited, the technical terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, can be fixed connection, can also be detachable connection, or integral; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0058] With the rapid development of artificial intelligence and automation technology, intelligent warehouse system has become the trend of logistics development, and transfer robot as the key equipment for transferring material box plays an important role in the warehouse system.

[0059] On the transfer robot, the middle area of the taking and placing device needs to be provided with a bearing table to support the material box, so the forks can generally be arranged on one side or both sides, and the size of the forks in the width direction and the height direction needs to be as small as possible to reduce the space occupation of the taking and placing device and improve the overall space utilization of the warehouse system. Under the premise of small size requirement of the forks, in order to ensure the stable installation and reliable work of the finger assembly on the forks, higher requirements are put forward for the layout mode and size of the finger assembly.

[0060] Taking a two-stage finger assembly as an example, in the existing two-stage finger assembly, the output shaft of the driving member and the rotating shaft of the finger member are mostly arranged in parallel, and both of them are arranged along the extension direction of the fork. The output shaft of the driving member is drivingly connected with the rotating shaft of the finger member through a transmission mechanism such as a speed reducer, a spur gear set, etc. The finger member will swing between the vertical state and the horizontal state under the driving of the driving member, so as to realize the separation or butt joint with the material box.

[0061] Although such an arrangement can arrange the driving member, the transmission mechanism and the finger-shaped member along the extension direction of the fork, reduce the space occupation in the width direction and the height direction, for the transmission mechanism, to achieve the mutual engagement between the spur gears and ensure the small size in the width direction and the height direction, it is necessary to set the diameter and the module of each spur gear as small as possible, on this basis, it is inevitable to affect the strength and rigidity of the spur gear, and further reduce the stability and reliability of the transmission between the spur gears.

[0062] To solve the above problems, the present application considers improving the transmission mechanism in the finger assembly, specifically, the transmission from the output shaft of the driving member to the rotating shaft of the finger-shaped member is realized by the mutual engagement of bevel gears, compared with the transmission of spur gears, under the condition of the same width size and height size, the bevel gears can be set to have larger diameter and module, thereby ensuring the structural strength and working reliability of the transmission mechanism.

[0063] Based on this, according to one aspect of an embodiment of the present application, a finger assembly is provided, specifically, please refer to Figures 1 to 3 , Figure 1 and Figure 2 respectively show the perspective structure of the finger assembly in the retracted state and the deployed state, Figure 3 show the internal structure of the finger assembly. After the finger assembly 100 is assembled to the fork, the width direction of the fork is the double-headed arrow X direction in the figure, the extension direction of the fork is the double-headed arrow Y direction in the figure, the height direction of the fork is the double-headed arrow Z direction in the figure, of course, the width direction of the fork (double-headed arrow X direction) is also the width direction of the finger assembly 100, and the height direction of the fork (double-headed arrow Z direction) is also the height direction of the finger assembly 100.

[0064] As shown in the figure, the finger assembly 100 includes a base 110, a driving member 120, a driving rotating shaft 130, a driven rotating shaft 140 and a finger-shaped member 150. Among them, the base 110 is a carrier for installing other components, and the base 110 can be further used to connect with the fork to realize the assembly of the finger assembly 100 on the fork.

[0065] The driving member 120 is fixedly connected to the base 110, specifically, please further combine Figure 4The explosion structure shown in the illustrated embodiment, the base 110 along the double arrow Y direction one side is provided with mounting plate 111, in the assembly, the driving part 120 first through the first fastener 161 (for example, can be screw, rivet, etc.) and mounting plate 111 fixed connection, then mounting plate 111 again through the second fastener 162 lock on the base 110, to realize the assembly of driving part 120 on the base 110 fixed. Driving part 120 and base 110 between in addition to using the example provided in the figure through the mounting plate 111 assembly mode, of course, can also use other assembly form, specific here is not limited. In addition, the driving part 120 can be a separate motor, but also can be a driving module containing motor and reducer, further, the driving part 120 can use a DC motor as a power source, compared with the traditional scheme of the steering gear, has the characteristics of more stable performance, internal movement component more strong, so as to fully guarantee the stability and reliability of the power transmission of the finger assembly 100.

[0066] The driving shaft 130 is rotatably connected to the base 110, and one end of the driving shaft 130 is fixedly connected with the output shaft 121 of the driving part 120 through a shaft coupling or a key. The other end of the driving shaft 130 is provided with a driving bevel gear 131. Specifically, the driving shaft 130 and the driving bevel gear 131 can be an integral structure to improve the overall structural strength of the two and ensure the power transmission process from the output shaft 121 to the driving bevel gear 131 is more stable and reliable, and can reduce the vibration and impact generated in the transmission process. Of course, the driving shaft 130 and the driving bevel gear 131 can also adopt a split structure and be fixedly connected through a key or assembled and fixed through welding, press fitting, etc. The specific assembly method is not described here.

[0067] Please refer to Figure 3 and Figure 4 The driven shaft 140 is also rotatably connected to the base 110, and the driven shaft 140 is perpendicular to the driving shaft 130. The driven shaft 140 is provided with a driven bevel gear 141. Similarly, under the condition that the structure allows, the driven bevel gear 141 and the driven shaft 140 can also adopt an integral structure to improve the structural strength and transmission reliability. Of course, the two can also be connected through a key or by welding, press fitting, etc. The driven bevel gear 141 is engaged with the driving bevel gear 131 to realize the transmission of power from the output shaft 121 to the driven shaft 140.

[0068] The finger member 150 is fixedly connected to the driven rotating shaft 140, so that the finger member 150 can rotate with the driven rotating shaft 140 between the stowed angle and the deployed angle, the finger member 150 at the stowed angle means that the finger assembly 100 is in the stowed state, and the finger member 150 at the deployed angle means that the finger assembly 100 is in the deployed state. Although the driving bevel gear 131 and the driven bevel gear 141 are in meshing transmission, the output shaft 121 and the driven rotating shaft 140 are perpendicular to each other, but the finger member 150 can be arranged to rotate to the stowed angle when it is parallel to the fork extension direction (i.e. the finger member 150 extends along the double-headed arrow Y direction as shown in Figure 1 , and rotate to the deployed angle when it is perpendicular to the fork extension direction (i.e. the finger member 150 extends along the double-headed arrow X direction as shown in Figure 2 , so as to realize the separation and docking of the finger member and the container.

[0069] It should be pointed out here that, Figure 1 and Figure 2 in the specific embodiments shown, at the stowed angle, the finger member 150 extends along the double-headed arrow Y direction, so that when the fork moves, the finger member 150 will not collide with the container or other structures on the side of the fork, and at the deployed angle, the finger member 150 extends along the double-headed arrow X direction, which makes the finger member 150 can be docked (such as hooked, abutted, etc.) with the container on the side of the fork, and then realize the taking and placing of the container with the movement of the fork. It can be understood that, Figure 1 and Figure 2 in the examples, the finger member 150 rotates between the stowed angle and the deployed angle within a range of 90°, which does not constitute a limitation on the rotation range of the finger member 150 and the specific positions of the stowed angle and the deployed angle. For example, in other embodiments, the finger member 150 can also rotate with the driven rotating shaft 140 within a range of less than 90° or more than 90°, as long as it can realize the docking and separation with the container and can normally carry out the taking and placing operation.

[0070] Please refer to Figure 5a and Figure 5b , which show the pitch circle diameters of the two meshing bevel gears and the two meshing spur gears that can be arranged under the condition of the same area (the width is L x , and the height is L z ). In Figure 5a , the pitch circle diameter of the first bevel gear 11 is D 11 , and the pitch circle diameter of the second bevel gear 12 is D 12 . In Figure 5b , the pitch circle diameter of the first spur gear 21 is D 21 , and the pitch circle diameter of the second spur gear 22 is D 22Contrast Figure 5a And Figure 5b It can be seen that, under the condition of the same width L x and the same height L z , the pitch circle diameter D 11 of the first bevel gear 11 and the pitch circle diameter D 12 of the second bevel gear 12 can be set much larger than the pitch circle diameter D 21 of the first spur gear 21 and the pitch circle diameter D 22 of the second spur gear 22, which also means that the bevel gear transmission can be set with a larger modulus compared to the spur gear, thereby improving the strength and rigidity of the gear structure and ensuring the reliability of the transmission.

[0071] In summary, in the finger assembly 100 provided by the embodiment of the application, the traditional spur gear transmission scheme is abandoned, and instead, the driving member 120 and the finger member 150 are driven in the form of meshing of the driving bevel gear 131 and the driven bevel gear 141 on the basis of the base 110 as the mounting carrier, so that the driving bevel gear 131 and the driven bevel gear 141 can be set with a larger modulus without increasing the width size and the height size, thereby having better structural strength and transmission stability.

[0072] It can be understood that the finger assembly provided by the application can be applied as a secondary finger assembly or as a finger assembly at the end of a fork, and no matter which application mode is adopted, the transmission stability and reliability can be improved without increasing the size.

[0073] During the meshing transmission of the driving bevel gear 131 and the driven bevel gear 141, the radial force between them is large, and if the radial force exerted by the driven bevel gear 141 on the driving bevel gear 131 is too much and is transmitted to the output shaft 121, the working condition of the output shaft 121 will be affected, and the service life of the driving member 120 will be shortened.

[0074] To reduce the radial force of the driving bevel gear 131 acting on the output shaft 121, an embodiment is provided, which is specifically described with reference to Figure 4 , and further in combination with Figure 6 and Figure 7 , Figure 6 shows the cross-sectional structure of the finger assembly 100, Figure 7 Figure 6 ​As shown in the enlarged view at A, the base 110 is provided with a mounting hole 112, the driving member 120 is fixed to one side of the mounting hole 112, the driving shaft 130 is arranged in the mounting hole 112, and the driving bevel gear 131 is located at the other side of the mounting hole 112. The first bearing 132 is arranged in the mounting hole 112, and the driving shaft 130 is rotatably connected to the base 110 through the first bearing 132.

[0075] The base 110 can be in a box structure as shown in Figure 6 , the mounting hole 112 is provided on the wall of the base 110, the driving member 120 is fixed to the outside of the mounting hole 112, and the driving bevel gear 131 is arranged on the inside of the mounting hole 112, i.e. inside the base 110, so as to protect the driving bevel gear 131 by the base 110. In addition, the base 110 can also be a block structure provided with the mounting hole 112, and the driving member 120 and the driving bevel gear 131 are arranged on the two sides of the mounting hole 112, respectively.

[0076] In this embodiment, the mounting hole 112 is provided on the base 110, the first bearing 132 is arranged in the mounting hole 112, and then the driving shaft 130 is inserted into the mounting hole 112 and rotatably connected to the base 110 through the first bearing 132. The driving member 120 is fixed to one side of the mounting hole 112, the output shaft 121 is inserted into the mounting hole 112 and fixedly connected to one end of the driving shaft 130 to transmit power, and the driving bevel gear 131 is located at the other end of the driving shaft 130. After such arrangement, since the first bearing 132 is located between the driving bevel gear 131 and the output shaft 121, in the process of power transmission, the radial force received by the driving bevel gear 131 is partially offset by the interaction between the first bearing 132 and the driving shaft 130 in the process of transmission from the driving shaft 130 to the output shaft 121, so as to reduce the radial force transmitted to the output shaft 121, improve the working condition of the output shaft 121, and further prolong the service life of the driving member 120.

[0077] Further, as shown in Figure 4 and Figure 6 , in order to sufficiently reduce the radial force received by the output shaft 121, the first bearing 132 can be provided as two or more as shown in the figure, and the plurality of first bearings 132 are arranged in the mounting hole 112 along the axial direction of the driving shaft 130, so as to more sufficiently support the driving shaft 130 and better offset the transmission of the radial force to the output shaft 121. The first bearing 132 can be a deep groove ball bearing capable of bearing a large radial load, so as to better offset the radial force transmitted to the output shaft 121.

[0078] In order to make the meshing effect of the driving bevel gear 131 and the driven bevel gear 141 better, the application further has an adjustable axial position design for the driving shaft 130, please continue to refer to Figure 4 and Figure 7 The first bearing 132 is movably arranged in the mounting hole 112 along the axial direction of the driving shaft 130. The adjusting member 133 is arranged in the mounting hole 112 and located on the side of the first bearing 132 away from the driving bevel gear 131. The adjusting member 133 can be fixed after moving in the mounting hole 112 along the axial direction of the driving shaft 130. In the specific embodiment shown in the figure, the adjusting member 133 is an externally threaded nut, which is sleeved on the driving shaft 130 and has a gap between the inner wall and the driving shaft 130, so as to ensure that the adjusting nut will not affect the rotation of the driving shaft 130. Figure 4 The shaded area on the adjusting member 133 represents the thread, which is threadedly connected with the inner wall of the mounting hole 112 in Figure 7 The area boxed by the dashed line R in Figure 8 is threadedly connected, so as to realize the fixation of the adjusting member 133 after moving to the predetermined position in the mounting hole 112. Further, please refer to the structure of the driving member 120 and the base 110 in the exploded state shown in The side of the adjusting member 133 facing the driving member 120 can be provided with an operation hole 1331. When it is necessary to adjust the position of the adjusting member 133, a tool matched with the operation hole 1331 is inserted into the operation hole 1331, and then the adjusting member 133 is rotated by the screwing tool, so as to realize the position adjustment of the adjusting member 133.

[0079] In addition, the adjusting member 133 can also be a sleeve slidably arranged in the mounting hole 112, and the sleeve slid to the predetermined position is locked by a latch provided on the base 110 or is pressed and locked by a locking screw provided on the base 110.

[0080] As shown in Figure 4 and Figure 7 The first bearing 132 includes an inner ring 1321 fixed relative to the driving shaft 130 and an outer ring 1322 fixed relative to the inner wall of the mounting hole 112. In the axial direction of the driving shaft 130 (the double arrow Y direction in the figure), the adjusting member 133 abuts against the outer ring 1322 of the first bearing 132, and the abutting position is the area boxed by the dashed line S in Figure 7 The inner ring 1321 abuts against the driving shaft 130, and the abutting position is the area boxed by the dashed line T in Figure 7 It is pointed out here that in Figure 7In this configuration, a protrusion 134 is provided on the drive shaft 130, and a first bearing 132 is fitted onto the drive shaft 130. The inner ring 1321 of the first bearing 132 abuts against the protrusion 134. Alternatively, the inner ring 1321 can also directly abut against the drive bevel gear 131. It should also be noted that when the first bearing 132... Figure 7 When multiple bearings are arranged as shown, the outer ring 1322 of the first bearing 132 closest to the adjusting member 133 abuts against the adjusting member 133, while the inner ring 1321 of the first bearing 132 at the other end abuts against the driving shaft 130 or the driving bevel gear 131.

[0081] Based on the above structural design, when the adjusting member 133 is moved along the axial direction of the driving shaft 130 towards the side where the driving bevel gear 131 is located, the adjusting member 133 will apply a force to the first bearing 132, and this force will be further transmitted to the driving bevel gear 131. This will cause the first bearing 132, the driving shaft 130, and the driving bevel gear 131 to move together towards the driven bevel gear 141, thereby reducing the meshing clearance between the driving bevel gear 131 and the driven bevel gear 141 and making the meshing of the driving bevel gear 131 and the driven bevel gear 141 more tightly, providing stability for subsequent transmission. Conversely, when the adjusting member 133 is moved along the axial direction of the driving shaft 130 away from the driving bevel gear 131, the meshing clearance between the driving bevel gear 131 and the driven bevel gear 141 can be increased.

[0082] To prevent vibrations during transmission from causing the adjusting member 133 to reverse, i.e., to move away from the driving bevel gear 131, thereby increasing the meshing clearance between the driving bevel gear 131 and the driven bevel gear 141 and reducing transmission performance, this application further tightens the adjusting member 133. For details, please refer to... Figure 4 , Figure 7 and Figure 8 The base 110 has a fixing hole 113 that communicates with the mounting hole 112. The fixing hole 113 is positioned opposite to the adjusting member 133. A locking member 114 is movably disposed in the fixing hole 113. The locking member 114 is used to move toward the adjusting member 133 and lock the adjusting member 133 after it has been moved into place.

[0083] Locking element 114 can be adopted as follows: Figure 7 The set screw shown engages with the fixing hole 113 via a thread and tightens the adjusting member 133, thereby limiting the position of the adjusting member 133. Of course, the locking member 114 can also be a pin or other component that engages with the adjusting member 133, as long as it can lock the adjusting member 133 in place and prevent it from changing position.

[0084] After the driving bevel gear 131 and the driven bevel gear 141 are tightly engaged by the adjusting member 133, the stability of the transmission of the two can be improved, and then the adjusting member 133 is locked and fixed by the locking member 114 to ensure that the adjusting member 133 is not easily affected by impact vibration to change the position during the transmission process, thereby ensuring that the driving bevel gear 131 and the driven bevel gear 141 can still maintain the state of tight engagement after a long time of operation.

[0085] Please refer again to Figure 6 , and in combination with Figure 9 shown in the explosion state, in some embodiments, the inside of the base 110 is provided with a cavity 115, the mounting hole 112 is in communication with the cavity 115, the driving member 120 is fixed outside the mounting hole 112, and the driving bevel gear 131 is arranged in the cavity 115. The driven shaft 140 is at least partially arranged in the cavity 115, and the driving bevel gear 131 and the driven bevel gear 141 are engaged in the cavity 115.

[0086] By arranging the cavity in the base 110 and arranging the driving bevel gear 131 and the driven bevel gear 141 to engage in the cavity, the base 110 can provide cover protection for the transmission of the driving bevel gear 131 and the driven bevel gear 141, thereby preventing dust and other impurities in the working environment from falling on the surfaces of the driving bevel gear 131 and the driven bevel gear 141 to affect the performance of the engagement transmission of the two.

[0087] In order to reduce the wear of the driving bevel gear 131 and the driven bevel gear 141 and make the transmission of the driving bevel gear 131 and the driven bevel gear 141 more stable, the cavity 115 can be further filled with lubricating medium, such as lubricating grease, lubricating oil, etc., to play a lubricating effect on the engagement transmission of the driving bevel gear 131 and the driven bevel gear 141, reduce the generation of vibration, reduce wear, and ensure stable and reliable transmission. It should be noted that in order to avoid leakage of the lubricating medium, the assembly gaps on the base 110 that communicate the cavity 115 with the outside world need to be sealed, which can be achieved by using sealing rings, sealing rings, etc.

[0088] In the case where the transmission components (the driving shaft 130, the driving bevel gear 131, the driven bevel gear 141 and the driven shaft 140) are covered by the base 110, in order to facilitate the later inspection and maintenance of the transmission components, such as Figure 9As shown, an observation port 116 communicating with the cavity 115 can be provided on the base 110, and a cover plate 117 can be detachably covered on the observation port 116. During periodic inspections, the cover plate 117 can be removed first to check for aging or other problems in the internal transmission mechanism, without having to completely disassemble the finger assembly 100 for inspection, which saves inspection time and improves efficiency. Moreover, after aging problems are detected, targeted disassembly can be performed according to the specific problem area to improve the efficiency of subsequent maintenance.

[0089] Furthermore, in embodiments where the cavity 115 is filled with lubricating medium, the observation port 116 can also serve as an inlet / outlet for replacing the lubricating medium. When a predetermined service life is met, or when inspection reveals that the lubricating medium has reached the replacement requirement, the cover plate 117 can be removed to allow replacement of the lubricating medium through the observation port 116. Figure 4 As shown, the sealing of the observation port 116 can be further ensured by clamping a sealing gasket 118 between the cover plate 117 and the base 110.

[0090] Please refer again for the assembly of the driven shaft 140. Figure 4 and further combine Figure 10 and Figure 11 , Figure 10 The image shows the exploded structure of the finger assembly from another perspective. Figure 11 It shows Figure 6 As shown in the enlarged structure at point B, the base 110 has a first through hole 1191 and a second through hole 1192 on opposite sides, both of which are connected to the cavity 115. A second bearing 142 is installed in the first through hole 1191, and a third bearing 143 is installed in the second through hole 1192. The driven shaft 140 passes through the first through hole 1191, the cavity 115, and the second through hole 1192, and is rotatably connected to the base 110 via the second bearing 142 and the third bearing 143.

[0091] Since the second bearing 142 and the third bearing 143 are located in the first through hole 1191 and the second through hole 1192 on opposite sides of the cavity 115, a large distance is formed between the second bearing 142 and the third bearing 143. Therefore, when the driven shaft 140 rotates with the base 110 through the second bearing 142 and the third bearing 143, the second bearing 142 and the third bearing 143 can provide a more reliable load-bearing capacity for the driven shaft 140, thereby enhancing the rigidity of the driven shaft 140 and ensuring its operational stability and reliability. The second bearing 142 and the third bearing 143 can be angular contact ball bearings.

[0092] Since the first through hole 1191 and the second through hole 1192 need to be respectively installed with the second bearing 142 and the third bearing 143 to bear the driven shaft, their diameters need to be adapted to the bearing outer ring size, and it is not appropriate to be too large, and the driven bevel gear 141 needs to be extended into the cavity 115 in the base 110 when installed. Based on this, under normal size design conditions, the driven bevel gear 141 cannot be loaded into the cavity 115 from the first through hole 1191 or the second through hole 1192. For this, in the specific embodiment shown in Figure 4 and Figure 10 , the driven shaft 140 and the driven bevel gear 141 adopt a split structure, and the size of the observation port 116 provided on the base 110 is larger than the driven bevel gear 141. When assembling, the driven bevel gear 141 can be first loaded into the cavity 115 from the observation port 116, and then the driven shaft 140 is inserted from the first through hole 1191 or the second through hole 1192. In the process of insertion, the driven bevel gear 141 is sleeved on the driven shaft 140 and is fixedly connected with the driven shaft 140 by a key or other means, so as to realize the assembly of the driven bevel gear 141 and the driven shaft 140 in the cavity 115.

[0093] Of course, in other embodiments, the base 110 can also adopt a split structure, for example, split into two parts that are buckled to each other, to realize the assembly of the driven bevel gear 141 in the cavity 115 inside the base 110. For such a mode, the driven bevel gear 141 and the driven shaft 140 can be directly provided as an integrated structure to enhance the structural strength and ensure the transmission performance.

[0094] Please refer again to Figure 11 , it can be seen from the figure that even if the driven bevel gear 141 is not axially limited on the driven shaft 140, the driven bevel gear 141 can be axially fixed under the action of its own gravity and the supporting force after the meshing of the driving bevel gear 131, to ensure the normal realization of transmission. However, considering that the gravity of the driven bevel gear 141 will inevitably affect the transmission effect of the driven bevel gear 141 and the driving bevel gear 131, the present application further sleeves a supporting sleeve 144 (as shown in Figure 4 , Figure 10 and Figure 11 ) on the driven shaft 140, which abuts between the third bearing 143 and the driven bevel gear 141, and is used to provide a supporting force to the driven bevel gear 141 to offset the influence of the gravity of the driven bevel gear 141 on the transmission between the driving bevel gear 131 and the driven bevel gear 141.

[0095] In order to ensure the accuracy of the axial position of the driven shaft 140 after a long time of operation, the present application further proposes an embodiment, which is specifically combined with Figure 4 and Figure 10The two ends of the driven rotating shaft 140 are respectively a connecting end 145 and a locking end 146. The connecting end 145 protrudes from the second bearing 142, and the connecting end 145 abuts the outer side of the second bearing 142 and is fixedly connected with the finger-shaped member 150. Specifically, the radial section of the connecting end 145 can be provided as a non-circular shape as shown in Figure 10 . The finger-shaped member 150 is provided with a connecting hole 151 of a corresponding shape, and please further refer to Figure 11 . The connecting end 145 is inserted into the connecting hole 151, and the finger-shaped member 150 is locked on the connecting end 145 by a fixing member 1451 (such as a screw, a rivet, a combination thereof with a washer, etc.), so as to realize the fixed assembly of the finger-shaped member 150 and the connecting end 145, so that the finger-shaped member 150 rotates with the driven rotating shaft 140. Of course, the connecting end 145 and the finger-shaped member 150 can also be assembled and fixed by riveting, clamping or other ways, which are not limited here.

[0096] As shown in Figure 4 , Figure 10 and Figure 11 , the locking end 146 is provided with a rotation-stopping member 1461 abutting the outer side of the third bearing 143, and the rotation-stopping member 1461 is fixedly connected with the locking end 146 by a threaded fastener 1462, and the rotation-stopping member 1461 and the locking end 146 are limitingly clamped in the rotation direction of the driven rotating shaft 140. Specifically, the radial section of the locking end 146 can be provided as a non-circular shape, and a clamping groove 1463 adapted thereto is provided on the rotation-stopping member 1461 as shown in Figure 10 . The locking end 146 is clamped into the clamping groove 1463 to realize the limitingly clamped connection of the rotation-stopping member 1461 and the locking end 146. Of course, in some other embodiments, other clamping forms can also be used to realize the limitingly fixed connection of the rotation-stopping member 1461 and the locking end 146 in the rotation direction, which will not be described here.

[0097] The conventional shaft end fixing method is generally that a screw is screwed into one end of the rotating shaft, and a washer is clamped between the screw head and the bearing, so as to realize the limitingly fixed connection of the rotating shaft and the bearing by pressing the washer on the inner ring of the bearing. It is found through practice that such a limiting method is prone to cause the screw to rotate relative to the rotating shaft due to the vibration impact after the rotating shaft is operated for a long time, so that the washer is loosened, and the rotating shaft is axially displaced.

[0098] To this end, in the embodiment, the rotation-stopping piece 1461 is limited and clamped along the rotation direction of the driven rotating shaft 140 with the locking end 146, and then the two are locked and fixed by the threaded fastener 1462, so as to ensure that the rotation-stopping piece 1461 can better rotate with the driven rotating shaft 140. Correspondingly, the threaded fastener 1462 pressed on the rotation-stopping piece 1461 can also better rotate with the driven rotating shaft 140 and the rotation-stopping piece 1461, so as to avoid the rotation of the threaded fastener 1462 relative to the driven rotating shaft 140 as much as possible, and ensure the accuracy of the axial position of the driven rotating shaft 140.

[0099] In Figure 4 the embodiment, the base 110 is used as a mounting carrier, and after the transmission mechanism (the driving rotating shaft 130, the driving bevel gear 131, the driven bevel gear 141, and the driven rotating shaft 140) is mounted in the base 110, the transmission mechanism can be effectively covered and protected by the base 110, and the transmission ratio of the driving bevel gear 131 to the driven bevel gear 141 can be set to be less than 1 according to requirements, so as to form a micro reducer and meet the purpose of speed reduction and torque increase when the finger-shaped member 150 is driven.

[0100] Further, as shown in Figure 1 and Figure 2 , the base 110 can be provided with a stopper 1101, as shown in the folded state and the unfolded state of the finger assembly 100 in the top view. Figure 12 and Figure 13 , the stopper 1101 is used to abut against the finger-shaped member 150 when the finger-shaped member 150 is at the folded angle and the unfolded angle, so as to limit the finger-shaped member 150. In order to make the force of the stopper 1101 on the finger-shaped member 150 as small as possible when the finger-shaped member 150 rotates to the unfolded angle, a protrusion 1102 can be arranged on the side of the stopper 1101 facing the unfolded side of the finger-shaped member 150. The protrusion 1102 can increase the contact distance (L in the figure) between the finger-shaped member 150 and the stopper 1101 when the finger-shaped member 150 is unfolded, so that the resistance of the unit length of the finger-shaped member 150 to the stopper 1101 is smaller under the condition of the same force compared with the case without the protrusion 1102, thereby better avoiding the damage such as cracking and breaking of the finger-shaped member 150 due to excessive resistance, and prolonging the service life of the finger-shaped member 150.

[0101] According to another aspect of the embodiment of the present application, a taking and placing device is provided, and specific reference can be made to Figures 14, the application scenario of the picking and placing device in a top view is shown, the picking and placing device 400 includes the carrier 200, the forks 300, and the finger assembly 100 in any of the above embodiments, the forks 300 are arranged on the carrier 200, and the finger assembly 100 is connected to the forks 300. The finger members 150 in the finger assembly 100 are used to rotate between the stowed angle and the deployed angle to separate or dock with the bins 500. The forks 300 are used to drive the finger assembly 100 to move after the finger members 150 dock with the bins 500 to transfer the bins between the carrier 200 and the shelves (not shown).

[0102] In Figure 14 In the specific embodiment shown, the finger assembly 100 is used as a secondary finger assembly, which is arranged in the middle region of the forks 300, and the end of the forks 300 is also provided with a primary finger assembly 310. The primary finger assembly 310 can swing between a vertical state and a horizontal state, or can be the finger assembly 100 provided in the above embodiments of the application and swing between two angles of a horizontal plane.

[0103] Taking the placement of shorter bins 500 in the storage location 600 as an example, first, the forks 300 can pull the bins 500 onto the carrier 200 through cooperation of the primary finger assembly 310 and the finger assembly 100, in a state as shown in Figure 14 Then the picking and placing device 400 moves to the storage location 600, and in the case that the primary finger assembly 310 and the finger assembly 100 are both in the deployed state, the forks 300 move forward to push the bins 500 to a deeper position in the storage location 600 through the finger assembly 100, in a state as shown in Figure 15 Then the primary finger assembly 310 is stowed, the forks 300 move backward by a certain distance, in a state as shown in Figure 16 Then the forks 300 place another shorter bin 500 in the storage location 600 to a shallower position through the same way, in a state as shown in Figure 17 Then the forks 300 are retracted to a state as shown in Figure 18 to achieve the placement of two shorter bins 500 in the same storage location 600. Of course, more shorter bins 500 can be placed in the storage location 600 as long as the specifications of the storage location 600 meet the requirements. When the above steps are operated in reverse, the bins 500 in the shallower position in the storage location 600 can be pulled out through cooperation of the primary finger assembly 310 and the finger assembly 100 to achieve the picking of the bins 500. For the picking and placing of longer bins 500, as shown in Figure 19

[0104] ​The taking and placing device 400 provided by the embodiments of the present application is connected or separated from the box 500 by using the finger assembly 100 provided by any of the above embodiments, so that the finger assembly 100 has better transmission performance under the premise that the taking and placing device 400 as a whole meets smaller width and height dimensions, thereby being more stable and reliable when pulling the box 500.

[0105] According to still another aspect of the embodiments of the present application, a carrying robot is provided, which comprises a robot body and the taking and placing device 400 provided by the above embodiments, and the taking and placing device 400 is arranged on the robot body. Specifically, the taking and placing device 400 can be at a predetermined height of the robot body to perform taking and placing work at the corresponding height. Of course, the taking and placing device 400 can also be arranged on the robot body in a lifting manner to perform taking and placing work at different heights.

[0106] Finally, it should be noted 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 above embodiments, those skilled in the art should understand that: they can still modify the technical solutions recorded in the above 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. Especially, as long as there is no structural conflict, each technical feature mentioned in each embodiment can be combined in any way.

Claims

1. A finger assembly, characterized by The utility model provides a kind of telescopic mechanism, including: Base; Driving piece, fixedly connected to the base; Driving shaft, rotatably connected to the base, one end of the driving shaft is fixedly connected with the output shaft of the driving piece, and the other end is provided with driving bevel gear; Driven shaft, rotatably connected to the base, and driving shaft is vertically arranged, driven shaft is provided with driven bevel gear, and driven bevel gear is engaged with driving bevel gear; Finger-shaped component, fixedly connected to the driven shaft, the finger-shaped component is used to rotate with the driven shaft between the angle of retraction and the angle of swing.

2. The finger assembly of claim 1, wherein, The base is provided with a mounting hole; The driving piece is fixed to one side of the mounting hole, the driving shaft is arranged in the mounting hole, and the driving bevel gear is located on the other side of the mounting hole; The first bearing is arranged in the mounting hole, and the driving shaft is rotatably connected to the base through the first bearing.

3. The finger assembly of claim 2, wherein, The first bearing is arranged in the mounting hole in the axial direction of the driving shaft.

4. The finger assembly of claim 2, wherein, The first bearing is movably arranged in the mounting hole in the axial direction of the driving shaft; The mounting hole is also provided with an adjusting member, and the adjusting member is located on the side of the first bearing away from the driving bevel gear. The first bearing includes an inner ring fixed opposite to the driving shaft and an outer ring fixed opposite to the inner wall of the mounting hole. In the axial direction of the driving shaft, the adjusting member abuts against the outer ring, the inner ring abuts against the driving shaft or the driving bevel gear, and the adjusting member is used to move the driving bevel gear along the axial direction of the driving shaft through the first bearing and the driving shaft and then fix it to adjust the engagement gap between the driving bevel gear and the driven bevel gear.

5. The finger assembly of claim 4, wherein, The adjusting member includes an externally threaded nut, the externally threaded nut is sleeved on the driving shaft, the inner circumference of the externally threaded nut has a gap with the driving shaft, and the outer circumference is threadedly connected with the inner wall of the mounting hole.

6. The finger assembly of claim 4, wherein, The base is provided with a fixing hole communicating with the mounting hole, and the fixing hole is arranged opposite to the adjusting member.

7. The finger assembly of claim 2, wherein, The base is provided with a cavity, the mounting hole and the cavity communicate, the driving piece is fixed to the outside of the mounting hole, and the driving bevel gear is arranged in the cavity. The driven shaft is at least partially arranged in the cavity, and the driving bevel gear and the driven bevel gear are engaged in the cavity.

8. The finger assembly of claim 7, wherein, The cavity is filled with a lubricating medium.

9. The finger assembly of claim 7, wherein, The base is provided with an observation port communicating with the cavity, and the observation port is detachably covered with a cover plate.

10. The finger assembly of claim 7, wherein, The base is provided with a first through hole and a second through hole on opposite sides, and the first through hole and the second through hole communicate with the cavity. The first through hole is provided with a second bearing, the second through hole is provided with a third bearing, the driven rotating shaft passes through the first through hole, the cavity and the second through hole, and is rotationally connected with the base through the second bearing and the third bearing.

11. The finger assembly of claim 10, wherein, Two ends of the driven rotating shaft are respectively a connecting end and a locking end. The connecting end protrudes from the second bearing, the connecting end abuts against the outer side of the second bearing, and the connecting end is fixedly connected with the finger-shaped member; The locking end is provided with a rotation-stopping piece, the rotation-stopping piece abuts against the outer side of the third bearing, the rotation-stopping piece is fixedly connected with the locking end through a threaded fastener, and the rotation-stopping piece is limitingly clamped with the locking end in the rotating direction of the driven rotating shaft.

12. The finger assembly of any one of claims 1-11, wherein, The driving rotating shaft and the driving bevel gear are in an integrated structure.

13. A pick-and-place device, comprising: The fork is arranged on the carrier, and the finger assembly is connected to the fork. The finger-shaped member in the finger assembly is used to rotate between the stowed angle and the swung-out angle to dock with or separate from the container; The fork is used to drive the finger assembly to move after the finger-shaped member docks with the container, so as to transfer the container between the carrier and the shelf.

14. A transport robot characterized by The picking and placing device is arranged on the robot body.

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