Clamping structure, pallet fork structure, robot and warehousing system

Abstract

The embodiment of the utility model provides a clamping structure, a pallet fork structure, a robot and a warehousing system, and belongs to the technical field of warehouse logistics. The clamping structure comprises a mounting seat; the driving mechanism is arranged on the mounting seat; the clamping assembly comprises two clamping pieces, and the two clamping pieces are rotationally arranged on the mounting base in a spaced mode in the height direction of the mounting base and connected with the driving mechanism; and the driving mechanism is configured to move relative to the mounting base so as to drive the two clamping pieces to rotate and get close to or away from each other, so that the two clamping pieces jointly clamp or release the connecting part of the material box. The two clamping pieces jointly clamp the upper side and the lower side of the connecting part, the connecting part is prevented from being separated from the clamping effect of the clamping pieces, and the reliability of connection between the robot and the material box is high.

Description

Technical Field

[0001] This application relates to the field of warehousing and logistics technology, and in particular to a clamping structure, a fork structure, a robot, and a warehousing system. Background Technology

[0002] The robot can pick up and put down the hopper using its telescopic fork structure.

[0003] In the prior art, a robot includes a robot body and a fork structure, a telescopic mechanism, and a lifting mechanism mounted on the robot body. A hook is provided at the end of the fork structure. Driven by the telescopic mechanism, the fork structure extends relative to the robot body, causing the hook to move to the hopper. The hook rises or falls to connect with the hopper, thereby moving the hopper.

[0004] However, during the process of the hook moving the hopper, the hook may detach from the hopper, resulting in poor reliability of the connection between the robot and the hopper. Utility Model Content

[0005] This application provides a gripping structure, a fork structure, a robot, and a warehousing system to improve the reliability of the connection between the robot and the bin.

[0006] In a first aspect, embodiments of this application provide a clamping structure, including:

[0007] Mounting base;

[0008] The drive mechanism is mounted on the mounting base.

[0009] The clamping assembly includes two clamping members, which are spaced apart and rotatably mounted on the mounting base along the height direction of the mounting base and are connected to the drive mechanism.

[0010] The drive mechanism is configured to move relative to the mounting base to drive the two grippers to rotate and move closer or further apart from each other, thereby causing the two grippers to grip or release the connection of the hopper together.

[0011] In one possible implementation, the clamping structure provided in this application embodiment includes a driving mechanism comprising:

[0012] The movable component has two clamping components inserted into it.

[0013] A first drive assembly, which is connected to the moving part;

[0014] The first drive assembly is configured to drive a moving member to move relative to the mounting base, such that the moving member causes the two gripping members to rotate and move closer to or further away from each other.

[0015] In one possible implementation, the clamping structure provided in this application embodiment has two insertion holes spaced apart on the moving part, and the two clamping parts are correspondingly inserted into the insertion holes;

[0016] The distance between the two sockets is greater than the distance between the rotation axes of the two clamping parts and the mounting base;

[0017] When the moving part moves away from the mounting base, it drives the two clamping parts to move closer to each other through the two sockets. When the moving part moves closer to the mounting base, it drives the two clamping parts to move away from each other through the two sockets.

[0018] In one possible implementation, the clamping structure provided in this application embodiment further includes a transmission assembly in the driving mechanism, with the first driving assembly and the moving member respectively connected to the transmission assembly;

[0019] The first drive assembly drives the moving part to reciprocate through the transmission assembly.

[0020] In one possible implementation, the clamping structure provided in this application includes a transmission component comprising:

[0021] A rotating shaft is rotatably mounted on a mounting base and connected to a first drive assembly.

[0022] A toggle element is mounted on a rotating shaft.

[0023] Follower, the follower is mounted on the mounting base, and the actuating member is connected to the moving member through the follower;

[0024] The actuating element is configured to rotate with the pivot and drive the follower to reciprocate relative to the mounting base, so that the follower drives the moving element to reciprocate.

[0025] In one possible implementation, the clamping structure provided in this application embodiment has an eccentric cam as the actuating element, and the follower abuts against the opposite radial sides of the eccentric cam.

[0026] In one possible implementation, the clamping structure provided in this application embodiment has two protrusions spaced apart on the follower in its own moving direction, and the two protrusions abut against the eccentric cam.

[0027] In one possible implementation, the clamping structure provided in this application embodiment further includes a guide member in the transmission assembly. The guide member is slidably disposed on the mounting base, and the sliding direction of the guide member is consistent with the moving direction of the moving member.

[0028] The follower is connected to the moving part through the guide.

[0029] In one possible implementation, the clamping structure provided in this application embodiment further includes a pusher connected to the mounting base, the pusher being used to abut against the material box to push the material box.

[0030] In one possible implementation, the clamping structure provided in this application embodiment has a gap between the clamping assembly and the connecting part when the pushing member abuts against the material box;

[0031] When the clamping assembly abuts against the connecting part, there is a gap between the pusher and the hopper.

[0032] In one possible implementation, the clamping structure provided in this application embodiment further includes a buffer assembly, with a mounting base disposed on the buffer assembly and the mounting base moving up and down along the buffer assembly in the vertical direction.

[0033] In one possible implementation, the clamping structure provided in this application embodiment includes a buffer component comprising:

[0034] Columns, which are installed vertically;

[0035] A buffer seat is slidably mounted on the column and its height is limited along the extension direction of the column. A mounting seat is mounted on the buffer seat.

[0036] In one possible implementation, the clamping structure provided in this application embodiment further includes a limiting buffer block, with two limiting buffer blocks spaced apart on the column in the vertical direction, and a buffer seat located between the two limiting buffer blocks.

[0037] In one possible implementation, the clamping structure provided in this application embodiment further includes a tension spring connecting the buffer seat and the column to drive the buffer seat to descend vertically.

[0038] In one possible implementation, the clamping structure provided in this application includes an upper housing and a lower housing, which are connected to form a receiving space, and at least a portion of the drive mechanism is disposed within the receiving space.

[0039] Secondly, embodiments of this application provide a fork structure, including a fork body and any of the aforementioned clamping structures disposed on the fork body.

[0040] In one possible implementation, the fork structure provided in this application includes: The fork body comprises:

[0041] Base;

[0042] The second drive assembly is disposed on the base and is connected to the mounting base of the clamping structure to drive the clamping structure to move relative to the base.

[0043] In one possible implementation, the fork structure provided in this application embodiment includes a second drive component comprising:

[0044] A sliding seat is slidably mounted on a base, and a mounting seat is mounted on the sliding seat.

[0045] The driving component is connected to the sliding seat to drive the sliding seat to move the mounting base relative to the base.

[0046] In one possible implementation, the fork structure provided in this application embodiment further includes a moving guide component on the fork body. The moving guide component is disposed on the base, and a sliding seat is slidably disposed on the moving guide component and slides along the extending direction of the moving guide component.

[0047] In one possible implementation, the fork structure provided in this application includes a movement guide component comprising:

[0048] The slide rail is mounted on the base, and the sliding seat is slidably connected to the slide rail;

[0049] The transmission component is spaced apart from the slide rail, and the driving component is mounted on the sliding seat and drives the transmission component to move the sliding seat on the slide rail.

[0050] Thirdly, embodiments of this application provide a robot, including a robot body and any of the aforementioned gripping structures disposed on the robot body, or including a robot body and any of the aforementioned fork structures disposed on the robot body.

[0051] Fourthly, embodiments of this application provide a storage system including a bin and the aforementioned robot, wherein the robot grips or releases the bin via a connecting part.

[0052] In one possible implementation, the storage system provided in this application embodiment has two hook grooves spaced apart along the height direction of the material box. The opening directions of the two hook grooves are opposite, and two clamping members are inserted into or disengaged from the two hook grooves in a one-to-one correspondence.

[0053] In one possible implementation, the storage system provided in this application embodiment has a groove on the side of the material box, the groove extending along the height direction of the material box, and the connecting part located in the groove.

[0054] The clamping structure, fork structure, robot, and warehousing system provided in this application include a clamping structure comprising a mounting base and a drive mechanism and clamping components mounted on the mounting base. The clamping components include two clamping members spaced apart along the height direction of the mounting base. The two clamping members are connected to the drive mechanism, which drives the two clamping members to rotate relative to each other, causing them to move closer or further apart. When the two clamping members are aligned with the connection portion of the material box and move closer together, they can clamp the connection portion from both the upper and lower sides; otherwise, they release the connection portion. Because the two clamping members clamp the upper and lower sides of the connection portion together, even if the material box is bumpy during the robot's movement, the two clamping members can stably limit the connection portion, preventing it from detaching from the clamping effect until the two clamping members actively release the connection portion, resulting in high reliability of the robot-material box connection. Attached Figure Description

[0055] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0056] Figure 1 This is a schematic diagram of the fork structure provided in the embodiments of this application;

[0057] Figure 2 for Figure 1 A schematic diagram showing the connection between the forklift structure and the hopper.

[0058] Figure 3 for Figure 1 A schematic diagram of the clamping structure and the second driving component;

[0059] Figure 4 for Figure 3 A structural schematic diagram of the clamping structure and the second drive component from another perspective;

[0060] Figure 5 for Figure 3 Exploded view of the clamping structure and the second drive component;

[0061] Figure 6 for Figure 5 A partial structural diagram of the clamping structure;

[0062] Figure 7 for Figure 6 Exploded view of part of the sandwich structure;

[0063] Figure 8 for Figure 6 Sectional view of the clamping structure along line AA;

[0064] Figure 9 for Figure 8 A schematic diagram of the pusher box with a clamping structure;

[0065] Figure 10 for Figure 8 A schematic diagram of the clamping structure for pulling up the material box.

[0066] Explanation of reference numerals in the attached figures:

[0067] 100 - Mounting base; 110 - Upper housing; 111 - Guide hole; 120 - Lower housing; 121 - Mounting hole;

[0068] 200-Drive mechanism; 210-Moving component; 211-Socket; 220-First drive assembly; 221-Driving bevel gear; 222-Driven bevel gear; 230-Transmission assembly; 231-Shaft; 232-Actuating component; 233-Follower component; 2331-Protrusion; 234-Guide component; 235-Shaft end retaining ring; 236-Shaft end screw;

[0069] 300 - Clamping assembly; 310 - Clamping element; 311 - Insert tongue;

[0070] 400 - Top Push Part;

[0071] 500 - Buffer assembly; 510 - Column; 520 - Buffer seat; 530 - Limiting buffer block; 540 - Tension spring;

[0072] 600-base;

[0073] 700 - Second drive assembly; 710 - Sliding seat; 711 - Slider; 720 - Drive component; 721 - Output gear;

[0074] 800 - Moving guide assembly; 810 - Slide rail; 820 - Transmission component;

[0075] 900 - Material bin; 910 - Groove; 920 - Connecting part; 921 - Edge guard; 922 - Hook groove.

[0076] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0077] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model. In the absence of conflict, the following embodiments and features can be combined with each other.

[0078] In existing technology, a robot includes a robot body and a fork structure, a telescopic mechanism, and a lifting mechanism mounted on the robot body. Both the telescopic and lifting mechanisms are connected to the fork structure. The telescopic mechanism drives the fork structure to extend or retract relative to the robot body, and the lifting mechanism drives the fork structure to rise or fall relative to the robot body. A hook is provided at the end of the fork structure. The telescopic mechanism drives the fork structure to extend relative to the robot body, moving the hook to the material box. The lifting mechanism drives the hook to rise or fall, connecting the hook to the material box and thus moving the material box.

[0079] However, during the process of the hook moving the bin, the bin may bounce up and down due to factors such as the height difference between the shelf and the robot, and the height difference of the shelf itself, causing the hook to detach from the bin, resulting in poor reliability of the connection between the robot and the bin.

[0080] To overcome the deficiencies in the prior art, the present application provides a gripping structure, a fork structure, a robot, and a warehousing system. The gripping structure includes a mounting base and a drive mechanism and a gripping assembly mounted on the mounting base. The gripping assembly includes two gripping members spaced apart along the height direction of the mounting base. The two gripping members are connected to the drive mechanism, which drives the two gripping members to rotate relative to each other, causing them to move closer or further apart. When the two gripping members are aligned with the connection part of the hopper and move closer to each other, they can grip the connection part from both the upper and lower sides; otherwise, they release the connection part. Because the two gripping members grip the upper and lower sides of the connection part together, even if the hopper bounces during the robot's movement of the hopper, the two gripping members can stably limit the connection part, preventing it from detaching from the gripping effect until the two gripping members actively release the connection part, thus ensuring high reliability of the connection between the robot and the hopper.

[0081] The present invention will now be described in detail with reference to the accompanying drawings, so that those skilled in the art can have a clearer and more detailed understanding of the present invention.

[0082] Reference Figures 1 to 4 ,and Figure 9 and Figure 10As shown, this application embodiment provides a clamping structure, including:

[0083] Mounting base 100;

[0084] A drive mechanism 200 is mounted on a mounting base 100.

[0085] The clamping assembly 300 includes two clamping members 310, which are spaced apart and rotatably disposed on the mounting base 100 along the height direction of the mounting base 100 and are connected to the drive mechanism 200.

[0086] The drive mechanism 200 is configured to move relative to the mounting base 100 to drive the two grippers 310 to rotate and move closer or further apart from each other, so that the two grippers 310 together grip or release the connection portion 920 of the hopper 900.

[0087] It is understood that the mounting base 100 is provided with a drive mechanism 200 and a clamping assembly 300. The two clamping members 310 of the clamping assembly 300 are spaced apart on the mounting base 100 along the height direction of the mounting base 100 and can rotate relative to the mounting base 100. The drive mechanism 200 is connected to the two clamping members 310, thereby driving the two clamping members 310 to rotate in opposite directions, so that the two clamping members 310 can move closer to each other or further away from each other as they rotate.

[0088] Therefore, when the material box 900 needs to be gripped, the drive mechanism 200 starts to operate. During the movement of its part relative to the mounting base 100, it transmits power to the two gripping members 310 to drive the two gripping members 310 to rotate relative to each other. As the rotation proceeds, the two gripping members 310 gradually approach each other and approach the connecting part 920 from the upper and lower sides respectively, thereby gripping the connecting part 920 and achieving stable gripping of the material box 900.

[0089] When the material box 900 needs to be released, the drive mechanism 200 moves in the opposite direction, causing the two gripping parts 310 to rotate in the opposite direction. The two gripping parts 310 move away from each other, and the distance gradually increases until they completely leave the connecting part 920 of the material box 900, so that the connecting part 920 can be disengaged from the two gripping parts 310, and the material box 900 is released smoothly.

[0090] The two clamping parts 310 are bent toward opposite sides to form a clamping space between them. When the two clamping parts 310 are far apart, the distance between the bent parts is greater than the height of the vertical guard edge 921 on the connecting part 920 so that the connecting part 920 can enter the clamping space. After the two clamping parts 310 come close to each other and clamp the connecting part 920, the distance between the bent parts is less than the height of the guard edge 921 so as to prevent the connecting part from detaching from the clamping parts 310.

[0091] Therefore, the clamping structure provided in this application embodiment includes a mounting base 100 and a drive mechanism 200 and a clamping assembly 300 disposed on the mounting base 100. The clamping assembly 300 includes two clamping members 310 spaced apart along the height direction of the mounting base 100. The two clamping members 310 are connected to the drive mechanism 200, so that the drive mechanism 200 can drive the two clamping members 310 to rotate relative to each other, so that the two clamping members 310 move closer or further away from each other. When the two clamping members 310 are aligned with the connecting part 920 of the material box 900 and move closer to each other, the connecting part 920 can be clamped from both the upper and lower sides of the connecting part 920 of the material box 900; otherwise, the connecting part 920 is released. Since the two grippers 310 grip the upper and lower sides of the connecting part 920 together, even if the material box 900 is bumpy while the robot is moving the material box 900, the two grippers 310 can stably limit the connecting part 920, preventing the connecting part 920 from detaching from the gripper 310 until the two grippers 310 actively release the connecting part 920, so that the reliability of the connection between the robot and the material box 900 is high.

[0092] In some embodiments, refer to Figures 5 to 8 As shown, the drive mechanism 200 includes:

[0093] Movable component 210, and two clamping components 310 are both inserted into movable component 210;

[0094] First drive component 220, which is connected to movable component 210;

[0095] The first drive assembly 220 is configured to drive the moving member 210 to move relative to the mounting base 100, such that the moving member 210 drives the two gripping members 310 to rotate and move closer to or further away from each other.

[0096] It is understood that the first drive assembly 220 can be a drive motor, and further, the drive motor can be equipped with a reducer. The first drive assembly 220 is connected to the moving member 210 in a transmission manner, thereby driving the moving member 210 to move relative to the mounting base 100, which in turn causes the moving member 210 to drive the two gripping members 310 to rotate relative to each other. In this way, by driving the two gripping members 310 to rotate and move closer or further away from each other by the moving member 210, the actions of gripping and releasing the material box 900 can be precisely controlled, ensuring the stability of operation.

[0097] In specific implementation, refer to Figures 5 to 8 As shown, two insertion holes 211 are provided on the movable part 210 at intervals, and two clamping parts 310 are inserted into the insertion holes 211 respectively;

[0098] The distance between the two sockets 211 is greater than the distance between the rotation axes of the two clamping parts 310 and the mounting base 100;

[0099] When the movable part 210 moves away from the mounting base 100, it drives the two clamping parts 310 to move closer to each other through the two insertion holes 211. When the movable part 210 moves closer to the mounting base 100, it drives the two clamping parts 310 to move away from each other through the two insertion holes 211.

[0100] The movable part 210 is a plate. Two insertion holes 211 are spaced apart on the movable part 210 along the height direction of the mounting base 100. The clamping part 310 is provided with a tongue 311, which is inserted into the insertion hole 211 on the movable part 210. Thus, when the movable part 210 moves relative to the mounting base 100, the relative displacement of the insertion hole 211 and the tongue 311 can drive the two clamping parts 310 to rotate relative to each other.

[0101] The rotation axes of the two gripping members 310 are both located vertically between the two insertion holes 211 of the moving member 210, so that the distance between the rotation axes of the two gripping members 310 is less than the distance between the two insertion holes 211. When the moving member 210 moves forward (moves away from the mounting base 100) and away from the rotation axis of the gripping member 310, the line connecting the insertion hole 211 and the rotation axis of the corresponding gripping member 310 gradually becomes horizontal, so that the two gripping members 310 can move closer to each other under the action of the insertion hole 211. When the moving member 210 moves backward (moves closer to the mounting base 100) and closer to the rotation axis of the gripping member 310, the angle between the above-mentioned line and the horizontal plane gradually increases, so that the two gripping members 310 can move away from each other.

[0102] Therefore, by cooperating with the insertion hole 211 on the moving part 210 and the gripping part 310, and by setting the spacing between the insertion holes 211 and the rotation axis spacing of the gripping part 310, the actions of gripping and releasing the material box 900 can be precisely controlled, ensuring the stability of the two gripping parts 310 gripping the material box 900 together, as well as the synchronicity of the rotation of the two gripping parts 310. At the same time, since both gripping parts 310 can only rotate by moving the moving part 210, when the moving part 210 is stable and stationary, the gripping parts 310 are also difficult to rotate under the restriction of the moving part 210, thus ensuring the gripping effect of the gripping parts 310 on the connecting part 920 and improving the reliability of the connection between the robot and the material box 900.

[0103] In some embodiments, refer to Figures 5 to 8 As shown, the drive mechanism 200 also includes a transmission assembly 230, and the first drive assembly 220 and the moving part 210 are respectively connected to the transmission assembly 230;

[0104] The first drive assembly 220 drives the moving part 210 to reciprocate through the transmission assembly 230.

[0105] It is understandable that by setting the transmission component 230, the first drive component 220 drives the moving part 210 to move back and forth through the transmission component 230, making the connection between the first drive component 220 and the moving part 210 more flexible, and making it easier to convert the torque output by the first drive component 220 into the movement of the moving part 210 to meet the working requirements of the clamping component 300.

[0106] In specific implementation, refer to Figures 5 to 8 As shown, the transmission assembly 230 includes:

[0107] A rotating shaft 231 is rotatably mounted on a mounting base 100 and connected to a first drive assembly 220.

[0108] A toggle element 232 is mounted on a rotating shaft 231;

[0109] Follower 233 is disposed on mounting base 100, and toggle member 232 is connected to movable member 210 through follower 233;

[0110] The actuating member 232 is configured to rotate with the rotating shaft 231 and drive the follower 233 to reciprocate relative to the mounting base 100, so that the follower 233 drives the moving member 210 to reciprocate.

[0111] Two sets of angular contact bearings, mounted back-to-back, are spaced apart on the rotating shaft 231. These bearings are installed in two mounting holes 121 on the mounting base 100, allowing the rotating shaft 231 to be rotatably connected to the mounting base 100. One end of the rotating shaft 231 has a stepped surface to abut and limit contact with the angular contact bearings, while the other end has a shaft end retaining ring 235 and a shaft end screw 236 that cooperate with the angular contact bearings to restrict axial movement of the rotating shaft 231. A driven bevel gear 222 is mounted on the rotating shaft 231, meshing with a driving bevel gear 221 located at the output end of the first drive assembly 220. Thus, when the first drive assembly 220 is running, the rotating shaft 231 can be driven to rotate via the driving bevel gear 221 and the driven bevel gear 222.

[0112] The actuating element 232 is mounted on the rotating shaft 231 and can rotate synchronously with the rotating shaft 231. The follower element 233 is movably mounted within the mounting base 100 and is connected to the actuating element 232 and the moving element 210. When the first drive assembly 220 drives the rotating shaft 231 to rotate, the rotating shaft 231 drives the actuating element 232 to rotate. The follower element 233 converts the rotational motion of the actuating element 232 into its own moving motion, and further drives the moving element 210 to move.

[0113] This configuration, through the cooperation of the rotating shaft 231, the actuating element 232, and the follower element 233, forms a relatively stable power transmission path, effectively transmitting the power output from the first drive assembly 220, improving the stability and reliability of power transmission, and reducing impact and vibration during movement, ensuring the normal operation of the clamping structure. Simultaneously, the rotating shaft 231, the actuating element 232, and the follower element 233 are all housed within the mounting base 100, making the clamping structure more compact and occupying less space.

[0114] Furthermore, refer to Figures 5 to 10 As shown, the actuator 232 is an eccentric cam, and the follower 233 abuts against the opposite sides of the eccentric cam in the radial direction.

[0115] It is understandable that by setting the actuating element 232 as an eccentric cam, the relative positions of the far and near ends of the eccentric cam can change as it rotates with the rotating shaft 231. This utilizes the geometric characteristics of the eccentric cam to continuously change the distance from the profile of the actuating element 232 to the rotation center of the rotating shaft 231. When the eccentric cam rotates, the follower elements 233, which abut against its radially opposite sides, will reciprocate linearly relative to the mounting base 100 under the influence of the changing cam profile, driving the moving element 210 to reciprocate, thus satisfying the requirement for the two clamping elements 310 to move closer or further apart.

[0116] This makes the transmission assembly 230 simple and compact. Since the distance between the profile of the eccentric cam and the rotation center of the rotating shaft 231 changes gradually and continuously, it can also buffer the impact force during the movement to a certain extent, making the two clamping parts 310 of the clamping structure rotate smoothly and the clamping connection 920 more stable and reliable.

[0117] Furthermore, referring to Figures 5 to 10 As shown, the follower 233 has two protrusions 2331 spaced apart in its own moving direction, and the two protrusions 2331 abut against the eccentric cam.

[0118] The protrusion 2331 can be a protrusion structure spaced apart on the follower 233, or a cam follower spaced apart on the follower 233. This application does not limit this.

[0119] The two protrusions 2331 abut against the radial sides of the eccentric cam respectively. Compared with the abutment method on one side, it can better constrain the movement trajectory of the follower 233. In addition, it can realize the effect of the first drive assembly 220 driving the eccentric cam to rotate in only one direction through the rotating shaft 231, driving the follower 233 to reciprocate along the moving direction. This avoids the first drive assembly 220 frequently driving the moving part 210 to move back and forth in the forward and reverse directions, making the transmission simpler and more stable, and extending the service life of the first drive assembly 220.

[0120] In some embodiments, refer to Figures 5 to 10 As shown, the transmission assembly 230 also includes a guide member 234, which is slidably disposed on the mounting base 100, and the sliding direction of the guide member 234 is consistent with the moving direction of the moving member 210.

[0121] Follower 233 is connected to moving member 210 via guide 234.

[0122] The guide member 234 consists of two guide copper pillars slidably inserted into the guide hole 111 of the mounting base 100. The two ends of the guide copper pillars are connected to the follower member 233 and the moving member 210, respectively, so that the follower member 233 drives the moving member 210 to move via the guide member 234. By setting the guide member 234, the sliding direction of the guide member 234 is aligned with that of the moving member 210, providing precise guidance for the movement of the moving member 210 driven by the follower member 233. This reduces deviations and wobbling during the movement of the moving member 210, making the moving member 210 more precise during reciprocating movement, thereby ensuring the accuracy and synchronization of the two gripping members 310 as they approach and move away from each other.

[0123] Furthermore, in some embodiments, reference is made to Figures 5 to 10 As shown, the clamping structure also includes a pusher 400, which is connected to the mounting base 100 and is used to abut against the material box 900 to push the material box 900.

[0124] It is understandable that the pusher 400 is a push plate mounted on the mounting base 100. The dimension of the push plate along the width direction of the clamping structure is larger than the dimensions of the two clamping members 310, resulting in a larger force-bearing area and smoother pushing. When it is necessary to push the material box 900, the two clamping members 310 can clamp the material box 900, and the pusher 400 abuts against the material box 900 to apply force to the material box 900, pushing the material box 900 to move. This avoids excessive force when the clamping members 310 directly push the material box 900, preventing damage to the clamping members 310 and the transmission assembly 230.

[0125] Among them, reference Figure 9 and Figure 10 As shown, when the pusher 400 abuts against the hopper 900, there is a gap between the clamping assembly 300 and the connecting part 920.

[0126] When the clamping assembly 300 abuts against the connecting part 920, there is a gap between the pusher 400 and the material box 900.

[0127] What is understandable is that Figure 9 and Figure 10In the middle, the connecting part 920 is disposed in the groove 910 of the material box 900, the spacing a is the distance between the retaining edge 921 of the connecting part 920 and the outer wall surface of the material box 900, the spacing b is the distance between the bottom of the groove 910 on the material box 900 and the outer wall surface of the material box 900, and the spacing c is the distance between the end of the clamping part 310 and the pushing part 400, wherein a < b < c, and ba < c.

[0128] With this setting, such as Figure 9 As shown, when the pushing member 400 abuts against the material box 900, the clamping structure pushes the material box 900. At this time, a gap is formed between the clamping member 310 and the connecting part 920, and there is also a gap between the clamping member 310 and the bottom of the groove 910 on the material box 900, to prevent the clamping member 310 and the transmission assembly 230 from applying a pushing force to the connecting part 920, and at the same time, to avoid the clamping member 310 abutting against the bottom of the groove 910 of the material box 900. Figure 10 As shown, when the clamping member 310 abuts against the connecting part 920, a gap can also be formed between the pushing member 400 and the material box 900.

[0129] In some embodiments, refer to Figures 2 to 5 As shown, the clamping structure also includes a buffer assembly 500, and a mounting base 100 is disposed on the buffer assembly 500. The mounting base 100 moves up and down in the vertical direction along the buffer assembly 500.

[0130] It is understandable that by setting up the buffer component 500, the mounting base 100 can be raised and lowered in the vertical direction, that is, in the height direction of the mounting base 100. In this way, when the clamping structure moves the material box 900, if the material box 900 bounces up and down due to factors such as the height difference between the shelf and the robot, or the height difference of the shelf itself, the buffer component 500 can be used to buffer the impact of the bounce of the material box 900, so as to ensure the stability and reliability of picking up and putting down goods.

[0131] In specific implementation, refer to Figures 2 to 5 As shown, the buffer component 500 includes:

[0132] Column 510, column 510 is set vertically;

[0133] A buffer seat 520 is slidably mounted on a column 510 and its height is limited along the extension direction of the column 510. A mounting seat 100 is mounted on the buffer seat 520.

[0134] It is easy to understand that the column 510 provides precise guidance for the lifting and lowering of the buffer seat 520, so that the buffer seat 520 can only slide along the extension direction of the column 510, effectively avoiding problems such as shaking and displacement of the mounting seat 100 set on the buffer seat 520 during the lifting and lowering process.

[0135] The buffer seat 520 is limited to vertical movement, which can prevent the mounting seat 100 from rising or falling excessively, avoid collisions or interference between the mounting seat 100 and the clamping assembly 300 and other components, and ensure the safety and stability of the clamping structure.

[0136] Furthermore, referring to Figure 2 and Figure 5 As shown, the buffer assembly 500 also includes a limiting buffer block 530, two limiting buffer blocks 530 are arranged at intervals on the column 510 in the vertical direction, and the buffer seat 520 is located between the two limiting buffer blocks 530.

[0137] Two limiting buffer blocks 530 are spaced apart along the extension direction of the column 510, and a buffer seat 520 is placed between the two limiting buffer blocks 530 to limit the vertical movement of the buffer seat 520. Simultaneously, at least the lower limiting buffer block 530 can be an elastic block made of rubber to absorb the impact energy of the buffer seat 520 during its lifting process, reducing the impact force on the buffer seat 520, the column 510, and components such as the mounting base 100 and the clamping assembly 300 mounted on the buffer seat 520.

[0138] The buffer assembly 500 also includes a tension spring 540, which connects the buffer seat 520 and the column 510 to drive the buffer seat 520 to descend vertically.

[0139] One end of the tension spring 540 is connected to the buffer seat 520, and the other end is connected to the column 510. Specifically, it can be directly connected to the lower part of the column 510 itself, or it can be connected to other mounting parts located below the column 510 and fixed relative to the column 510, so as to indirectly connect with the column 510. In this way, the tension spring 540 can always apply a downward moving force to the buffer seat 520, ensuring the relative position stability of the buffer seat 520, the mounting seat 100 and the clamping assembly 300, and avoiding unnecessary up and down jumping of the buffer seat 520.

[0140] In some embodiments, the mounting base 100 includes an upper housing 110 and a lower housing 120, which are connected to form a receiving space, and at least a portion of the drive mechanism 200 is disposed within the receiving space.

[0141] Understandably, this arrangement makes it easier to disassemble and maintain the mounting base 100 and the transmission component 230 within the mounting base 100, and allows the transmission component 230 to be placed in the accommodating space formed by the upper housing 110 and the lower housing 120, thus protecting the transmission component 230 and making the appearance of the clamping structure simpler.

[0142] Reference Figures 1 to 5As shown, this application embodiment also provides a fork structure, including a fork body and a clamping structure from any of the above embodiments disposed on the fork body.

[0143] The fork body includes:

[0144] Base 600;

[0145] The second drive assembly 700 is disposed on the base 600 and is connected to the mounting base 100 of the clamping structure to drive the clamping structure to move relative to the base 600.

[0146] The second drive assembly 700 is connected to the mounting base 100 of the clamping structure and can drive the clamping structure to move relative to the base 600, so that the clamping structure can pull or push the clamped material box 900 under the drive of the second drive assembly 700.

[0147] The base 600 provides a stable support platform for the second drive assembly 700 and the clamping structure. The second drive assembly 700 is mounted on the base 600. During the movement of the clamping structure, the base 600 ensures the stability of the entire fork structure, thereby reducing the swaying and vibration of the fork structure during operation.

[0148] Furthermore, refer to Figure 2 and Figure 5 As shown, the second drive component 700 includes:

[0149] A sliding seat 710 is slidably disposed on a base 600, and a mounting seat 100 is disposed on the sliding seat 710;

[0150] The driving component 720 is connected to the sliding seat 710 to drive the sliding seat 710 to move the mounting base 100 relative to the base 600.

[0151] Mounting base 100 is mounted on sliding base 710, and base 600 provides stable support for sliding of sliding base 710. Driving component 720 is directly connected to sliding base 710 and drives sliding base 710 to move, which can efficiently transmit driving force to sliding base 710, reduce energy loss in the power transmission process, and make sliding base 710 move with high efficiency, simple structure and small space occupation.

[0152] The driving component 720 can be disposed on the base 600 and connected to the sliding seat 710 to drive the sliding seat 710 to move relative to the driving component 720 and the base 600. Alternatively, the driving component 720 can be disposed on the sliding seat 710 and drive the sliding seat 710 to move together with the driving component 720 relative to the base 600. This application does not impose any restrictions on this.

[0153] Furthermore, refer to Figures 1 to 5 As shown, the fork body also includes a movable guide assembly 800, which is disposed on the base 600. The sliding seat 710 is slidably disposed on the movable guide assembly 800 and slides along the extension direction of the movable guide assembly 800.

[0154] By setting the moving guide component 800, the sliding seat 710 can only move along the extension direction of the moving guide component 800, reducing the deviation and shaking of the sliding seat 710 during the sliding process.

[0155] The motion guidance component 800 includes:

[0156] The slide rail 810 is mounted on the base 600, and the sliding seat 710 is slidably connected to the slide rail 810.

[0157] The transmission component 820 is spaced apart from the slide rail 810. The driving component 720 is disposed on the sliding seat 710 and cooperates with the transmission component 820 to drive the sliding seat 710 to slide on the slide rail 810.

[0158] The sliding base 710 has a slider 711, which is slidably connected to the slide rail 810 on the base 600.

[0159] The transmission component 820 is a rack parallel to and spaced apart from the slide rail 810. The output end of the drive component 720 is equipped with an output gear 721 that meshes with the rack. The drive component 720 drives the output gear 721 to rotate relative to the rack, causing the sliding seat 710 to slide along the slide rail 810, thus moving the sliding seat 710 relative to the base 600. The rack and pinion drive has high transmission efficiency and accuracy, easily achieving fast and smooth movement, thereby improving the working efficiency of the fork structure.

[0160] In this embodiment of the application, when the fork structure grips the material box 900, the second drive assembly 700 drives the gripping structure to move forward relative to the base 600 through the moving guide assembly 800. The gripping structure moves to the connection part 920 close to the material box 900. The first drive assembly 220 of the drive mechanism 200 drives the moving member 210 to move backward through the transmission assembly 230, so that the moving member 210 drives the two gripping members 310 to rotate and move away from each other, so that the connection part 920 can enter between the two gripping members 310. Then the moving member 210 moves forward, driving the two gripping members 310 to rotate and move closer to each other, thereby gripping the connection part 920. Then the second drive assembly 700 drives the gripping structure to move backward relative to the base 600 through the moving guide assembly 800, and uses the gripping structure to pull the material box 900. At this time, the pusher 400 does not contact the material box 900.

[0161] When the fork structure pushes the hopper 900, the clamping structure maintains the clamping connection 920 without contacting the hopper 900, and moves forward relative to the base 600. The pusher 400 pushes the hopper 900 into position. Then, the moving member 210 moves backward, causing the two clamping members 310 to rotate and move away from each other, releasing the hopper 900. Finally, the clamping structure retracts. When the fork structure clamps or pushes the hopper 900, the movement of the clamping structure relative to the base 600 and the rotation of the clamping members 310 can occur simultaneously, resulting in high clamping or pushing efficiency for the hopper 900.

[0162] This application also provides a robot, including a robot body and a gripping structure of any of the above embodiments disposed on the robot body, or including a robot body and a fork structure of any of the above embodiments disposed on the robot body.

[0163] Furthermore, this application embodiment also provides a storage system, including a bin 900 and the aforementioned robot, wherein the robot can grip or release the connecting part 920 of the bin 900 via a gripping structure.

[0164] The connecting part 920 of the material box 900 has two hook grooves 922 spaced apart along the height direction of the material box 900. The opening directions of the two hook grooves 922 are opposite, and the two clamping parts 310 are inserted into or uninserted from the two hook grooves 922 in a one-to-one correspondence.

[0165] With this configuration, the connecting part 920 of the material box 900 has two flanges 921 extending vertically along the height direction. The two flanges 921 form two hook grooves 922 on the side facing the material box 900. The two gripping members 310 are inserted into the two hook grooves 922 respectively and fixed from different positions above and below the connecting part 920 of the material box 900. When the robot moves the material box 900, the bidirectional connection can provide a more stable gripping force. Even if the material box 900 is subjected to bumps or external forces, it can effectively prevent it from falling off the gripping members 310, thus improving the reliability of the connection between the robot and the material box 900.

[0166] In practice, connecting parts 920 can be provided on both sides of the material box 900 to improve the convenience of picking up and putting down the material box 900.

[0167] Furthermore, a groove 910 is provided on the side of the material box 900, the groove 910 extends along the height direction of the material box 900, and the connecting part 920 is located in the groove 910.

[0168] By providing grooves 910 on opposite sides of the material box 900 and placing the connecting part 920 in the grooves 910, physical protection can be provided for the connecting part 920, preventing damage such as collisions and scratches, ensuring the structural integrity of the connecting part 920, thereby maintaining a stable connection between the clamping structure and the material box 900, and making the structure of the material box 900 more compact.

[0169] Therefore, the forklift structure, robot, and warehousing system provided in this application embodiment, by setting a clamping structure, includes a mounting base 100 and a drive mechanism 200 and a clamping assembly 300 disposed on the mounting base 100. The clamping assembly 300 includes two clamping members 310 spaced apart along the height direction of the mounting base 100. The two clamping members 310 are connected to the drive mechanism 200, so that the drive mechanism 200 can drive the two clamping members 310 to rotate relative to each other, so that the two clamping members 310 move closer or further away from each other. When the two clamping members 310 are aligned with the connecting part 920 of the material box 900 and move closer to each other, the connecting part 920 can be clamped from both the upper and lower sides of the connecting part 920 of the material box 900; otherwise, the connecting part 920 is released. Since the two grippers 310 grip the upper and lower sides of the connecting part 920 together, even if the material box 900 is bumpy while the robot is moving the material box 900, the two grippers 310 can stably limit the connecting part 920, preventing the connecting part 920 from detaching from the gripper 310 until the two grippers 310 actively release the connecting part 920, so that the reliability of the connection between the robot and the material box 900 is high.

[0170] It should be noted that the terms "one embodiment," "embodiment," "exemplary embodiment," and "some embodiments" used in the specification indicate that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Moreover, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not, is within the knowledge scope of those skilled in the art.

[0171] Generally speaking, terms should be understood at least in part by their use in context. For example, at least in part by context, the term "one or more" as used in the text can be used to describe any feature, structure, or characteristic of the singular meaning, or a combination of features, structures, or characteristics of the plural meaning. Similarly, at least in part by context, terms such as "a" or "the" can also be understood to convey either singular or plural usage.

[0172] It should be readily understood that the terms “on,” “above,” and “on top of” in this application should be interpreted in the broadest possible sense, such that “on” means not only “directly on something” but also “on something” with an intermediate feature or layer therebetween, and that “above” or “on top of” means not only “on something” but also “on something” without an intermediate feature or layer therebetween (i.e., directly on something).

[0173] Furthermore, for ease of explanation, spatially relative terms such as "below," "below," "under," "above," and "above" may be used to describe the relationship of one element or feature relative to other elements or features as shown in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation other than those shown in the figures. The device may have other orientations (rotated 90° or in other orientations), and the spatially relative descriptive terms used herein may be interpreted accordingly.

[0174] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model 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 or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A clamping structure, characterized in that, include: Mounting base; A drive mechanism, which is mounted on the mounting base; A clamping assembly, comprising two clamping members, the two clamping members being spaced apart along the height direction of the mounting base and rotatably disposed on the mounting base, and connected to the driving mechanism; The drive mechanism is configured to move relative to the mounting base to drive the two gripping members to rotate and move closer or further apart from each other, thereby causing the two gripping members to jointly grip or release the connection of the hopper.

2. The clamping structure according to claim 1, characterized in that, The drive mechanism includes: The movable component, on which both clamping components are inserted; A first drive component, which is connected to the moving part; The first drive component is configured to drive the movable member to move relative to the mounting base, such that the movable member causes the two gripping members to rotate and move closer to or further away from each other.

3. The clamping structure according to claim 2, characterized in that, The movable component has two insertion holes spaced apart, and the two clamping components are inserted into the insertion holes accordingly; The distance between the two sockets is greater than the distance between the rotation axes of the two clamping members and the mounting base; When the movable component moves away from the mounting base, it drives the two clamping components to move closer to each other through the two insertion holes. When the movable component moves closer to the mounting base, it drives the two clamping components to move away from each other through the two insertion holes.

4. The clamping structure according to claim 2, characterized in that, The drive mechanism further includes a transmission assembly, and the first drive assembly and the moving part are respectively connected to the transmission assembly; The first drive component drives the moving part to reciprocate through the transmission component.

5. The clamping structure according to claim 4, characterized in that, The transmission assembly includes: A rotating shaft is rotatably mounted on the mounting base and connected to the first drive assembly; A toggle element, wherein the toggle element is disposed on the rotating shaft; A follower is disposed on the mounting base, and the actuating member is connected to the moving member through the follower; The actuating element is configured to rotate with the rotating shaft and drive the follower to reciprocate relative to the mounting base, so that the follower drives the moving element to reciprocate.

6. The clamping structure according to claim 5, characterized in that, The actuating element is an eccentric cam, and the follower abuts against the opposite radial sides of the eccentric cam.

7. The clamping structure according to claim 6, characterized in that, The follower has two protrusions spaced apart in its own direction of movement, and the two protrusions abut against the eccentric cam.

8. The clamping structure according to claim 5, characterized in that, The transmission assembly further includes a guide member, which is slidably disposed on the mounting base, and the sliding direction of the guide member is consistent with the moving direction of the moving member; The follower is connected to the moving member via the guide.

9. The clamping structure according to any one of claims 1-8, characterized in that, It also includes a pusher, which is connected to the mounting base and is used to abut against the hopper to push the hopper.

10. The clamping structure according to claim 9, characterized in that, When the pusher abuts against the hopper, there is a gap between the clamping assembly and the connecting part; When the clamping assembly abuts against the connecting portion, there is a gap between the pusher and the hopper.

11. The clamping structure according to any one of claims 1-8, characterized in that, It also includes a buffer assembly, the mounting base being disposed on the buffer assembly, and the mounting base moving up and down vertically along the buffer assembly.

12. The clamping structure according to claim 11, characterized in that, The buffer component includes: The column is vertically installed; A buffer seat is slidably disposed on the column and limited to rising and falling along the extension direction of the column, and a mounting seat is disposed on the buffer seat.

13. The clamping structure according to claim 12, characterized in that, The buffer assembly further includes limiting buffer blocks, two of which are spaced apart on the column along the vertical direction, and the buffer seat is located between the two limiting buffer blocks.

14. The clamping structure according to claim 12, characterized in that, The buffer assembly also includes a tension spring that connects the buffer seat and the column to drive the buffer seat to descend along the vertical direction.

15. The clamping structure according to any one of claims 1-8, characterized in that, The mounting base includes an upper housing and a lower housing, which are connected to form a receiving space, and at least a portion of the drive mechanism is disposed within the receiving space.

16. A forklift structure, characterized in that, It includes a fork body and a clamping structure disposed on the fork body as described in any one of claims 1-15.

17. The fork structure according to claim 16, characterized in that, The fork body includes: Base; A second drive assembly is disposed on the base and connected to the mounting seat of the clamping structure to drive the clamping structure to move relative to the base.

18. The fork structure according to claim 17, characterized in that, The second driving component includes: A sliding seat, which is slidably disposed on the base, and a mounting seat disposed on the sliding seat; A driving component, which is connected to the sliding seat, drives the sliding seat to move the mounting base relative to the base.

19. The fork structure according to claim 18, characterized in that, The fork body also includes a moving guide assembly, which is disposed on the base. The sliding seat is slidably disposed on the moving guide assembly and slides along the extending direction of the moving guide assembly.

20. The fork structure according to claim 19, characterized in that, The motion guidance component includes: A slide rail is provided on the base, and the sliding seat is slidably connected to the slide rail; A transmission component, wherein the transmission component is spaced apart from the slide rail; The driving component is mounted on the sliding seat and engages with the transmission component to drive the sliding seat to slide on the slide rail.

21. A robot, characterized in that, It includes a robot body and a gripping structure as described in any one of claims 1-15 disposed on the robot body, or it includes a robot body and a fork structure as described in any one of claims 16-20 disposed on the robot body.

22. A warehousing system, characterized in that, Includes a material bin and the robot of claim 21, the robot gripping or releasing the connection of the material bin.

23. The warehousing system according to claim 22, characterized in that, The connecting part has two hook grooves spaced apart along the height direction of the material box. The opening directions of the two hook grooves are opposite, and the two clamping parts are inserted into or uninserted from the two hook grooves in a one-to-one correspondence.

24. The warehousing system according to claim 23, characterized in that, A groove is provided on the side of the material box, the groove extends along the height direction of the material box, and the connecting part is located in the groove.

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