Stock bin mechanism, stock bin device and robot

Abstract

The utility model provides a stock bin mechanism, a stock bin device and a robot, in the stock bin mechanism, a support frame is used for placing articles; the first fixing baffle is arranged on the first side edge of the supporting frame, and the first locking structure is movably arranged at the position, corresponding to the first fixing baffle, of the supporting frame in the first direction. The second fixing baffle is arranged on the second side edge of the supporting frame, and the second locking structure is movably arranged at the position, corresponding to the second fixing baffle, of the supporting frame in the third direction. According to the utility model, the first locking structure can move along the first direction so as to adjust the distance between the first locking structure and the first fixed baffle plate, and the second locking structure can move along the third direction so as to adjust the distance between the second locking structure and the second fixed baffle plate so as to adapt to articles with different specifications and sizes; and the application range of the stock bin mechanism is widened.

Description

Technical Field

[0001] This utility model relates to the field of silo mechanism technology, and in particular to a silo mechanism, silo device and robot. Background Technology

[0002] A silo mechanism is a device used to place items (such as trays for holding materials). With continuous technological advancements and the expansion of application areas, silo mechanisms play an important role in many industries. However, existing silo mechanisms have simple structures and poor locking and positioning effects on items placed on them, resulting in poor stability and safety of the items. Furthermore, they are inconvenient for locking and positioning items of different sizes, limiting their applicability. Summary of the Invention

[0003] This utility model provides a silo mechanism, a silo device, and a robot to solve the problem that the locking and positioning effect of existing silo mechanisms is poor, resulting in poor stability and safety of the items placed.

[0004] A hopper mechanism includes a support frame, a first fixed baffle, a first locking structure, a second fixed baffle, and a second locking structure;

[0005] The support frame is used to place items;

[0006] The first fixed baffle is disposed on the first side of the support frame, and the first locking structure is movably disposed along the first direction at the position of the support frame corresponding to the first fixed baffle.

[0007] The second fixed baffle is disposed on the second side of the support frame, and the second locking structure is movably disposed in the third direction at the position corresponding to the second fixed baffle on the support frame;

[0008] The first side and the second side are two adjacent sides.

[0009] Preferably, the support frame includes a base plate, support rods, and a placement plate;

[0010] The base plate and the placement plate are spaced apart along the second direction, and the first end of the support rod is connected to the base plate and the second end of the support rod is connected to the placement plate.

[0011] The first fixed baffle is disposed on the base plate and located on the first side of the placement plate. The placement plate is provided with a first movable groove arranged along a first direction. The first locking structure is movably disposed in the first movable groove along the first direction.

[0012] The second fixed baffle is disposed on the base plate and located on the second side of the placement plate. The placement plate is provided with a second moving groove arranged in a third direction. The second locking structure is movably disposed in the second moving groove along the third direction.

[0013] Preferably, the first locking structure includes a first movable baffle and a first movable component;

[0014] The first movable baffle is movably installed in the first movable slot and is positioned opposite to the first fixed baffle.

[0015] The first movable component is connected to the first movable baffle and is used to drive the first movable baffle to move;

[0016] The second locking structure includes a second movable baffle and a second movable component;

[0017] The second movable baffle is movably installed in the second movable slot and is arranged opposite to the second fixed baffle;

[0018] The second moving component is connected to the second moving baffle and is used to drive the second moving baffle to move.

[0019] Preferably, the first moving component includes a first moving motor, a first support, a first screw, and a first driving member;

[0020] The first movable motor and the first support are spaced apart along the first direction. The first end of the first screw is connected to the output end of the first movable motor. The second end of the first screw passes through the first support. The first driving member is movably mounted on the first screw and is connected to the first movable baffle.

[0021] The second moving component includes a second moving motor, a second support, a second screw, and a second driving element;

[0022] The second movable motor and the second support are spaced apart along a third direction. The second end of the second screw is connected to the output end of the second movable motor. The second end of the second screw passes through the second support. The second driving member is movably mounted on the second screw and is connected to the second movable baffle.

[0023] Preferably, the first locking structure further includes a first guide rail assembly, which includes a first guide rail and a first slider; one of the first guide rail and the first slider is disposed on the base plate, and the other is disposed on the first driving member, and the first slider is slidably mounted on the first guide rail;

[0024] The second locking structure further includes a second guide rail assembly, which includes a second guide rail and a second slider; one of the second guide rail and the second slider is disposed on the base plate, and the other is disposed on the second drive member, and the second slider is slidably mounted on the second guide rail.

[0025] Preferably, the first locking structure further includes two first limit switches and a first sensing element;

[0026] Two first limit switches are spaced apart on the base plate along a first direction and are both connected to the first moving motor. The first sensing plate is disposed on the first driving member and is used to sense or contact any one of the first limit switches.

[0027] The second locking structure also includes two second limit switches and a second sensing element;

[0028] Two second limit switches are spaced apart on the base plate along a third direction and are both connected to the second moving motor. The second sensing plate is disposed on the second driving member and is used to sense or contact either of the second limit switches.

[0029] Preferably, the hopper mechanism further includes a first detection element and a second detection element;

[0030] The first detection element is mounted on the support frame and is used to detect the weight of the item;

[0031] The second detection element is disposed on the first fixed baffle or the second fixed baffle and is used to detect the height of the item.

[0032] A hopper device includes a connecting frame and at least two of the aforementioned hopper mechanisms:

[0033] At least two of the hopper mechanisms are spaced apart along a second direction, and a connecting frame is provided between two adjacent hopper mechanisms.

[0034] Preferably, the connecting frame includes two support arms and multiple reinforcing arms;

[0035] The support arm is arranged along the second direction, and the two ends of each support arm are respectively connected to the support frames of two adjacent hopper mechanisms, and are located on the side where the first fixed baffle and the second fixed baffle are located.

[0036] Each of the reinforcing arms is connected to a support arm and a support frame.

[0037] A robot comprising the aforementioned hopper device.

[0038] The hopper mechanism provided in this embodiment of the utility model uses a first fixed baffle and a first locking structure to lock and position the item in a first direction, and a second fixed baffle and a second locking structure to lock and position the item in a third direction. This ensures the stability and safety of the item placement and prevents the item from shaking and being damaged. Moreover, the first locking structure can move along the first direction, thereby adjusting the distance between the first locking structure and the first fixed baffle. The second locking structure can move along a third direction, thereby adjusting the distance between the second locking structure and the second fixed baffle to accommodate items of different sizes and improve the applicability of the hopper mechanism.

[0039] Furthermore, when multiple layers of items are placed on the support frame, they may not be aligned, potentially leading to instability, increased risk of collapse, and potential injury to personnel and damage to goods. In the first direction, a first fixed baffle provides alignment and positioning for the items, and then the first locking structure moves along the first direction, simultaneously pushing the multiple layers of items towards the location of the first fixed baffle, thus aligning the multiple layers of items in the first direction. In the third direction, a second fixed baffle provides alignment and positioning for the items, and then the second locking structure moves along the third direction, simultaneously pushing the multiple layers of items towards the location of the second fixed baffle, thus aligning the multiple layers of items in the third direction. This ensures that multiple layers of items are neatly arranged, improves the stability of the stack, reduces the risk of collapse, and prevents injury to personnel and damage to goods. Attached Figure Description

[0040] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a first axonometric view of the hopper mechanism in one embodiment of the present invention;

[0042] Figure 2 This is a second axonometric view of the hopper mechanism in one embodiment of the present invention;

[0043] Figure 3 This is a partial structural diagram of the hopper mechanism in one embodiment of the present invention;

[0044] Figure 4 This is an axonometric view of a hopper device in one embodiment of the present invention;

[0045] Figure 5 This is an axonometric view of the robot in one embodiment of the present invention.

[0046] Among them, 10 is a clamping device; 20 is a hopper device; 21 is a connecting frame; 211 is a support arm; 212 is a reinforcing arm; 22 is a hopper mechanism; 221 is a support frame; 2211 is a base plate; 2212 is a support rod; 2213 is a placement plate; 2214 is a first moving groove; 2215 is a second moving groove; 222 is a first fixed baffle; 223 is a first locking structure; 2231 is a first moving baffle; 2232 is a first moving assembly; 22321 is a first moving motor; 22322 is a first support; 22323 is a first screw; 22324 is a first driving component; 2233 is a first guide rail assembly; 22331 is a first guide rail; 22332 is a first slider. ; 2234, First limit switch; 2235, First sensing element; 224, Second fixed baffle; 225, Second locking structure; 2251, Second moving baffle; 2252, Second moving assembly; 22521, Second moving motor; 22522, Second support; 22523, Second screw; 22524, Second driving element; 2253, Second guide rail assembly; 22531, Second guide rail; 22532, Second slider; 2254, Second limit switch; 2255, Second sensing element; 226, First detection element; 227, Second detection element; 30, Gimbal device; 40, Target device; 50, Robotic arm; 60, Middle cabinet; 70, Quick-change device. Detailed Implementation

[0047] To make the technical problems, technical solutions, and beneficial effects solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0048] In the description of this application, it should be understood that the terms "longitudinal," "radial," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0049] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0050] The clamping device 10 in this application can be, but is not limited to, applied to robots, see reference. Figure 5 The robot includes a gripping device 10, a storage bin 20, a gimbal 30, a target device 40 (e.g., a 3D camera), a robotic arm 50, a middle cabinet 60, and a quick-change device 70. During installation, the storage bin 20, the gimbal 30, and the robotic arm 50 are all mounted on the middle cabinet 60. The storage bin 20 is used to place items. The gripping device 10 is mounted on the robotic arm 50 via the quick-change device 70 and is used to grip items. The target device 40 is mounted on the gimbal 30. The gimbal 30 can adjust the posture of the target device 40, enabling the target device 40 to collect sensing data and send the sensing data to the control module inside the middle cabinet 60. Based on the sensing data, the control module can control the robotic arm 50 to manipulate the gripping device 10 to move items into the storage bin 20 or remove items from the storage bin 20. In this system, taking the robot as the reference point, the robot's length direction is the first direction, the robot's height direction is the second direction, and the robot's width direction is the third direction. In the three-dimensional coordinate system, the first direction is the X-axis, the second direction is the Z-axis, and the third direction is the Y-axis.

[0051] This embodiment of the utility model provides a hopper mechanism 22, which is mounted on the connecting frame 21 of the hopper device 20. (Refer to...) Figure 1 and Figure 2 The hopper mechanism 22 includes a support frame 221, a first fixed baffle 222, a first locking structure 223, a second fixed baffle 224, and a second locking structure 225. The support frame 221 is used to place items. The first fixed baffle 222 is disposed on the first side of the support frame 221, and the first locking structure 223 is movably disposed along a first direction at a position corresponding to the first fixed baffle 222 on the support frame 221. The second fixed baffle 224 is disposed on the second side of the support frame 221, and the second locking structure 225 is movably disposed along a third direction at a position corresponding to the second fixed baffle 224 on the support frame 221. The first side and the second side are two adjacent sides.

[0052] Among them, the first direction and the third direction are two mutually perpendicular directions. The first direction is the length direction of the hopper mechanism 22, which is the length direction of the robot, and the third direction is the width direction of the hopper mechanism 22, which is the width direction of the robot.

[0053] As an example, the hopper mechanism 22 is used to place items (e.g., a tray for holding materials), specifically including a support frame 221, a first fixed baffle 222, a first locking structure 223, a second fixed baffle 224, and a second locking structure 225. During installation, the support frame 221 serves as the installation reference, and the first fixed baffle 222 is installed on the first side of the support frame 221 by screwing, welding, or snapping. The first locking structure 223 is movably disposed along a first direction at a position corresponding to the first fixed baffle 222 on the support frame 221. With this configuration, when an item is placed on the support frame 221, the first fixed baffle 222 provides fixed positioning for the item in the first direction, and then the first locking structure 223 is movable along the first direction on the support frame 221, which can push the item toward the position of the first fixed baffle 222 in the first direction, thereby achieving locking and positioning of the item in the first direction. The second fixing baffle 224 is installed on the second side of the support frame 221 by screwing, welding or snapping. The second locking structure 225 is movably disposed in the third direction at the position corresponding to the second fixing baffle 224 on the support frame 221. With this configuration, when an item is placed on the support frame 221, the second fixing baffle 224 provides fixed positioning for the item in the third direction. Then, the second locking structure 225 is movable in the third direction on the support frame 221, which can push the item toward the position of the second fixing baffle 224 in the third direction, thereby achieving locking and positioning of the item in the third direction.

[0054] In this example, the first fixed baffle 222 and the first locking structure 223 are used to lock and position the item in the first direction, and the second fixed baffle 224 and the second locking structure 225 are used to lock and position the item in the third direction. This ensures the stability and safety of the item placement and prevents the item from shaking and being damaged. Moreover, the first locking structure 223 can move along the first direction, thereby adjusting the distance between the first locking structure 223 and the first fixed baffle 222. The second locking structure 225 can move along the third direction, thereby adjusting the distance between the second locking structure 225 and the second fixed baffle 224 to accommodate items of different sizes and improve the applicability of the hopper mechanism 22.

[0055] Furthermore, when multiple layers of items are placed on the support frame 221, they may not be aligned, potentially leading to instability, increased risk of collapse, and potential injury to personnel and damage to items. In the first direction, the first fixed baffle 222 provides alignment and positioning for the items, and then the first locking structure 223 moves along the first direction, simultaneously pushing the multiple layers of items towards the position of the first fixed baffle 222, thus aligning the multiple layers of items in the first direction. In the third direction, the second fixed baffle 224 provides alignment and positioning for the items, and then the second locking structure 225 moves along the third direction, simultaneously pushing the multiple layers of items towards the position of the second fixed baffle 224, thus aligning the multiple layers of items in the third direction. This ensures that the multiple layers of items are neatly arranged, improves the stability of the stack, reduces the risk of collapse, and prevents injury to personnel and damage to items.

[0056] In one embodiment, reference is made to Figure 2 The support frame 221 includes a base plate 2211, a support rod 2212, and a placement plate 2213. The base plate 2211 and the placement plate 2213 are spaced apart along a second direction. The first end of the support rod 2212 is connected to the base plate 2211, and the second end of the support rod 2212 is connected to the placement plate 2213. A first fixed baffle 222 is disposed on the base plate 2211 and located on the first side of the placement plate 2213. The placement plate 2213 is provided with a first moving groove 2214 arranged along the first direction, and a first locking structure 223 is movably disposed in the first moving groove 2214 along the first direction. A second fixed baffle 224 is disposed on the base plate 2211 and located on the second side of the placement plate 2213. The placement plate 2213 is provided with a second moving groove 2215 arranged along a third direction, and a second locking structure 225 is movably disposed in the second moving groove 2215 along the third direction.

[0057] The second direction is a direction perpendicular to the first and third directions, and the second direction is the height direction of the hopper mechanism 22, i.e., the height direction of the robot.

[0058] As an example, the support frame 221 includes a base plate 2211, a support rod 2212, and a placement plate 2213. During installation, the base plate 2211 is used as the installation reference, and the base plate 2211 and the placement plate 2213 are spaced apart along a second direction. The first end of the support rod 2212 is connected to the base plate 2211, and the second end of the support rod 2212 is connected to the placement plate 2213. With this arrangement, the base plate 2211, the support rod 2212, and the placement plate 2213 cooperate to form two layers of placement space. The space between the base plate 2211 and the placement plate 2213 is the first layer of placement space, which is used to place other parts of the hopper mechanism 22. The space on the placement plate 2213 is the second layer of placement space, which is used to place items. The first fixed baffle 222 is installed on the base plate 2211 by screwing, welding or snapping, and is located on the first side of the placement plate 2213. The placement plate 2213 is provided with a first moving groove 2214 arranged in a first direction. The first locking structure 223 is movably disposed in the first moving groove 2214 in the first direction. When an item is placed on the placement plate 2213, the first fixed baffle 222 provides fixed positioning for the item in the first direction. Then the first locking structure 223 is movable in the first moving groove 2214 in the first direction, which can push the item toward the position of the first fixed baffle 222 in the first direction, thereby locking and positioning the item in the first direction. This can ensure the stability and safety of the item placement and prevent the item from shaking and being damaged. The second fixed baffle 224 is installed on the base plate 2211 by screwing, welding or snapping, located on the second side of the placement plate 2213. The placement plate 2213 is provided with a second moving groove 2215 arranged in a third direction. The second locking structure 225 is movably disposed in the second moving groove 2215 in a third direction. With this configuration, when an item is placed on the support frame 221, the second fixed baffle 224 provides fixed positioning for the item in a third direction. Then, the second locking structure 225 is movable in the second moving groove 2215 in a second direction, which can push the item toward the position of the second fixed baffle 224 in the second direction, thereby locking and positioning the item in a third direction. This ensures the stability and safety of the item placement and prevents the item from shaking and being damaged. In addition, the first locking structure 223 can move along the first direction in the first moving groove 2214, thereby adjusting the distance between the first locking structure 223 and the first fixed baffle 222. The second locking structure 225 can move along the third direction in the second moving groove 2215, thereby adjusting the distance between the second locking structure 225 and the second fixed baffle 224 to accommodate items of different sizes and improve the applicability of the hopper mechanism 22.

[0059] In one embodiment, reference is made to Figure 3The first locking structure 223 includes a first movable baffle 2231 and a first movable component 2232; the first movable baffle 2231 is movably installed in the first movable groove 2214 and is disposed opposite to the first fixed baffle 222; the first movable component 2232 is connected to the first movable baffle 2231 and is used to drive the first movable baffle 2231 to move; the second locking structure 225 includes a second movable baffle 2251 and a second movable component 2252; the second movable baffle 2251 is movably installed in the second movable groove 2215 and is disposed opposite to the second fixed baffle 224; the second movable component 2252 is connected to the second movable baffle 2251 and is used to drive the second movable baffle 2251 to move.

[0060] As an example, the first locking structure 223 includes a first movable baffle 2231 and a first movable component 2232. During installation, the first movable baffle 2231 is movably installed in the first movable slot 2214 and is positioned opposite to the first fixed baffle 222. This creates a space for placing items between the first movable baffle 2231 and the first fixed baffle 222. The first movable baffle 2231 and the first fixed baffle 222 work together to lock and position the items. The first movable component 2232 is connected to the first movable baffle 2231 and can move the first movable baffle 2231 to push the items toward the position of the first fixed baffle 222. This achieves locking and positioning of the items in the first direction, ensuring the stability and safety of the items and preventing them from shaking and being damaged. The second locking structure 225 includes a second movable baffle 2251 and a second movable component 2252. During installation, the second movable baffle 2251 is movably installed in the second movable slot 2215 and is positioned opposite to the second fixed baffle 224. This creates a space for placing items between the second movable baffle 2251 and the second fixed baffle 224. The second movable baffle 2251 and the second fixed baffle 224 work together to lock and position the items. The second movable component 2252 is connected to the second movable baffle 2251 and can move the second movable baffle 2251 to push the items toward the position of the second fixed baffle 224. This achieves locking and positioning of the items from a third-party perspective, ensuring the stability and safety of the items and preventing them from shaking and being damaged. In addition, the first movable baffle 2231 can move along the first direction within the first movable groove 2214, thereby adjusting the distance between the first movable baffle 2231 and the first fixed baffle 222. The second movable baffle 2251 can move along the third direction within the second movable groove 2215, thereby adjusting the distance between the second movable baffle 2251 and the second fixed baffle 224 to accommodate items of different sizes and improve the applicability of the hopper mechanism 22.

[0061] In one embodiment, reference is made to Figure 3The first moving component 2232 includes a first moving motor 22321, a first support 22322, a first screw 22323, and a first driving member 22324. The first moving motor 22321 and the first support 22322 are spaced apart along a first direction. The first end of the first screw 22323 is connected to the output end of the first moving motor 22321, and the second end of the first screw 22323 passes through the first support 22322. The first driving member 22324 is movably mounted on the first screw 22323 and is connected to the first moving baffle 2231. The second moving component 2252 includes a second moving motor 22521, a second support 22522, a second screw 22523, and a second driving member 22524. The second moving motor 22521 and the second support 22522 are spaced apart along a third direction. The second end of the second screw 22523 is connected to the output end of the second moving motor 22521. The second end of the second screw 22523 passes through the second support 22522. The second driving member 22524 is movably mounted on the second screw 22523 and is connected to the second moving baffle 2251.

[0062] As an example, the first moving component 2232 includes a first moving motor 22321, a first support 22322, a first screw 22323, and a first driving member 22324. During installation, the first moving motor 22321 and the first support 22322 are spaced apart along a first direction. The first end of the first screw 22323 is connected to the output end of the first moving motor 22321, and the second end of the first screw 22323 passes through the first support 22322. The first driving member 22324 is movably mounted on the first screw 22323 and is connected to the first moving baffle 2231. With this configuration, the first moving motor 22321 can rotate forward or reverse, thereby driving the first driving member 22324. 2324 moves along the first direction on the first screw 22323, thereby causing the first movable baffle 2231 to move along the first direction within the first movable groove 2214. This allows the first movable baffle 2231 and the first fixed baffle 222 to cooperate in locking and positioning the item in the first direction. The screw assembly can be used to adjust the first movable baffle 2231 step by step according to the thread feed, which improves the accuracy of the equipment. This avoids the first movable baffle 2231 moving too far, which would not be able to lock and position the item, and also avoids the first movable baffle 2231 moving too far, which would damage the item. At the same time, by adjusting the distance between the first movable baffle 2231 and the first fixed baffle 222, it can accommodate items of different sizes, thus increasing the applicability of the hopper mechanism 22.

[0063] The second moving component 2252 includes a second moving motor 22521, a second support 22522, a second screw 22523, and a second driving member 22524. During installation, the second moving motor 22521 and the second support 22522 are spaced apart along a third direction. The second end of the second screw 22523 is connected to the output end of the second moving motor 22521, and the second end of the second screw 22523 passes through the second support 22522. The second driving member 22524 is movably mounted on the second screw 22523 and is connected to the second moving baffle 2251. With this configuration, the second moving motor 22521 can rotate forward or reverse, thereby driving the second screw 22523 to rotate forward or reverse, thus driving the second driving member 22524. 4. The second moving baffle 2251 moves along a third direction on the second screw 22523, thereby moving the second moving baffle 2251 along a third direction within the second moving groove 2215. This allows the second moving baffle 2251 and the second fixed baffle 224 to cooperate in locking and positioning the item in the third direction. The screw assembly allows for step-by-step adjustment of the second moving baffle 2251 according to the thread feed, improving the accuracy of the equipment. This avoids the second moving baffle 2251 moving too far, which would prevent it from locking and positioning the item, and also avoids the second moving baffle 2251 moving too far, which could damage the item. At the same time, by adjusting the distance between the second moving baffle 2251 and the second fixed baffle 224, it can accommodate items of different sizes, thus increasing the applicability of the hopper mechanism 22.

[0064] In one embodiment, reference is made to Figure 3 The first locking structure 223 further includes a first guide rail assembly 2233, which includes a first guide rail 22331 and a first slider 22332; one of the first guide rail 22331 and the first slider 22332 is disposed on the base plate 2211, and the other is disposed on the first driving member 22324, and the first slider 22332 is slidably mounted on the first guide rail 22331; the second locking structure 225 further includes a second guide rail assembly 2253, which includes a second guide rail 22531 and a second slider 22532; one of the second guide rail 22531 and the second slider 22532 is disposed on the base plate 2211, and the other is disposed on the second driving member 22524, and the second slider 22532 is slidably mounted on the second guide rail 22531.

[0065] As an example, the first locking structure 223 also includes a first guide rail assembly 2233, which includes a first guide rail 22331 and a first slider 22332. During installation, one of the first guide rail 22331 and the first slider 22332 is set on the base plate 2211, and the other is set on the first drive member 22324. The first slider 22332 is slidably mounted on the first guide rail 22331. In this way, the first guide rail assembly 2233 can provide guidance and limit for the movement of the first drive member 22324, thereby providing guidance and limit for the movement of the first moving baffle 2231 and preventing the first moving baffle 2231 from being misaligned or offset, which would affect the locking and positioning of the item. The second locking structure 225 also includes a second guide rail assembly 2253, which includes a second guide rail 22531 and a second slider 22532. During installation, one of the second guide rail 22531 and the second slider 22532 is set on the base plate 2211, and the other is set on the second drive member 22524. The second slider 22532 is slidably mounted on the second guide rail 22531. In this way, the second guide rail assembly 2253 can provide guidance and limit for the movement of the second drive member 22524, thereby providing guidance and limit for the movement of the second moving baffle 2251 and preventing the second moving baffle 2251 from being misaligned or offset, which would affect the locking and positioning of the item.

[0066] In one embodiment, reference is made to Figure 1 and Figure 3 The first locking structure 223 further includes two first limit switches 2234 and a first sensing element 2235; the two first limit switches 2234 are spaced apart along a first direction on the base plate 2211 and are both connected to the first moving motor 22321; the first sensing element 2235 is disposed on the first driving member 22324 and is used to sense or contact any one of the first limit switches 2234. The second locking structure 225 further includes two second limit switches 2254 and a second sensing element 2255; the two second limit switches 2254 are spaced apart along a third direction on the base plate 2211 and are both connected to the second moving motor 22521; the second sensing element 2255 is disposed on the second driving member 22524 and is used to sense or contact any one of the second limit switches 2254.

[0067] As an example, the first locking structure 223 also includes two first limit switches 2234 and a first sensing element 2235. During installation, the two first limit switches 2234 are spaced apart on the base plate 2211 along the first direction and are both connected to the first moving motor 22321. One first limit switch 2234 serves as a start switch and the other first limit switch 2234 serves as a stop switch. The first sensing element 2235 is disposed on the first driving member 22324. The first moving motor 22321 drives the first driving member 22324 to move through the first screw 22323, so that the first sensing element 2235 sequentially senses or contacts the two first limit switches 2234 and can output a sensing signal to determine its position, thereby limiting the working stroke of the first driving member 22324 and limiting the working time of the first moving motor 22321. In this example, based on the dimensions of the item, the required distance for the first moving baffle 2231 to move is determined. This allows for adjustment of the distance between the two first limit switches 2234, thereby controlling the operating time of the first moving motor 22321. This ensures that the first moving motor 22321 can accurately adjust the moving distance of the first moving baffle 2231, preventing the first moving baffle 2231 from moving too little and failing to lock and position the item, or from moving too much and causing damage to the item.

[0068] The second locking structure 225 also includes two second limit switches 2254 and a second sensing element 2255. During installation, the two second limit switches 2254 are spaced apart on the base plate 2211 along a third direction and are both connected to the second moving motor 22521. One second limit switch 2254 serves as a start switch and the other second limit switch 2254 serves as a stop switch. The second sensing element 2255 is disposed on the second driving member 22524. The second moving motor 22521 drives the second driving member 22524 to move through the second screw 22523, so that the second sensing element 2255 sequentially senses or contacts the two second limit switches 2254 and can output a sensing signal to determine its position, thereby limiting the working stroke of the second driving member 22524 and limiting the working time of the second moving motor 22521. In this example, based on the dimensions of the item, the required distance for the second movable baffle 2251 to move is determined. This allows for adjustment of the distance between the two second limit switches 2254, thereby controlling the operating time of the second movable motor 22521. This ensures that the second movable motor 22521 can accurately adjust the moving distance of the second movable baffle 2251, preventing the second movable baffle 2251 from moving too little and failing to lock and position the item, or from moving too much and causing damage to the item.

[0069] In one embodiment, reference is made to Figure 2The hopper mechanism 22 also includes a first detection element 226 and a second detection element 227; the first detection element 226 is disposed on the support frame 221 and is used to detect the weight of the item; the second detection element 227 is disposed on the first fixed baffle 222 or the second fixed baffle 224 and is used to detect the height of the item.

[0070] As an example, the hopper mechanism 22 also includes a first detection element 226 and a second detection element 227. During installation, the first detection element 226 is mounted on the support frame 221 to detect the weight of the items. When placing items, if the detected weight reaches a preset standard, no more items will be placed to prevent damage to the hopper mechanism 22 due to excessive placement. The second detection element 227 is mounted on either the first fixed baffle 222 or the second fixed baffle 224 to detect the height of the items. When placing items, if the detected height reaches a preset standard, no more items will be placed to prevent the hopper mechanism 22 from locking and positioning items that are placed too high.

[0071] In one embodiment, reference is made to Figure 1 and Figure 2 There are two second fixed baffles 224, which are spaced apart along the first direction; one of the two second fixed baffles 224 is connected to the first fixed baffle 222 or is an integral structure.

[0072] As an example, there are two second fixed baffles 224, which are spaced apart along the first direction to allow for clearance and facilitate clamping of items. One of the two second fixed baffles 224 is connected to or is an integral part of the first fixed baffle 222. This arrangement forms baffles in two directions at one corner of the hopper mechanism 22, thereby achieving fixed positioning of items placed on the hopper mechanism 22.

[0073] This utility model embodiment provides a silo device 20, see reference Figure 4 It includes a connecting frame 21 and at least two hopper mechanisms 22: at least two hopper mechanisms 22 are spaced apart along a second direction, and a connecting frame 21 is provided between two adjacent hopper mechanisms 22.

[0074] As an example, the hopper device 20 includes a connecting frame 21 and at least two hopper mechanisms 22. The at least two hopper mechanisms 22 are spaced apart along a second direction. This arrangement allows the at least two hopper mechanisms 22 to hold the same items or different items; for example, one hopper mechanism 22 can hold unprocessed materials, while the other hopper mechanism 22 can hold processed materials. A connecting frame 21 is provided between adjacent hopper mechanisms 22, which can separate and support the adjacent hopper mechanisms 22, allowing them to be arranged in a vertical layer. This ensures the stability of the hopper mechanisms 22, reduces the planar projection size of the robot, and saves space and land costs.

[0075] The hopper mechanism 22 is used to place items (such as a material tray), and specifically includes a support frame 221, a first fixed baffle 222, a first locking structure 223, a second fixed baffle 224, and a second locking structure 225. During installation, the support frame 221 serves as the installation reference. The first fixed baffle 222 is installed on the first side of the support frame 221 by screwing, welding, or snapping. The first locking structure 223 is movably disposed along a first direction at a position corresponding to the first fixed baffle 222 on the support frame 221. With this configuration, when an item is placed on the support frame 221, the first fixed baffle 222 provides fixed positioning for the item in the first direction. Then, the first locking structure 223 is movable along the first direction on the support frame 221, which can push the item toward the position of the first fixed baffle 222 in the first direction, thereby achieving locking and positioning of the item in the first direction. The second fixing baffle 224 is installed on the second side of the support frame 221 by screwing, welding or snapping. The second locking structure 225 is movably disposed in the third direction at the position corresponding to the second fixing baffle 224 on the support frame 221. With this configuration, when an item is placed on the support frame 221, the second fixing baffle 224 provides fixed positioning for the item in the third direction. Then, the second locking structure 225 is movable in the third direction on the support frame 221, which can push the item toward the position of the second fixing baffle 224 in the third direction, thereby achieving locking and positioning of the item in the third direction.

[0076] In this example, the first fixed baffle 222 and the first locking structure 223 are used to lock and position the item in the first direction, and the second fixed baffle 224 and the second locking structure 225 are used to lock and position the item in the third direction. This ensures the stability and safety of the item placement and prevents the item from shaking and being damaged. Moreover, the first locking structure 223 can move along the first direction, thereby adjusting the distance between the first locking structure 223 and the first fixed baffle 222. The second locking structure 225 can move along the third direction, thereby adjusting the distance between the second locking structure 225 and the second fixed baffle 224 to accommodate items of different sizes and improve the applicability of the hopper mechanism 22.

[0077] In one embodiment, reference is made to Figure 4 The connecting frame 21 includes two support arms 211 and multiple reinforcing arms 212; the support arms 211 are arranged along the second direction, and the two ends of each support arm 211 are respectively connected to the support frames 221 of two adjacent hopper mechanisms 22, and are located on the side where the first fixed baffle 222 and the second fixed baffle 224 are located; each reinforcing arm 212 is connected to a support arm 211 and a support frame 221.

[0078] As an example, the connecting frame 21 includes two support arms 211 and multiple reinforcing arms 212. During installation, the support arms 211 are arranged along the second direction, and the two ends of each support arm 211 are respectively connected to the support frames 221 of the two adjacent hopper mechanisms 22, and are located on the side where the first fixed baffle 222 and the second fixed baffle 224 are located. In this arrangement, the two hopper mechanisms 22 are separated and supported by the two support arms 211, so that the two hopper mechanisms 22 are arranged in an upper and lower layer arrangement, ensuring the stability of the hopper mechanism 22. In the space between the two hopper mechanisms 22, the two support arms 211 are arranged at intervals along the first direction, corresponding to the positions of the two second fixed baffles 224 respectively. This allows for reserved space for movement, making it convenient to pick up and put down items. The support arm 211 has an arc-shaped structure and is located at the corner of the support frame 221. This provides two connecting parts, one horizontal and one vertical, between the end of each support arm 211 and the support frame 221, enhancing the connection between the support arm 211 and the hopper mechanism 22, thereby improving the stability of the hopper device 20. Each reinforcing arm 212 connects to a support arm 211 and a support frame 221; this arrangement increases the connection area between the support arm 211 and the hopper mechanism 22, further enhancing the connection between them and improving the stability of the hopper device 20.

[0079] This utility model provides a robot, including a hopper device 20.

[0080] As an example, the robot includes a hopper device 20, which can be installed on an industrial robot or automated equipment by means of screwing, snap-fitting or welding, so as to realize the installation of the hopper mechanism 22 on the industrial robot or automated equipment.

[0081] The hopper device 20 includes a connecting frame 21 and at least two hopper mechanisms 22. These at least two hopper mechanisms 22 are spaced apart along a second direction. This arrangement allows the at least two hopper mechanisms 22 to hold the same items or different items; for example, one hopper mechanism 22 can hold unprocessed materials, while the other holds processed materials. A connecting frame 21 separates and supports the adjacent hopper mechanisms 22, allowing them to be arranged in a vertical layer. This ensures the stability of the hopper mechanisms 22, reduces the robot's planar projection size, and saves space and land costs. When the hopper device 20 is used in a robot, this vertical arrangement of the two hopper mechanisms 22 saves on the robot's (e.g., AGV robot) platform size, thereby reducing the width of the trolley tracks on the customer's production site and improving the utilization rate of the customer's production space.

[0082] The hopper mechanism 22 is used to place items (such as a material tray), and specifically includes a support frame 221, a first fixed baffle 222, a first locking structure 223, a second fixed baffle 224, and a second locking structure 225. During installation, the support frame 221 serves as the installation reference. The first fixed baffle 222 is installed on the first side of the support frame 221 by screwing, welding, or snapping. The first locking structure 223 is movably disposed along a first direction at a position corresponding to the first fixed baffle 222 on the support frame 221. With this configuration, when an item is placed on the support frame 221, the first fixed baffle 222 provides fixed positioning for the item in the first direction. Then, the first locking structure 223 is movable along the first direction on the support frame 221, which can push the item toward the position of the first fixed baffle 222 in the first direction, thereby achieving locking and positioning of the item in the first direction. The second fixing baffle 224 is installed on the second side of the support frame 221 by screwing, welding or snapping. The second locking structure 225 is movably disposed in the third direction at the position corresponding to the second fixing baffle 224 on the support frame 221. With this configuration, when an item is placed on the support frame 221, the second fixing baffle 224 provides fixed positioning for the item in the third direction. Then, the second locking structure 225 is movable in the third direction on the support frame 221, which can push the item toward the position of the second fixing baffle 224 in the third direction, thereby achieving locking and positioning of the item in the third direction.

[0083] In this example, the first fixed baffle 222 and the first locking structure 223 are used to lock and position the item in the first direction, and the second fixed baffle 224 and the second locking structure 225 are used to lock and position the item in the third direction. This ensures the stability and safety of the item placement and prevents the item from shaking and being damaged. Moreover, the first locking structure 223 can move along the first direction, thereby adjusting the distance between the first locking structure 223 and the first fixed baffle 222. The second locking structure 225 can move along the third direction, thereby adjusting the distance between the second locking structure 225 and the second fixed baffle 224 to accommodate items of different sizes and improve the applicability of the hopper mechanism 22.

[0084] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has 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 of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A hopper mechanism, characterized in that, It includes a support frame, a first fixed baffle, a first locking structure, a second fixed baffle, and a second locking structure; The support frame is used to place items; The first fixed baffle is disposed on the first side of the support frame, and the first locking structure is movably disposed along the first direction at the position of the support frame corresponding to the first fixed baffle. The second fixed baffle is disposed on the second side of the support frame, and the second locking structure is movably disposed in the third direction at the position corresponding to the second fixed baffle on the support frame; The first side and the second side are two adjacent sides.

2. The silo mechanism according to claim 1, characterized in that, The support frame includes a base plate, support rods, and a placement plate; The base plate and the placement plate are spaced apart along the second direction, and the first end of the support rod is connected to the base plate and the second end of the support rod is connected to the placement plate. The first fixed baffle is disposed on the base plate and located on the first side of the placement plate. The placement plate is provided with a first movable groove arranged along a first direction. The first locking structure is movably disposed in the first movable groove along the first direction. The second fixed baffle is disposed on the base plate and located on the second side of the placement plate. The placement plate is provided with a second moving groove arranged in a third direction. The second locking structure is movably disposed in the second moving groove along the third direction.

3. The silo mechanism according to claim 2, characterized in that, The first locking structure includes a first movable baffle and a first movable component; The first movable baffle is movably installed in the first movable slot and is positioned opposite to the first fixed baffle. The first movable component is connected to the first movable baffle and is used to drive the first movable baffle to move; The second locking structure includes a second movable baffle and a second movable component; The second movable baffle is movably installed in the second movable slot and is arranged opposite to the second fixed baffle; The second moving component is connected to the second moving baffle and is used to drive the second moving baffle to move.

4. The silo mechanism according to claim 3, characterized in that, The first moving component includes a first moving motor, a first support, a first screw, and a first driving component; The first movable motor and the first support are spaced apart along the first direction. The first end of the first screw is connected to the output end of the first movable motor. The second end of the first screw passes through the first support. The first driving member is movably mounted on the first screw and is connected to the first movable baffle. The second moving component includes a second moving motor, a second support, a second screw, and a second driving element; The second movable motor and the second support are spaced apart along a third direction. The second end of the second screw is connected to the output end of the second movable motor. The second end of the second screw passes through the second support. The second driving member is movably mounted on the second screw and is connected to the second movable baffle.

5. The hopper mechanism according to claim 4, characterized in that, The first locking structure further includes a first guide rail assembly, which includes a first guide rail and a first slider; one of the first guide rail and the first slider is disposed on the base plate, and the other is disposed on the first driving member, and the first slider is slidably mounted on the first guide rail; The second locking structure further includes a second guide rail assembly, which includes a second guide rail and a second slider; one of the second guide rail and the second slider is disposed on the base plate, and the other is disposed on the second drive member, and the second slider is slidably mounted on the second guide rail.

6. The hopper mechanism according to claim 4, characterized in that, The first locking structure also includes two first limit switches and a first sensing element; Two first limit switches are spaced apart on the base plate along a first direction and are both connected to the first moving motor. The first sensing plate is disposed on the first driving member and is used to sense or contact any one of the first limit switches. The second locking structure also includes two second limit switches and a second sensing element; Two second limit switches are spaced apart on the base plate along a third direction and are both connected to the second moving motor. The second sensing plate is disposed on the second driving member and is used to sense or contact either of the second limit switches.

7. The silo mechanism according to claim 1, characterized in that, The hopper mechanism also includes a first detection element and a second detection element; The first detection element is mounted on the support frame and is used to detect the weight of the item; The second detection element is disposed on the first fixed baffle or the second fixed baffle and is used to detect the height of the item.

8. A silo device, characterized in that, Includes a connecting frame and at least two hopper mechanisms as described in any one of claims 1-7: At least two of the hopper mechanisms are spaced apart along a second direction, and a connecting frame is provided between two adjacent hopper mechanisms.

9. The silo device according to claim 8, characterized in that, The connecting frame includes two support arms and multiple reinforcing arms; The support arm is arranged along the second direction, and the two ends of each support arm are respectively connected to the support frames of two adjacent hopper mechanisms, and are located on the side where the first fixed baffle and the second fixed baffle are located. Each of the reinforcing arms is connected to a support arm and a support frame.

10. A robot, characterized in that, Includes the silo device as described in any one of claims 8-9.

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