Flexible dual-arm gripper mechanism

Abstract

This utility model discloses a flexible double-arm clamping mechanism, including a barcode scanning mechanism, a material detection mechanism, a loading platform frame, forks, a loading platform pallet, and components such as driving wheels and connectors that drive the forks to complete extension, retraction, and tightening actions. The loading platform pallet is mounted on the loading platform frame, and the movement of the forks is powered by the driving wheels, which are connected to the forks through the connectors. The barcode scanning mechanism is mounted on the lower surface of the loading platform pallet, and the material detection mechanism is mounted behind the loading platform pallet. This utility model can grip materials of various sizes and can locate them by scanning QR codes or barcodes. The configured material detection mechanism detects the stored materials, ensuring accurate and reliable material storage and retrieval operations.

Description

Technical Field

[0001] This utility model relates to the field of cargo handling equipment technology, specifically to a flexible double-arm cargo clamping mechanism. Background Technology

[0002] In automated warehousing operations, forks are indispensable for material transfer, sorting, and retrieval. However, due to their mechanical structure, forks can often only grip materials of fixed sizes, exhibiting poor compatibility with materials of different dimensions. Furthermore, the gripping process typically involves four actions: positioning, fork extension, gripping, and fork retraction. These actions are usually executed blindly, lacking timely feedback on the gripping effect and resulting in low reliability. Therefore, a flexible double-arm gripping mechanism is needed to improve the fork's versatility and gripping reliability. Utility Model Content

[0003] The purpose of this invention is to provide a flexible double-arm gripping mechanism that can grip materials of a certain size range, solving the problem that existing forks can only grip boxes of fixed size. In addition, the gripping mechanism is equipped with a variety of sensors that can monitor the status of the goods in real time and support timely alarms for abnormal conditions, thereby improving the reliability of material gripping.

[0004] To solve the above-mentioned technical problems, this utility model is achieved through the following technical solution: A flexible double-arm cargo clamping mechanism includes: a loading platform frame; forks, with a fork front stop (211) and a fork rear stop respectively installed at the front and rear ends of the forks; a lower fork installed on the outer side of the forks; an extension idler pulley, an extension timing belt, an extension drive pulley, a clamping timing belt, a fork clamping drive pulley, a clamping timing belt fixing component, and a fork clamping driven pulley respectively installed below the forks; the extension timing belt and the extension drive pulley are both fixed on the intermediate shaft of the forks, the extension drive pulley is connected to the extension idler pulley through the extension timing belt; the fork clamping drive pulley is connected to the fork clamping driven pulley through the clamping timing belt; and a side protective cover for protecting the internal fork clamping mechanism. The system includes: a drive wheel and a clamping timing belt fixing component; a fork rear cover for the loading platform to protect the drive wheel and intermediate shaft of the fork extension inside; a material detection mechanism installed on the front side of the fork rear cover; a second side protective cover to protect the clamping timing belt fixing component and the driven wheel of the fork clamping; a loading platform pallet for carrying materials; a swivel mechanism to drive the double-arm clamping mechanism to rotate; a front cargo arrival detection mechanism installed above the idler wheel of the fork extension; a rear cargo arrival detection mechanism installed on the inner outer surface of the first side protective cover; and a barcode scanning mechanism installed on the lower surface of the loading platform pallet.

[0005] Furthermore, the rotary mechanism can rotate 270 degrees continuously in the horizontal plane to remove or store goods from the shelves on both sides of the double-arm rack. Furthermore, during the rotation of the fork clamping drive wheel, it can drive the fork clamping driven wheel to rotate, thereby enabling the clamping timing belt drive; Furthermore, a clamping timing belt fixing component is installed at each end of the clamping timing belt, which can move in opposite directions or in the opposite direction as the clamping timing belt is driven. Furthermore, the material detection mechanism can detect whether there is material in the storage location and can detect the angle of the material's storage posture. If the material in the storage location is in an abnormal state or the deviation angle exceeds the grasping range, an alarm will be triggered. The material detection mechanism can adjust the detection distance. If the deviation angle of the material in the opposite storage location exceeds the threshold, an alarm will also be triggered. Furthermore, a fork front stop and a fork rear stop are respectively installed on the inner front and rear sides of the fork, which can fix the material during the fork's storage and retrieval operation; Furthermore, the scanning mechanism can detect barcodes or QR code labels on the shelf, and obtain the current storage location information by parsing the label; Furthermore, the cargo arrival detection mechanism can obtain in real time whether the material has completely entered or completely left the loading platform pallet. The forks can only perform the next action after the material has been transferred to the correct position, ensuring safe and reliable material transfer.

[0006] This utility model has the following beneficial effects: 1. This utility model, through the cooperation of the fork extension assembly and the fork clamping assembly, supports the gripping of materials of different sizes within a certain range, effectively expanding the application range of the forks; 2. This utility model, through the cooperation of multiple sensors, can monitor the material posture in real time before and during the gripping action, thereby improving the reliability of gripping; 3. This utility model can obtain storage location information by scanning the shelf label through a barcode scanning mechanism. It can not only identify the current storage location number, but also, in conjunction with the servo motor rotation data, assess the degree of shelf deformation and perform more targeted maintenance on the shelf. Attached Figure Description

[0007] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope.

[0008] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figures 2-3This is a detailed internal structural diagram of the present invention; The labels for the attached figures are as follows: 1. Loading platform frame; 2. Forks; 211. Fork front stop; 212. Fork rear stop; 213. Lower fork; 221. Extension idler pulley; 231. Clamping timing belt; 232. Fork clamping drive pulley; 233. Clamping timing belt fixing piece; 222. Extension timing belt; 223. Extension drive pulley; 224. Fork intermediate shaft; 235. Fork clamping driven pulley; 3. Side protective cover; 4. Loading platform fork rear cover; 5. Material detection mechanism; 6. Side protective cover; 7. Loading platform pallet; 8. Swivel mechanism; 91. Front goods arrival detection mechanism; 92. Rear goods arrival detection mechanism; 93. Barcode scanning mechanism. Detailed Implementation

[0009] The present invention will be further described below with reference to specific embodiments. The accompanying drawings are for illustrative purposes only, representing schematic diagrams rather than actual physical objects, and should not be construed as limiting the scope of this patent. To better illustrate the embodiments of the present invention, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0010] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0011] See appendix Figure 1 To the attached Figure 3This embodiment of a flexible double-arm cargo clamping mechanism includes a cargo platform frame (1); and forks (2). The fork (2) is equipped with a fork front stop (211) and a fork rear stop (212) at its front and rear ends, respectively; a lower fork (213) is installed on the outside of the fork (2); an extension idler wheel (221), an extension timing belt (222), an extension drive wheel (223), a clamping timing belt (231), a fork clamping drive wheel (232), a clamping timing belt fixing piece (233), and a fork clamping driven wheel (235) are installed below the fork (2); the extension timing belt (222) and the extension drive wheel (223) are both fixed on the fork intermediate shaft (224), and the extension drive wheel (223) is connected to the extension idler wheel (221) through the extension timing belt (222); the fork clamping drive wheel (232) is connected to the fork clamping driven wheel (235) through the clamping timing belt (231); a side protective cover (3) The following structures are used to protect the fork clamping drive wheel (232) and clamping timing belt fixing component (233) inside the loading platform: a loading platform fork rear cover (4) for protecting the fork extension drive wheel (223) and fork intermediate shaft (224) inside the loading platform; a material detection mechanism (5) installed on the front side of the loading platform fork rear cover (4); a side protection cover (6) for protecting the clamping timing belt fixing component (233) and fork clamping passive wheel (235) inside the loading platform; a loading platform pallet (7) for carrying materials; a swivel mechanism (8) for driving the flexible double-arm clamping mechanism to rotate; a front cargo arrival detection mechanism (91) installed above the fork extension idler wheel (221); a rear cargo arrival detection mechanism (92) installed on the inner outer surface of the side protection cover (1); and a barcode scanning mechanism (93) installed on the lower surface of the loading platform pallet (7).

[0012] The rotary mechanism (8) can rotate 270 degrees continuously in the horizontal plane to remove or store goods from the shelves on both sides of the double-arm rack. The lower end of the clamping timing belt fixing member (233) is fixed on the clamping timing belt (231), and the upper end is fixed on the outside of the lower fork (213). During the rotation of the fork clamping drive wheel (232), the lower fork (213) can be driven to retract inward or expand outward, so that the fork (2) can complete the clamping or releasing action. The material detection mechanism (5) can detect whether there is material in the storage location and can detect the angle of the material storage posture. If the material in the storage location is abnormal or the deviation angle exceeds the grasping range, an alarm will be triggered. The material detection mechanism (5) can adjust the detection distance. If the deviation angle of the material posture in the opposite storage location exceeds the threshold, an alarm will also be triggered. The fork (2) is equipped with a fork front stop (211) and a fork rear stop (212) at the inner front and rear ends, respectively, which can fix the material during the storage and retrieval operation of the fork (2); The scanning mechanism (93) can detect barcodes or QR code labels on the shelf and obtain the current storage location information by parsing the label.

[0013] A flexible double-arm clamping mechanism first uses a barcode scanning mechanism to obtain the storage location number, then uses a cargo detection mechanism to identify the material. After confirming that the gripping conditions are met, the forks, telescopic components, clamping components, and cargo arrival detection mechanism coordinate to complete the product gripping task.

[0014] In this example, the material is located at shelf location 1-1-10, with dimensions of 325mm × 275mm × 110mm. The material is then retrieved and stored at shelf location 2-1-10 on the opposite side. After the flexible double-arm clamping mechanism confirms that it has reached storage position 1-1-10 through the barcode scanning mechanism (93), the material detection mechanism (5) will alarm if it identifies that there is no raw material in the storage position. If it has been confirmed that there is material in the storage position and the material posture is within the gripping range, the extension fork drive wheel (223) will rotate in the forward direction. Through the fork intermediate shaft (224), it will drive the extension fork idler wheel (221) and extension fork timing belt (222) to rotate, driving the fork (2) on the upper surface of the extension fork timing belt (222) to extend. After the fork (2) is extended into place, the fork clamping drive wheel (232) will rotate in the forward direction. Through the clamping timing belt (231), it will drive the fork clamping passive wheel (235) to rotate, driving the clamping timing belt fixing parts (233) at both ends of the clamping timing belt (231) to rotate. The opposing movements push the lower fork (213) at its top to retract inward, and the fork (2) performs a clamping action; after the fork (2) completes the clamping action, the extension fork drive wheel (223) rotates in the opposite direction, and through the fork intermediate shaft (224), it drives the extension fork idler wheel (221) and extension fork timing belt (222) to rotate, driving the fork (2) on the upper surface of the extension fork timing belt (222) to retract. During the material movement, the front cargo arrival detection mechanism (91) first detects the material, indicating that the material has entered the loading platform pallet (7). If the rear cargo arrival detection mechanism (92) detects the material, it indicates that the material has completely entered the loading platform pallet (7), the extension fork drive wheel (223) stops rotating, and the swivel mechanism (8) rotates continuously 180 degrees. After the flexible double-arm clamping mechanism confirms that it has reached the 2-1-10 storage position through the barcode scanning mechanism (93), the material detection mechanism (5) will alarm if it identifies that the storage position is occupied. If it is confirmed that the storage position is empty, the extension fork drive wheel (223) will rotate in the forward direction, and through the fork intermediate shaft (224), it will drive the extension fork idler wheel (221) and extension fork timing belt (222) to rotate, driving the fork (2) on the upper surface of the extension fork timing belt (222) to extend. When the fork (2) is extended into place, the fork clamping drive wheel (232) will rotate in the reverse direction, and through the clamping timing belt (23) 1) The transmission drives the fork clamping passive wheel (235) to rotate, which drives the clamping synchronous belt fixing parts (233) at both ends of the clamping synchronous belt (231) to move in the opposite direction, thereby pushing the lower fork (213) at its top to expand outward, and the fork (2) performs the release action; after the fork (2) completes the release action, the extension fork driving wheel (223) rotates in the opposite direction, and through the transmission of the fork intermediate shaft (224), it drives the extension fork idler wheel (221) and extension fork synchronous belt (222) to rotate, driving the fork (2) on the upper surface of the extension fork synchronous belt (222) to complete the retraction.

[0015] In the description of this utility model, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model 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. Therefore, they should not be construed as limitations on this utility model.

[0016] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "multiple" means two or more.

[0017] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" 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 direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0018] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating this utility model, and are not intended to limit the implementation of this utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A flexible dual-arm gripper mechanism, characterized by, include: A loading platform frame (1); forks (2), with a fork front stop (211) and a fork rear stop (212) installed at the front and rear ends of the forks (2); a lower fork (213) installed on the outside of the forks (2); an extension idler pulley (221), an extension timing belt (222), an extension drive pulley (223), a clamping timing belt (231), a fork clamping drive pulley (232), a clamping timing belt fixing piece (233), and a fork clamping driven pulley (235) installed below the forks (2); the extension timing belt (222) and the extension drive pulley (223) are both fixed on the fork intermediate shaft (224), and the extension drive pulley (223) is connected to the extension idler pulley (221) through the extension timing belt (222); the fork clamping drive pulley (232) is connected to the fork clamping driven pulley (235) through the clamping timing belt (231); a side protective cover ( 3), used to protect the fork clamping drive wheel (232) and clamping timing belt fixing part (233) inside; loading platform fork rear cover (4), used to protect the fork extension drive wheel (223) and fork intermediate shaft (224) inside; material detection mechanism (5), installed on the front side of loading platform fork rear cover (4); side protection cover two (6), used to protect the clamping timing belt fixing part (233) and fork clamping passive wheel (235) inside; loading platform pallet (7), used to carry materials; swivel mechanism (8), used to drive the double arm clamping mechanism to rotate; front cargo arrival detection mechanism (91), installed above the fork extension idler wheel (221); rear cargo arrival detection mechanism (92), installed on the inner outer surface of the side protection cover one (3); barcode scanning mechanism (93), installed on the lower surface of the loading platform pallet (7).

2. The flexible dual-arm gripper mechanism of claim 1, wherein, The rotary mechanism (8) can rotate 270 degrees continuously in the horizontal plane to remove or store goods from the shelves on both sides of the double-arm rack.

3. The flexible dual-arm gripper mechanism of claim 1, wherein, The lower end of the clamping timing belt fixing member (233) is fixed on the clamping timing belt (231), and the upper end is fixed on the outside of the lower fork (213). During the rotation of the fork clamping drive wheel (232), the lower fork (213) can be driven to retract inward or expand outward, so that the fork (2) can complete the clamping or releasing action.

4. The flexible dual-arm gripper mechanism of claim 1, wherein, The material detection mechanism (5) can detect the status of the stored material and detect the angle of the material storage posture. If the material storage status is abnormal or the deviation angle exceeds the grasping range, an alarm will be triggered.

5. The flexible dual-arm gripper mechanism of claim 1, wherein, The front and rear sides of the fork (2) are respectively equipped with a fork front stop (211) and a fork rear stop (212), which can fix the material during the storage and retrieval operation of the fork (2).

6. The flexible dual-arm gripper mechanism of claim 1, wherein, The scanning mechanism (93) can detect barcodes or QR code labels on the shelf and obtain information about the current storage location by parsing the label.

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