Storage mechanism and robot

Abstract

The application belongs to the technical field of storage equipment, and particularly relates to a storage mechanism and a robot. The storage mechanism comprises a first driving device, a first storage structure comprising a first main body part and a first storage part connected with each other, the first main body part being arranged at an obtuse angle with the first storage part, a second storage structure comprising a second main body part and a second storage part connected with each other, the second main body part being arranged at an obtuse angle with the second storage part, and an auxiliary storage assembly installed on the first storage part and / or the second storage part, the auxiliary storage assembly comprising a second driving device and a rotating device, the rotating device having an arc surface structure, the second driving device being drivingly connected with the rotating device, and the arc surface structure being used for abutting against one end of a to-be-stored object and driving at least part of the to-be-stored object to enter between the first storage part and the second storage part. The technical scheme is applied to solve the problem that a traditional clamping jaw is difficult to efficiently and accurately complete the grasping and storage task for a micro-thin object.

Description

Technical Field

[0001] This application belongs to the field of storage equipment technology, and in particular relates to a storage mechanism and robot. Background Technology

[0002] For small and thin items, such as small building blocks, playing cards, circuit boards, and electronic components, these items are characterized by their small thickness, easy deformation, smooth surface, diverse shapes, and susceptibility to damage, making it difficult for traditional grippers to efficiently and accurately complete the task of grasping and storing them. Utility Model Content

[0003] The purpose of this application is to provide a storage mechanism and robot that aims to solve the problem that traditional grippers are unable to efficiently and accurately complete the task of grasping and storing small and thin items.

[0004] To achieve the above objectives, according to the first aspect of this application, the technical solution adopted is: a storage mechanism, comprising:

[0005] First driving device;

[0006] The first storage structure includes a first main body and a first storage part. The first end of the first storage part is connected to the first end of the first main body. The extension direction of the first main body is set at an obtuse angle to the extension direction of the first storage part. The second end of the first main body is connected to the first driving device.

[0007] The second storage structure includes a second main body and a second storage part. The first end of the second storage part is connected to the first end of the second main body. The extension direction of the second main body is set at an obtuse angle to the extension direction of the second storage part. The second end of the second main body is connected to a first driving device. The first driving device drives the first main body and / or the second main body to move closer or further away from each other, and the second end of the second storage part extends towards the second end of the first storage part.

[0008] An auxiliary storage component is installed in the first storage section and / or the second storage section. The auxiliary storage component includes a second driving device and a rotating device. The rotating device has an arc-shaped structure, which is disposed at the second end of the first storage section and / or at the second end of the second storage section. The second driving device is drivenly connected to the rotating device. The arc-shaped structure is used to abut one end of the item to be stored and drive at least part of the item to be stored into the space between the first storage section and the second storage section.

[0009] In some embodiments of this application, the radius of the arc-shaped structure is R, and the thickness of the end of the object to be stored that abuts against the arc-shaped structure is H, where H≥R.

[0010] In some embodiments of this application, the rotating device includes a drive wheel and a conveyor belt. The drive wheel is rotatably mounted on the first end of the first storage part and / or the first end of the second storage part. The second drive device is drivenly connected to the drive wheel. The second end of the first storage part and / or the second end of the second storage part is configured as a convex arc end. The conveyor belt is wrapped around the drive wheel and the convex arc end, wherein the portion of the conveyor belt corresponding to the convex arc end has an arc structure.

[0011] In some embodiments of this application, the outer surface of the conveyor belt is provided with a first anti-slip texture.

[0012] In some embodiments of this application, the diameter of the drive wheel gradually decreases from the middle of the drive wheel to both ends, and the two ends of the drive wheel are provided with flanges for preventing the conveyor belt from deviating.

[0013] In some embodiments of this application, the rotating device includes a roller member, which is rotatably mounted on the second end of the first storage portion and / or the second end of the second storage portion. A second driving device is drivenly connected to one end of the roller member, wherein the circumferential side of the roller member has an arc surface structure.

[0014] In some embodiments of this application, the rotating device further includes a mounting strip, which is bent and fixedly installed in the first storage part and / or the second storage part, and the two ends of the roller member are rotatably installed in the bent part of the corresponding mounting strip.

[0015] In some embodiments of this application, the roller component includes a spindle and a rubber bushing. The rubber bushing is fixedly sleeved on the spindle. Both ends of the spindle are rotatably mounted on the second end of the first receiving part and / or the second end of the second receiving part. The second driving device is drivenly connected to one end of the spindle.

[0016] In some embodiments of this application, the outer surface of the rubber bushing is provided with a second anti-slip texture.

[0017] According to a second aspect of this application, a robot is provided. The robot includes the storage mechanism as described above.

[0018] This application has at least the following beneficial effects:

[0019] When the storage mechanism of this application is used to store an item, the item is placed on a fixed plane (the fixed plane includes, but is not limited to, a desktop, a workbench, or the ground). The first driving device drives the first main body of the first storage structure and the second main body of the second storage structure to move closer together. Then, the second end of the first storage part of the first storage structure and the second end of the second storage part of the second storage structure move closer together, so that the arc-shaped structure of the auxiliary storage component abuts against the item to be stored. The second driving device of the auxiliary storage component drives the rotating device, so that the item to be stored is moved by the arc-shaped structure and at least part of the item to be stored enters between the first storage part and the second storage part. Thus, the first storage part and the second storage part can store the item to be stored and then transfer the item to a predetermined placement position. The storage mechanism of this application can lift the end of the item to be stored through the arc-shaped structure of the rotating device and move it between the first storage part and the second storage part, thereby quickly and accurately storing the item, improving the efficiency and success rate of storing the item. Furthermore, since the item to be stored is lifted with the arc-shaped structure, the first storage part and the second storage part avoid forming a rigid clamping force on the item, greatly reducing the damage rate of the item during the storage process and ensuring the integrity of the item. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art 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.

[0021] Figure 1 This is an assembly diagram of a storage mechanism according to an embodiment of this application. Figure 1 ;

[0022] Figure 2 for Figure 1 An exploded view of the storage mechanism is shown;

[0023] Figure 3 for Figure 1 Assembly diagram of the storage mechanism shown Figure 2 ;

[0024] Figure 4 for Figure 3 An exploded view of the storage mechanism is shown;

[0025] Figure 5 for Figure 1 A partial schematic diagram of the curved structure of the storage mechanism and the items to be stored is shown.

[0026] Figure 6 for Figure 1A schematic diagram of the drive wheel of the storage mechanism is shown;

[0027] Figure 7 for Figure 6 Cross-sectional view along the AA direction;

[0028] Figure 8 This is an assembly diagram of another storage mechanism according to an embodiment of this application. Figure 1 ;

[0029] Figure 9 for Figure 8 An exploded view of the storage mechanism is shown;

[0030] Figure 10 for Figure 8 Assembly diagram of the storage mechanism shown Figure 2 ;

[0031] Figure 11 for Figure 10 An exploded view of the storage mechanism is shown;

[0032] Figure 12 for Figure 8 A partial schematic diagram of the curved structure of the storage mechanism and the items to be stored is shown.

[0033] Figure 13 This is an assembly diagram of another storage mechanism according to an embodiment of this application;

[0034] Figure 14 This is a schematic diagram of the storage mechanism in this application embodiment storing the items to be stored. Figure 1 ;

[0035] Figure 15 This is a schematic diagram of the storage mechanism in this application embodiment storing the items to be stored. Figure 2 ;

[0036] Figure 16 This is a schematic diagram of the storage mechanism in this application embodiment storing the items to be stored. Figure 3 .

[0037] The figures in the diagram are labeled as follows:

[0038] 100. Storage facilities;

[0039] 10. First driving device;

[0040] 20. First storage structure; 21. First main body; 22. First storage part; 221. Convex arc end; 222. Concave arc end; 223. Assembly groove; 23. First side plate;

[0041] 30. Second storage structure; 31. Second main body; 32. Second storage section; 33. Second side panel;

[0042] 40. Auxiliary storage component; 41. Second drive device; 42. Rotating device; 421. Arc-shaped structure; 422. Drive wheel; 4221. Edge retainer; 4222. Anti-slip layer; 423. Conveyor belt; 4231. First anti-slip texture; 424. Roller component; 4241. Mandrel; 4242. Rubber bushing; 4243. Second anti-slip texture; 425. Mounting strip; 4251. Bending part; 426. Adapter structure; 4261. Flexible transmission component;

[0043] 51. End cap; 511. End shaft; 52. Mounting base;

[0044] 200. Items to be stored. Detailed Implementation

[0045] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0046] In the description of this application, it should be understood that the terms "length", "width", "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, and are 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.

[0047] Furthermore, the terms "first," "second," etc., 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 with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0048] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0049] According to a first aspect of this application, a storage mechanism 100 is provided. For example... Figures 1 to 4 , Figures 8 to 11 , Figure 13 As shown, the storage mechanism 100 includes a first driving device 10, a first storage structure 20, a second storage structure 30, and an auxiliary storage component 40. Figures 1 to 4 , Figures 8 to 11 , Figure 13 As shown, the first storage structure 20 includes a first main body 21 and a first storage part 22. The first end of the first storage part 22 is connected to the first end of the first main body 21. The extending direction of the first main body 21 forms an obtuse angle with the extending direction of the first storage part 22. The second end of the first main body 21 is connected to the first driving device 10. Figures 1 to 4 , Figures 8 to 11 , Figure 13 As shown, the second storage structure 30 includes a second main body 31 and a second storage part 32. The first end of the second storage part 32 is connected to the first end of the second main body 31. The extending direction of the second main body 31 forms an obtuse angle with the extending direction of the second storage part 32. The second end of the second main body 31 is connected to a first driving device 10. The first driving device 10 drives the first main body 21 and / or the second main body 31 to move closer or further apart, and the second end of the second storage part 32 extends towards the second end of the first storage part 22. Figures 1 to 4 , Figures 8 to 11 , Figure 13 As shown, the auxiliary storage component 40 is installed in the first storage part 22 and / or the second storage part 32. The auxiliary storage component 40 includes a second driving device 41 and a rotating device 42. The rotating device 42 has an arc surface structure 421. The second driving device 41 is fixedly installed in the first storage part 22 and / or the second storage part 32 through the mounting base 52. The arc surface structure 421 is disposed at the second end of the first storage part 22 and / or at the second end of the second storage part 32. The second driving device 41 is drivenly connected to the rotating device 42. The arc surface structure 421 is used to abut one end of the item to be stored 200 and drive at least a part of the item to be stored 200 into the space between the first storage part 22 and the second storage part 32.

[0050] The storage mechanism 100 of this application performs a storage operation on the item 200 to be stored. The item 200 is placed on a fixed plane (the fixed plane includes, but is not limited to, a desktop, workbench, or floor). The first driving device 10 drives the first main body 21 of the first storage structure 20 and the second main body 31 of the second storage structure 30 to move closer together. The second ends of the first storage portion 22 of the first storage structure 20 and the second storage portion 32 of the second storage structure 30 then move closer together, causing the arc-shaped structure 421 of the auxiliary storage component 40 to abut against the item 200. The second driving device 41 of the auxiliary storage component 40 drives the rotating device 42, causing the item 200 to be stored to be moved by the arc-shaped structure 421, and at least a portion of the item 200 to enter between the first storage portion 22 and the second storage portion 32. Thus, the first storage portion 22 and the second storage portion 32 can store the item 200, and then transfer the item 200 to a predetermined placement position, such as... Figures 14 to 16 As shown. The storage mechanism 100 of this application can lift the end of the item to be stored 200 and move it between the first storage part 22 and the second storage part 32 through the arc surface structure 421 of the rotating device 42, thereby quickly and accurately storing the item to be stored 200, improving the efficiency and success rate of storing the item to be stored 200. Furthermore, since the item to be stored 200 is lifted with the arc surface structure 421, the first storage part 22 and the second storage part 32 avoid forming a rigid clamping force on the item to be stored 200, greatly reducing the damage rate of the item to be stored 200 during the storage process and ensuring the integrity of the item to be stored 200.

[0051] like Figures 1 to 4 , Figures 8 to 11 , Figures 13 to 16 As shown, the storage mechanism 100 also includes an end cap 51. The output shaft of the first drive device 10 passes through the first main body 21 and the second main body 31, and the end cap 51 is placed on the first main body 21 or the second main body 31. The end shaft 511 of the end cap 51 is rotatably connected to the end of the output shaft of the first drive device 10, and the end shaft 511 of the end cap 51 provides support for the end of the output shaft of the first drive device 10.

[0052] In the storage mechanism 100 provided in this application, the radius of the arc-shaped structure 421 is R, and the thickness of the end of the item to be stored 200 that abuts against the arc-shaped structure 421 is H, where H ≥ R. That is, the minimum thickness H of the item to be stored 200 targeted by the storage mechanism 100 is equal to the radius R of the arc-shaped structure 421. When the minimum thickness H of the item to be stored 200 is less than the radius R of the arc-shaped structure 421, the success rate of grasping and storing cannot be guaranteed to be 100%, because at this time the contact point between the end of the item to be stored 200 and the arc-shaped structure 421 is located below the vertical tangent point of the arc-shaped structure 421. The end of the item to be stored 200 must cross the tangent point to enter between the first storage part 22 and the second storage part 32 in order to be successfully grasped and stored. For the end of the object to be stored 200 located below the vertical tangent point of the curved surface structure 421 to cross the tangent point, it must undergo elastic deformation. This requires the frictional force exerted by the curved surface structure 421 on the end of the object to be stored 200 to exceed the elastic deformation force of the object. Therefore, the smaller the radius R of the curved surface structure 421, the greater the thickness range that the storage mechanism 100 can grip and store the object 200, and the wider its applicability.

[0053] like Figures 1 to 7 As shown, it illustrates a structural schematic diagram of the storage mechanism 100 and its constituent parts according to an embodiment of this application.

[0054] like Figure 2 and Figure 4As shown, the rotating device 42 of the storage mechanism 100 includes a drive wheel 422 and a conveyor belt 423. Alternatively, only one drive wheel 422 may be rotatably mounted on the first end of the first storage section 22; or only one drive wheel 422 may be rotatably mounted on the first end of the second storage section 32; or one drive wheel 422 may be rotatably mounted on the first end of the first storage section 22 and another drive wheel 422 may be rotatably mounted on the first end of the second storage section 32. The second driving device 41 is drivenly connected to the drive wheel 422. Correspondingly, when only one drive wheel 422 is rotatably mounted on the first end of the first storage part 22, the second end of the first storage part 22 is configured as a convex arc surface end 221; or, when only one drive wheel 422 is rotatably mounted on the first end of the second storage part 32, the second end of the second storage part 32 is configured as a convex arc surface end 221; or, when one drive wheel 422 is respectively mounted on the first end of the first storage part 22 and the first end of the second storage part 32, the second ends of both the first storage part 22 and the second end of the second storage part 32 are configured as convex arc surface ends 221. This embodiment is described using the example of only one drive wheel 422 rotatably mounted on the first end of the first storage part 22 and the second end of the first storage part 22 being configured as a convex arc surface end 221. Figure 2 and Figure 4 As shown, the conveyor belt 423 is wrapped around the drive wheel 422 and the convex arc end 221, wherein the portion of the conveyor belt 423 corresponding to the convex arc end 221 is an arc structure 421. When the sheet-like object to be stored 200 is grasped and stored, as... Figures 14 to 16 As shown, the first driving device 10 drives the first main body 21 and the second main body 31 to move closer to each other, so that the arc surface structure 421 on the first storage part 22 and the second end of the second storage part 32 respectively abut against the two ends of the item to be stored 200. Then, the second driving device 41 drives the drive wheel 422 to rotate, which in turn drives the conveyor belt 423 to move. The conveyor belt 423 generates friction with the end of the item to be stored 200 it contacts, thereby driving the end of the item to be stored 200 to move together with the conveyor belt 423 into the space between the first storage part 22 and the second storage part 32, until the arc surface structure 421 on the first storage part 22 and the second end of the second storage part 32 clamp the item to be stored 200, thus completing the grabbing and storage of the item to be stored 200.

[0055] To increase the friction between the conveyor belt 423 and the end of the item to be stored 200, and to ensure that the end of the item to be stored 200 moves with the conveyor belt 423 into the space between the first storage section 22 and the second storage section 32, such as... Figure 5As shown, the outer surface of the conveyor belt 423 is provided with a first anti-slip texture 4231. By providing the first anti-slip texture 4231 to the conveyor belt 423, the coefficient of friction between the outer surface of the conveyor belt 423 and the end of the item to be stored 200 is increased, thereby increasing the frictional force between the conveyor belt 423 and the end of the item to be stored 200. This ensures that the end of the item to be stored 200 moves along with the conveyor belt 423 into the space between the first storage section 22 and the second storage section 32, improving the success rate of grasping and storing the item to be stored 200.

[0056] In some embodiments, the surface of the conveyor belt 423 is coated with a gel material of about 0.2 mm. This material can be striped or spotted, which can greatly increase the friction between the conveyor belt 423 and the end of the item to be collected 200, thereby increasing the success rate of grabbing and collecting the item to be collected 200.

[0057] like Figure 6 As shown, the diameter of the drive wheel 422 gradually decreases from the middle to both ends. In this embodiment, the center diameter of the drive wheel 422 is 18.8 mm (maximum diameter), and the diameters at both ends are 18.3 mm (minimum diameter). This ensures that the middle part of the conveyor belt 423 is always in the most taut state, so that the conveyor belt 423 at the curved surface structure 421 makes close contact with the end of the item to be stored 200 to achieve sufficient friction, thereby ensuring that the end of the item to be stored 200 moves with the conveyor belt 423 into the space between the first storage section 22 and the second storage section 32, improving the success rate of grasping and storing the item to be stored 200.

[0058] And, as Figure 6 As shown, the two ends of the drive wheel 422 are provided with flanges 4221 for preventing the conveyor belt 423 from deviating. The flanges 4221 can prevent the conveyor belt 423 from deviating from the drive wheel 422 along the axis of the drive wheel 422 during the movement, preventing the conveyor belt 423 from deviating from the drive wheel 422 or slipping off, and ensuring that the conveyor belt 423 is always in the correct position.

[0059] In the storage mechanism 100 of this embodiment, the drive wheel 422 is made of ABS (a terpolymer of acrylonitrile, butadiene, and styrene, a type of plastic). To improve the transmission efficiency of the drive wheel 422 to the conveyor belt 423, such as... Figure 7 As shown, the circumferential side of the drive wheel 422 is provided with an anti-slip layer 4222.

[0060] Furthermore, the conveyor belt 423 needs to be as thin as possible, with a certain degree of elasticity and a sufficiently small turning radius. Therefore, cellulose acetate cloth is selected as the manufacturing material for the conveyor belt 423. Cellulose acetate cloth has good flexibility, durability, and tear resistance. The thickness of the manufactured conveyor belt 423 is only 0.2mm, which results in a high success rate for grasping and storing most thin, sheet-like items 200 used in daily life and production. Moreover, the height of the first anti-slip texture 4231 on the surface of the cellulose acetate cloth is 0.5mm to improve the success rate of grasping and storing the items 200.

[0061] like Figures 8 to 12 As shown, it illustrates a structural schematic diagram of a storage mechanism 100 according to another embodiment of this application. This storage mechanism 100 differs from the storage mechanism 100 of the aforementioned embodiment in the following ways.

[0062] like Figures 8 to 11 As shown, the rotating device 42 of the storage mechanism 100 includes a roller member 424. Alternatively, only one roller member 424 may be rotatably mounted to the second end of the first storage portion 22; or only one roller member 424 may be rotatably mounted to the second end of the second storage portion 32; or one roller member 424 may be rotatably mounted to the second end of the first storage portion 22, and another roller member 424 may be rotatably mounted to the second end of the second storage portion 32. This embodiment will be described using the example of only one roller member 424 rotatably mounted to the second end of the first storage portion 22. Figures 8 to 11 As shown, the second end of the first storage part 22 is provided with a concave arc end 222 to form a receiving space adapted to the roller member 424, and the second driving device 41 is driven connected to one end of the roller member 424, wherein the circumferential side of the roller member 424 is an arc structure 421. When the sheet-like object 200 is grasped and stored, the first driving device 10 drives the first main body 21 and the second main body 31 to move closer to each other, so that the arc-shaped structure 421 on the first storage part 22 and the second end of the second storage part 32 respectively abut against the two ends of the object 200. Then, the second driving device 41 drives the roller member 424 to rotate, which generates friction between the roller member 424 and the end of the object 200 it contacts, thereby driving the end of the object 200 to move. Then, the end of the object 200 can enter between the first storage part 22 and the second storage part 32 until the arc-shaped structure 421 on the first storage part 22 and the second end of the second storage part 32 clamp the object 200, thus completing the grasping and storage of the object 200.

[0063] In order to minimize the overall volume of the storage mechanism 100, such as Figures 8 to 11As shown, the rotating device 42 of the storage mechanism 100 also includes a mounting strip 425. The mounting strip 425 is bent and fixedly installed on the first storage part 22 (and / or the second storage part 32). The two ends of the roller member 424 are rotatably installed on the corresponding bent portions 4251 of the mounting strip 425. The mounting strip 425 is a thin steel sheet, which meets the strength requirements for installing the roller member 424. The mounting strip 425 has a small thickness, and by replacing the installation method of using bearings to assemble the roller member 424, the overall volume of the storage mechanism 100 can be greatly reduced, achieving miniaturized and compact assembly. Furthermore, the surface of the first storage part 22 (and / or the second storage part 32) is provided with an assembly groove 223. The mounting strip 425 is embedded in the assembly groove 223 to achieve positioning and installation of the mounting strip 425, thereby quickly and accurately assembling the mounting strip 425.

[0064] like Figure 9 , Figure 11 and Figure 12 As shown, the roller component 424 of the storage mechanism 100 includes a spindle 4241 and a rubber bushing 4242. Generally, the spindle 4241 is a metal shaft with sufficient mechanical strength, and the rubber bushing 4242 is made of silicone, thereby generating sufficient friction when in contact with the end of the item to be stored 200. Specifically, the rubber bushing 4242 is fixedly sleeved on the spindle 4241, and both ends of the spindle 4241 are rotatably mounted on the second end of the first storage part 22 and / or the second end of the second storage part 32. The second drive device 41 is drivenly connected to one end of the spindle 4241. In this embodiment, the diameter of the spindle 4241 is approximately 2.7 mm, which results in a high success rate for grasping and storing most thin, sheet-like items 200 used in daily life and production.

[0065] like Figures 8 to 11 As shown, the rotating device 42 of the storage mechanism 100 also includes a transition structure 426, through which the output shaft of the second drive device 41 is connected to one end of the spindle 4241. The transition structure 426 includes a flexible transmission element 4261, preferably a silicone tube. One end of the flexible transmission element 4261 is fixedly connected to the output shaft of the second drive device 41, and the other end is fixedly connected to one end of the spindle 4241. Thus, the output shaft of the second drive device 41, the flexible transmission element 4261, and the spindle 4241 achieve frictional transmission. Furthermore, the flexible transmission element 4261 exhibits good power transmission effect and high efficiency, and also has good omnidirectional transmission capability.

[0066] In some embodiments, the adapter structure 426 may also be assembled using a universal joint structure. The universal joint structure is a mature and widely used transmission component in the art, and will not be described in detail here.

[0067] To increase the friction between the rubber bushing 4242 and the end of the object to be stored 200, such as Figure 12 As shown, the outer surface of the rubber bushing 4242 is provided with a second anti-slip texture 4243, which improves the success rate of grasping and storing the item to be stored 200.

[0068] In some embodiments, the surface of the rubber bushing 4242 is coated with a rubbery object of about 0.2 mm. The object can be striped or spotted, which can greatly increase the friction between the rubber bushing 4242 and the end of the object to be stored 200, thereby increasing the success rate of grasping and storing the object to be stored 200.

[0069] With Figures 1 to 7 Compared to the storage mechanism 100 of the aforementioned embodiment, as shown, Figures 8 to 12 The storage mechanism 100 shown is identical in all aspects except for the structure described above, and will not be repeated here.

[0070] like Figure 13 The diagram illustrates a storage mechanism 100 according to another embodiment of this application. The first storage portion 22 of the storage mechanism 100 has first side plates 23 on both sides along its extending direction; and / or, the second storage portion 32 of the storage mechanism 100 has second side plates 33 on both sides along its extending direction. When the first storage portion 22 and the second storage portion 32 approach each other to grasp and store the item 200 to be stored, the end of the item 200 moving between the first storage portion 22 and the second storage portion 32 will be blocked by the first side plates 23 and / or the second side plates 33, reducing the probability of the item 200 swinging out of the first storage portion 22 and the second storage portion 32, causing a failure in grasping and storing, thus helping to improve the success rate of grasping and storing the item 200.

[0071] like Figure 13 The storage mechanism 100 shown can be in, for example, Figures 1 to 7 Improvements based on the storage mechanism 100 shown can also be made in, for example... Figures 8 to 12 Improvements have been made based on the storage mechanism 100 shown. For example... Figure 13 The storage mechanism 100 shown is for, for example Figures 1 to 7 This is an improvement based on the storage mechanism 100 shown. That is, compared to the storage mechanisms 100 of the two embodiments described above, as... Figure 13 The storage mechanism 100 shown is identical in all aspects except for the structure described above, and will not be repeated here.

[0072] According to a second aspect of this application, a robot is provided. The robot includes the storage mechanism 100 as described above.

[0073] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A storage mechanism, characterized in that, include: First drive unit; The first storage structure includes a first main body and a first storage part. A first end of the first storage part is connected to a first end of the first main body. The extension direction of the first main body is set at an obtuse angle to the extension direction of the first storage part. A second end of the first main body is connected to the first driving device. The second storage structure includes a second main body and a second storage part. The first end of the second storage part is connected to the first end of the second main body. The extension direction of the second main body is set at an obtuse angle to the extension direction of the second storage part. The second end of the second main body is connected to the first driving device. The first driving device drives the first main body or the second main body to move closer or further away from each other. The second end of the second storage part extends towards the second end of the first storage part. An auxiliary storage component is installed on the first storage section or the second storage section. The auxiliary storage component includes a second driving device and a rotating device. The rotating device has an arc surface structure, which is disposed at the second end of the first storage section and / or at the second end of the second storage section. The second driving device is drivenly connected to the rotating device. The arc surface structure is used to abut one end of the item to be stored and drive at least a portion of the item to be stored into the space between the first storage section and the second storage section.

2. The storage mechanism according to claim 1, characterized in that, The radius of the arc-shaped structure is R, and the thickness of the end of the object to be stored that abuts against the arc-shaped structure is H, where H≥R.

3. The storage mechanism according to claim 1 or 2, characterized in that, The rotating device includes a drive wheel and a conveyor belt. The drive wheel is rotatably mounted on the first end of the first storage part and / or the first end of the second storage part. The second driving device is drivenly connected to the drive wheel. The second end of the first storage part and / or the second end of the second storage part is configured as a convex arc end. The conveyor belt is wrapped around the drive wheel and the convex arc end, wherein the portion of the conveyor belt corresponding to the convex arc end is the arc structure.

4. The storage mechanism according to claim 3, characterized in that, The outer surface of the conveyor belt is provided with a first anti-slip texture.

5. The storage mechanism according to claim 3, characterized in that, The diameter of the drive wheel gradually decreases from the middle to both ends, and the two ends of the drive wheel are provided with flanges to prevent the conveyor belt from deviating.

6. The storage mechanism according to claim 1 or 2, characterized in that, The rotating device includes a roller component, which is rotatably mounted on the second end of the first storage part and / or the second end of the second storage part. The second driving device is drivenly connected to one end of the roller component, wherein the circumferential side of the roller component is the arc surface structure.

7. The storage mechanism according to claim 6, characterized in that, The rotating device further includes a mounting strip, which is bent and fixedly installed on the first storage part and / or the second storage part, and the two ends of the roller member are respectively rotatably installed on the corresponding bent parts of the mounting strip.

8. The storage mechanism according to claim 6, characterized in that, The roller component includes a spindle and a rubber bushing. The rubber bushing is fixedly sleeved on the spindle. Both ends of the spindle are rotatably mounted on the second end of the first storage part and / or the second end of the second storage part. The second driving device is drivenly connected to one end of the spindle.

9. The storage mechanism according to claim 8, characterized in that, The outer surface of the rubber bushing is provided with a second anti-slip texture.

10. A robot, characterized in that, Includes the storage mechanism as described in any one of claims 1-9.

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