Bin handling device with mechanical locking function and robot

Abstract

The utility model discloses a material box carrying device and robot with mechanical locking function belong to intelligent warehousing technical field. Among them, material box carrying device includes: box and two pallet fork structures, and the peripheral wall of box is equipped with first limiting portion, two pallet fork structures are arranged at intervals to define the accommodating cavity suitable for accommodating box, and two pallet fork structures are configured to be able to move towards each other and hold box, wherein, at least one pallet fork structure is equipped with second limiting portion, and second limiting portion is configured to abut with first limiting portion when two pallet fork structures hold box to limit the movement of box relative to pallet fork structure. The utility model reduces the possibility of relative displacement between box and pallet fork structure, thereby improves the stability and reliability of holding, makes material box carrying device be able to accurately move box to target position, improves the precision and success rate of automatic operation.

Description

Technical Field

[0001] This utility model relates to the field of intelligent warehousing technology, and in particular to a bin handling device and robot with mechanical locking function. Background Technology

[0002] In related technologies, existing bin robots generally adopt a gripping and placing device, which typically includes two relatively movable gripping arms to hold and fix the bin, and to remove or place the bin from the shelf. However, the placing device mainly relies on the friction between the inner wall of the gripping arm and the outer wall of the bin to fix the bin. During dynamic processes such as acceleration, deceleration, turning, or lifting, the bin is prone to relative slippage between the gripping arms, which makes it impossible to accurately move the bin to the predetermined position. Utility Model Content

[0003] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a bin handling device with a mechanical locking function, which can reduce the possibility of relative displacement between the bin body and the fork structure, thereby improving the stability and reliability of clamping.

[0004] This utility model also proposes a robot that includes the above-mentioned bin handling device with mechanical locking function.

[0005] According to a first aspect of the present invention, a bin handling device with mechanical locking function includes: a bin body and two fork structures, wherein the peripheral wall of the bin body is provided with a first limiting portion; the two fork structures are spaced apart to define a receiving cavity suitable for accommodating the bin body, and the two fork structures are configured to move toward each other and clamp the bin body; wherein at least one of the fork structures is provided with a second limiting portion, the second limiting portion being configured to abut against the first limiting portion when the two fork structures clamp the bin body, thereby restricting the movement of the bin body relative to the fork structures.

[0006] The hopper handling device with mechanical locking function according to the embodiments of the present utility model has at least the following beneficial effects: The bin handling device with mechanical locking function of this utility model embodiment is provided with a first limiting part on the bin body and a corresponding second limiting part on the fork structure. When the two fork structures clamp the bin body, the second limiting part and the first limiting part abut against each other to form a mechanical locking structure. During dynamic operations such as acceleration and turning, the cooperation between the second limiting part and the first limiting part can restrict the bin body from sliding relative to the fork structure, reduce the possibility of relative displacement between the bin body and the fork structure, thereby improving the stability and reliability of clamping, enabling the bin handling device to accurately move the bin body to the target position, and improving the accuracy and success rate of automated operation.

[0007] According to some embodiments of the present invention, each of the fork structures includes a clamping plate, a base, and a first driving assembly. The clamping plate is movably connected to the base. The first driving assembly is used to drive the clamping plate to move along a first direction. The second limiting portion is configured as a protrusion formed on the clamping plate. The first limiting portion is configured as a protrusion formed on the side wall of the hopper. When two fork structures clamp the hopper, the protrusion and the protrusion are arranged along the first direction and abut against each other. According to some embodiments of the present invention, the box body is provided with two protruding ribs on the side wall along the second direction, the second direction and the first direction are arranged at an angle, and the two protruding ribs are spaced apart along the first direction. When the two fork structures clamp the box body, the protrusion moves into the space between the two protruding ribs and can at least abut against one of the protruding ribs.

[0008] According to some embodiments of the present invention, both of the fork structures are provided with the protrusions, and the two opposite side walls of the housing are provided with the ribs.

[0009] According to some embodiments of the present invention, each of the fork structures further includes a push plate, which is disposed on the side of the clamping plate facing another fork structure. The push plate protrudes from the clamping plate and is used to abut against the side wall of the box body along the first direction to push the box to move along the first direction.

[0010] According to some embodiments of the present invention, the first driving component includes a first driver and a transmission component. The first driver is connected to the clamping plate through the transmission component to drive the clamping plate to move along the first direction. The material box handling device also includes a housing. The housing is disposed on one side of the two fork structures along the first direction, and the first driver is installed inside the housing. According to some embodiments of the present invention, two fork structures are arranged opposite each other along a second direction, with the second direction and the first direction forming an angle. The fork structure further includes a driving member and a second driving assembly. Each base is fixedly connected to the driving member. The second driving assembly includes a second driver and a transmission member. The second driver can drive the two driving members to move towards or away from each other along the second direction through the transmission member, so as to drive the two fork structures to open and close.

[0011] According to some embodiments of the present invention, the transmission component is constructed as a lead screw, the lead screw extends along the second direction, the driving component is provided with a connecting hole, and the two ends of the lead screw pass through the two connecting holes of the driving component respectively and are threadedly connected to the connecting holes.

[0012] According to some embodiments of the present invention, the bin handling device further includes a base plate, which is used to support the bin located in the receiving cavity. The base plate and the fork structure are slidably connected by a guide assembly. The guide assembly includes a slider and a guide rail. One of the slider and the guide rail is disposed on the base, and the other is disposed on the base plate. The guide rail extends along the second direction, and the slider is slidably mounted on the guide rail.

[0013] According to some embodiments of the present invention, each of the fork structures is connected to the base plate by at least two guide components, and the at least two guide components are spaced apart along the first direction.

[0014] A robot according to a second aspect of the present invention includes a storage rack, a lifting device, and a bin transport device with mechanical locking function as described in the first aspect embodiment. The robot further includes a storage rack and a lifting device. The storage rack includes a plurality of placement platforms spaced apart along its height direction. The lifting device is connected to the bin transport device and is configured to drive the bin transport device to move up and down along the height direction of the storage rack. The bin transport device is capable of placing the bin on the placement platform.

[0015] The robot according to the embodiments of this utility model has at least the following beneficial effects: The robot of this utility model embodiment adopts the bin handling device with mechanical locking function of the first aspect embodiment. By optimizing the structural design of the bin handling device, the cooperation between the second limiting part and the first limiting part can restrict the slippage of the bin relative to the fork structure, reduce the possibility of relative displacement between the bin and the fork structure, thereby improving the stability and reliability of clamping, enabling the bin handling device to accurately move the bin to the target position, improving the robot's handling performance, and improving the accuracy and success rate of the robot's automated operation.

[0016] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 This is a schematic diagram of the structure of a robot according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a hopper handling device with mechanical locking function according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of the box body according to an embodiment of the present utility model; Figure 4 for Figure 2 A magnified view of a portion of point A in the middle.

[0018] Icon labels: Robot 10; Material box handling device 1000; storage rack 2000; storage platform 2100; lifting device 3000; Box body 100; First limiting part 110; Protruding rib 111; Fork structure 200; receiving cavity 210; second limiting part 220; protrusion 221; clamping plate 230; base 240; first drive assembly 250; drive member 260; second drive assembly 270; second driver 271; transmission member 272; push plate 280; Base plate 300; guide assembly 310; slider 311; guide rail 312; connector 313; Chassis 400. Detailed Implementation

[0019] The embodiments of this utility model 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 are only used to explain this utility model, and should not be construed as limiting this utility model.

[0020] In the description of this utility model, it should be understood that the orientation descriptions, such as up, down, etc., are 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.

[0021] In the description of this utility model, the use of "first" and "second" is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features or the order of the technical features.

[0022] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0023] Existing bin robots generally employ a gripping-type pick-and-place device, typically consisting of two relatively movable gripping arms that hold and secure the bin, removing it from or placing it into the shelf. However, this device primarily relies on the friction between the inner wall of the gripping arms and the outer wall of the bin to hold it in place. During dynamic processes such as acceleration, deceleration, turning, or lifting, the bin is prone to relative slippage between the gripping arms. This relative movement causes a series of problems: First, it directly leads to a decrease in positioning accuracy. When the robot needs to precisely place the bin in a designated storage location on the shelf, dock it to a conveyor line, or hand it over to other automated equipment, even a slight positional deviation can lead to placement failure, requiring the robot to perform repeated positioning and calibration, significantly reducing the automation efficiency and smoothness of the overall warehousing operation.

[0024] Secondly, under conditions of high-speed operation or handling heavy boxes, continuous shaking and sliding will not only aggravate the wear and tear on the picking and placing device and the box, but may also cause the box to tilt or fall off in severe cases, leading to safety hazards such as equipment collision or damage to goods.

[0025] To address the aforementioned problems, some embodiments of this utility model propose a bin handling device 1000 with a mechanical locking function, suitable for robot 10. This device reduces the possibility of relative displacement between the bin body 100 and the fork structure 200, thereby improving the stability and reliability of clamping. See details below. Figures 1 to 4 The following describes a bin handling device 1000 with a mechanical locking function.

[0026] Reference Figure 1 and Figure 2 As shown in this embodiment of the invention, the bin handling device 1000 includes: a bin body 100 and two fork structures 200. The peripheral wall of the bin body 100 is provided with a first limiting portion 110, which is a protruding structure provided on the peripheral wall of the bin body 100. Specifically, it can be implemented by welding or integrally forming a rib 111. The two fork structures 200 are spaced apart to define a receiving cavity 210 suitable for accommodating the bin body 100. The two fork structures 200 are configured to move toward each other and clamp the bin body 100.

[0027] Among them, continue to refer to Figure 1 and Figure 2As shown in this embodiment of the invention, at least one fork structure 200 is provided with a second limiting part 220. The second limiting part 220 is a blocking component provided on the fork structure 200, specifically implemented by a protrusion 221 machined on the surface of the clamping plate 230, the shape of which is complementary to the first limiting part 110. The second limiting part 220 is configured to abut against the first limiting part 110 when the two fork structures 200 clamp the housing 100. It can be understood that when the clamping action is completed, the contact surface between the protrusion 221 and the rib 111 forms a vertical mechanical stop, thereby restricting the movement of the housing 100 relative to the fork structure 200.

[0028] Specifically, the two fork structures 200, with their spacing controlled by a drive mechanism, move inwards until they clamp the housing 100. At this point, the second limiting part 220 contacts the first limiting part 110, and the protrusion 221 embeds into the lateral gap of the rib 111. The planar contact between the fork structure 200 and the side wall of the housing 100 provides basic clamping force, while the abutment between the protrusion 221 and the rib 111 prevents slippage. During handling, even if external inertial forces act on the housing 100, the mechanical interference between the protrusion 221 and the rib 111 maintains their relative positions.

[0029] Compared to existing technologies, traditional clamping devices rely solely on the friction between the clamping plate 230 and the surface of the housing 100 for fixation. This embodiment of the invention, however, transforms sliding friction into rigid contact mechanical constraint by adding a mechanical limiting structure. This structural change fundamentally solves the displacement problem under dynamic working conditions, achieving reliable fixation without increasing clamping pressure. It effectively prevents accidental displacement of the housing 100 during handling, improving positioning accuracy and operational safety. The direct contact method of the mechanical limiting structure is unaffected by changes in the surface friction coefficient, maintaining stable performance even under complex conditions such as humidity and oil contamination, reducing the frequency of repeated positioning adjustments and the risk of cargo damage.

[0030] The bin handling device 1000 with mechanical locking function of this utility model embodiment is provided with a first limiting part 110 on the bin body 100 and a corresponding second limiting part 220 on the fork structure 200. When the two fork structures 200 clamp the bin body 100, the second limiting part 220 and the first limiting part 110 abut against each other to form a mechanical locking structure. During dynamic operations such as acceleration and turning, the cooperation of the second limiting part 220 and the first limiting part 110 can restrict the bin body 100 from sliding relative to the fork structure 200, reducing the possibility of relative displacement between the bin body 100 and the fork structure 200, thereby improving the stability and reliability of clamping, enabling the bin handling device 1000 to accurately move the bin body 100 to the target position, and improving the accuracy and success rate of automated operation.

[0031] Reference Figure 2 As shown in this embodiment of the invention, each fork structure 200 includes a clamping plate 230, a base 240, and a first drive assembly 250. The clamping plate 230 is a plate-shaped component used to directly contact and clamp the housing 100, and can be made by stamping metal sheet. The clamping plate 230 is movably connected to the base 240. The first drive assembly 250 drives the clamping plate 230 to move along a first direction. The base 240 supports the clamping plate 230 and provides a fixed structure for mounting. The first drive assembly 250 is a power device that drives the clamping plate 230 to move, and can be implemented using a motor, electric push rod, or hydraulic cylinder, driving the clamping plate 230 to translate along the first direction through linear motion output.

[0032] Continue to refer to Figure 2 As shown, in this embodiment of the present invention, the second limiting portion 220 is configured as a protrusion 221 protruding from the clamping plate 230, the protrusion 221 being a block-shaped protrusion protruding outward from the surface of the clamping plate 230. The first limiting portion 110 is configured as a protruding rib 111 protruding from the side wall of the housing 100, the rib 111 being a strip-shaped protrusion protruding from the side wall of the housing 100. When the two fork structures 200 clamp the housing 100, the protrusion 221 and the rib 111 are arranged along the first direction and abut against each other. Specifically, when the fork structure 200 needs to clamp the housing 100, the first drive assembly 250 is activated and pushes the clamping plates 230 forward to both sides of the housing 100. At this time, the two fork structures 200 move towards each other, and the two clamping plates 230 cooperate to clamp the two side walls of the housing 100. At this time, the protrusion 221 moves to the front side of the rib 111. Subsequently, the first drive assembly 250 pulls back the clamping plates 230 to pull the housing 100 into the receiving cavity 210. During the process of pulling the housing 100, the rear end face of the protrusion 221 abuts against the front end face of the rib 111, thereby achieving contact between the two and realizing stable mechanical locking, thus keeping the relative position of the housing 100 and the clamping plates 230 unchanged in the first direction.

[0033] Reference Figure 3 As shown in this embodiment of the invention, the box body 100 has two protruding ribs 111 on its side wall along the second direction. The second direction and the first direction are arranged at an angle, and the two protruding ribs 111 are spaced apart along the first direction. When the two fork structures 200 clamp the box body 100, the protrusion 221 moves between the two protruding ribs 111 and can abut against one of the protruding ribs 111. In one example, the first direction is the front-back direction, and the second direction is the left-right direction.

[0034] Based on this, when the fork structure 200 clamps the housing 100, one of the ribs 111 is located on the front side of the protrusion 221, and the other rib 111 is located on the rear side of the protrusion 221. It is understood that during the process of the first drive assembly 250 driving the clamping plate 230 to pull the housing 100 into the receiving cavity 210, the rib 111 can abut against the rib 111 located on the rear side of the protrusion 221 to ensure that the housing 100 does not slide forward relative to the clamping plate 230. Conversely, during the process of the first drive assembly 250 driving the clamping plate 230 to push the housing 100 out of the receiving cavity 210, the rib 111 can abut against the rib 111 located in front of the protrusion 221 to ensure that the housing 100 does not slide backward relative to the clamping plate 230.

[0035] Preferably, refer to Figures 1 to 3 As shown in this embodiment of the utility model, both fork structures 200 are provided with protrusions 221, and the two opposite side walls of the housing 100 are provided with ribs 111, so that both sides of the housing 100 can be mechanically locked, so that the housing 100 is subjected to uniform force during movement, and the stability of the housing 100 during movement is increased.

[0036] Reference Figure 1 and Figure 2 As shown in the embodiment of this utility model, two fork structures 200 are arranged opposite each other along a second direction, with the second direction and the first direction forming an angle. The fork structure 200 also includes a drive member 260 and a second drive assembly 270. Each base 240 is fixedly connected to a drive member 260. Specifically, the drive member 260 is a transmission interface component rigidly connected to the base 240. It can be implemented by using a connecting block with a threaded hole to convert rotational motion into linear displacement.

[0037] Continue to refer to Figure 2 As shown in this embodiment of the invention, the second drive assembly 270 includes a second driver 271 and a transmission component 272. The second driver 271 is an actuator that provides rotational power, and can be implemented using a servo motor, with the drive stroke precisely adjusted through closed-loop control. The transmission component 272 is a power transmission mechanism connecting the second driver 271 and the drive component 260, and can be implemented using a bidirectional lead screw structure. The second driver 271 can drive the two drive components 260 to move in opposite directions or back directions along a second direction via the transmission component 272, thereby opening and closing the two fork structures 200.

[0038] Specifically, when the second actuator 271 is activated, the transmission member 272 begins to rotate. Since the actuator 260 and the transmission member 272 are connected via a threaded pair, the two actuators 260, guided by the forward and reverse threaded sections of the transmission member 272, generate linear displacements in opposite directions. This displacement is transmitted to the fork structure 200 through the base 240, enabling the two fork structures 200 to open and close synchronously in the second direction. For example, when it is necessary to clamp the housing 100, the second actuator 271 drives the transmission member 272 to rotate forward, and the two actuators 260 move towards each other in the second direction, causing the fork structure 200 to close and form the receiving cavity 210; when it is necessary to release the housing 100, the transmission member 272 rotates in the opposite direction, and the actuators 260 move in opposite directions, causing the fork structure 200 to separate.

[0039] Reference Figure 2 As shown in this embodiment of the present invention, the transmission component 272 is constructed as a lead screw, which extends along the second direction. The outer peripheral wall of the lead screw is provided with an external thread. The lead screw is a rod-shaped transmission component that meshes with the internal thread of the connecting hole through the external thread. Specifically, it can be implemented by using a trapezoidal thread or a ball screw. Its function is to convert the rotational motion of the second driver 271 into the linear motion of the driver 260, thereby precisely controlling the opening and closing stroke of the two fork structures 200.

[0040] In this embodiment of the invention, the driving member 260 is provided with connecting holes, and the two ends of the lead screw pass through the connecting holes of the two driving members 260 respectively. The inner peripheral wall of the connecting hole is provided with an internal thread that meshes with the external thread. The connecting hole is a through structure provided on the driving member 260 to accommodate the lead screw. Specifically, it can be implemented by a metal bushing with an internal thread or an injection-molded internal thread hole. Its function is to convert the rotation of the lead screw into the translation of the driving member 260 through thread engagement, while restricting the degree of freedom of the driving member 260 to rotate around the lead screw axis.

[0041] Specifically, when the second drive 271 is activated, the lead screw rotates around its own axis. Since the threads in the connecting holes of the two drive members 260 rotate in opposite directions, the two drive members 260 move synchronously towards or away from each other in the second direction as the lead screw rotates, causing the two fork structures 200 to clamp or release the housing 100. The lead screw's lead accuracy determines the displacement resolution of the fork structure 200, the friction coefficient of the threaded pair affects the transmission efficiency, and the lead screw's stiffness relates to the entire drive system's resistance to deformation. During clamping, the axial force generated by the thread engagement acts directly on the drive member 260, enabling the fork structure 200 to generate a stable clamping force. Simultaneously, the lead screw's self-locking characteristic prevents the clamping force from attenuating due to vibration or inertia.

[0042] Reference Figure 1 and Figure 2As shown in the embodiment of this utility model, the bin handling device 1000 further includes a base plate 300. The base plate 300 is used to support the bin 100 located in the receiving cavity 210. The base plate 300 is disposed between two fork structures 200. The base plate 300 is a plate-shaped structure used to directly support the bin 100 and located between the two fork structures 200. Specifically, it can be made of metal plate or composite material plate. Its surface can be provided with anti-slip texture or buffer layer to enhance the stability of the bin 100.

[0043] Reference Figure 2 and Figure 4 As shown in this embodiment of the invention, the base plate 300 and the fork structure 200 are slidably connected by a guide assembly 310. The guide assembly 310 includes a slider 311 and a guide rail 312. One of the slider 311 and the guide rail 312 is disposed on the base 240, and the other is disposed on the base plate 300. The guide rail 312 extends along a second direction, and the slider 311 is slidably mounted on the guide rail 312. In one example, the slider 311 is connected to the base 240 via a connector 313, and the guide rail 312 is mounted on the upper surface of the base plate 300. The slider 311 and the guide rail 312 ensure the relative movement accuracy between the base plate 300 and the fork structure 200 through sliding engagement, enabling the two fork structures 200 to move accurately along the second direction.

[0044] In this embodiment of the invention, each fork structure 200 is connected to the base plate 300 by at least two guide components 310, which are spaced apart along a first direction. The spaced-apart arrangement of at least two guide components 310 in the first direction means that the at least two guide components 310 are distributed at a certain distance along the length of the fork structure 200. Specifically, this can be achieved by installing a set of guide components 310 at each of the front and rear ends of the base 240. By increasing the number of support points, the connection stability between the fork structure 200 and the base plate 300 is improved. By forming a multi-point support structure, the motion rigidity and trajectory accuracy of the fork structure 200 are significantly enhanced, while the impact of dynamic loads on individual guide components 310 is dispersed.

[0045] Reference Figure 2 As shown in this embodiment of the invention, each fork structure 200 further includes a push plate 280, which is disposed on the side of the clamping plate 230 facing the other fork structure 200, and protrudes from the clamping plate 230. Specifically, the push plate 280 is a plate-like structure disposed on the surface of the clamping plate 230 and extending outward, and can be implemented by welding metal plates or fixing with bolts. The push plate 280 is used to abut against the side wall of the housing 100 along the first direction to push the housing 100 to move along the first direction.

[0046] In this embodiment of the invention, when the housing 100 is moved into the receiving cavity 210, the push plate 280 is located at the rear of the housing 100. Based on this, when the two fork structures 200 need to push the housing 100 out of the receiving cavity 210, the first drive assembly 250 drives the two clamping plates 230 to move forward. At this time, the push plate 280 can abut against the rear end of the housing 100, thereby continuously applying a pushing force until the housing 100 is completely removed from the receiving cavity 210.

[0047] In this embodiment of the invention, the first driving assembly 250 includes a first driver and a transmission assembly. The first driver is connected to the clamping plate 230 via the transmission assembly to drive the clamping plate 230 to move along a first direction. The first driver is the power source that drives the clamping plate 230 to move; it can be implemented using a servo motor or a stepper motor, and its output shaft is connected to the transmission assembly via a coupling. The transmission assembly is the mechanism that transmits power to the clamping plate 230; it can be implemented using a gear and rack structure or a ball screw structure. The gear and rack structure is fixed to the back of the clamping plate 230 via a rack, and the gear is connected to the output shaft of the driver.

[0048] Reference Figure 2 As shown in this embodiment of the invention, the bin handling device 1000 further includes a housing 400, which is located on one side of the two fork structures 200 along the first direction. The first drive is installed inside the housing 400. The housing 400 is a shell structure for accommodating the drive, and can be implemented using a welded metal frame or injection molding of engineering plastics. It has internal heat dissipation channels and is equipped with a dustproof sealing structure.

[0049] This embodiment of the utility model integrates the driver within a separate chassis 400, which not only reduces the lateral space occupied but also enhances the driver's reliability under complex operating conditions through the protective structure of the chassis 400. The transmission component uses a gear and rack structure instead of a traditional belt drive, eliminating transmission errors caused by belt slippage and controlling the movement accuracy of the clamping plate 230 within the millimeter range.

[0050] An embodiment of this utility model also proposes a robot 10, which includes the bin handling device 1000 with mechanical locking function described in the above embodiment.

[0051] The robot 10 of this utility model adopts the bin handling device 1000 with mechanical locking function of the first aspect embodiment. By optimizing the structural design of the bin handling device 1000, the cooperation between the second limiting part 220 and the first limiting part 110 can restrict the sliding of the bin 100 relative to the fork structure 200, reduce the possibility of relative displacement between the bin 100 and the fork structure 200, thereby improving the stability and reliability of clamping, enabling the bin handling device 1000 to accurately move the bin 100 to the target position, improving the handling performance of the robot 10, and improving the accuracy and success rate of the robot 10's automated operation.

[0052] Since the robot 10 adopts all the technical solutions of the hopper handling device 1000 with mechanical locking function in the above embodiments, it has at least all the beneficial effects brought about by the technical solutions in the above embodiments, which will not be repeated here.

[0053] Reference Figure 1 As shown in the embodiment of this utility model, the robot 10 also includes a storage rack 2000 and a lifting device 3000. The storage rack 2000 includes a plurality of storage platforms 2100 spaced apart along its height direction. Specifically, the storage rack 2000 is a support structure for carrying the material box. It has multiple storage platforms 2100 arranged along its height direction. Specifically, it can be realized by a combination structure of metal frame and shelf, and the space utilization rate is improved through the layered design.

[0054] Continue to refer to Figure 1 As shown, in this embodiment of the invention, the lifting device 3000 is connected to the bin transport device 1000 and is configured to drive the bin transport device 1000 to move up and down along the height direction of the storage rack 2000. In other words, the lifting device 3000 refers to the power mechanism that drives the bin transport device 1000 to move vertically, and it can control the lifting height to enable the bin transport device 1000 to accurately reach the target storage platform 2100. Driven by the lifting device 3000, the bin transport device 1000 can place the bin on the storage platform 2100.

[0055] Of course, this utility model is not limited to the above-described embodiments. Those skilled in the art can make equivalent modifications or substitutions without departing from the spirit of this utility model. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A bin handling device with mechanical locking function, characterized in that, include: The housing (100) has a first limiting part (110) on its peripheral wall; Two fork structures (200) are spaced apart to define a receiving cavity (210) suitable for receiving the housing (100), and the two fork structures (200) are configured to move toward each other and clamp the housing (100). At least one of the fork structures (200) is provided with a second limiting part (220), which is configured to abut against the first limiting part (110) when the two fork structures (200) clamp the housing (100) to restrict the movement of the housing (100) relative to the fork structure (200).

2. The bin handling device with mechanical locking function according to claim 1, characterized in that, Each of the fork structures (200) includes a clamping plate (230), a base (240), and a first drive assembly (250). The clamping plate (230) is movably connected to the base (240). The first drive assembly (250) is used to drive the clamping plate (230) to move along a first direction. The second limiting part (220) is configured as a protrusion (221) formed on the clamping plate (230). The first limiting part (110) is configured as a protrusion (111) formed on the side wall of the bin. When the two fork structures (200) clamp the bin (100), the protrusion (221) and the protrusion (111) are arranged along the first direction and abut against each other.

3. The bin handling device with mechanical locking function according to claim 2, characterized in that, The housing (100) has two protruding ribs (111) on its side wall along the second direction. The second direction and the first direction are arranged at an angle. The two protruding ribs (111) are spaced apart along the first direction. When the two fork structures (200) clamp the housing (100), the protrusion (221) moves between the two protruding ribs (111) and can at least abut against one of the protruding ribs (111).

4. The bin handling device with mechanical locking function according to claim 3, characterized in that, Both of the fork structures (200) are provided with the protrusions (221), and the two opposite side walls of the housing (100) are provided with the ribs (111).

5. The bin handling device with mechanical locking function according to claim 2, characterized in that, Each of the fork structures (200) further includes a push plate (280) disposed on the side of the clamping plate (230) facing the other fork structure (200), the push plate (280) protruding from the clamping plate (230), the push plate (280) being used to abut against the side wall of the housing (100) along the first direction to push the bin to move along the first direction.

6. The bin handling device with mechanical locking function according to claim 2, characterized in that, The first drive assembly (250) includes a first driver and a transmission assembly. The first driver is connected to the clamp (230) via the transmission assembly to drive the clamp (230) to move along the first direction. The bin handling device also includes a housing (400). The housing (400) is located on one side of the two fork structures (200) along the first direction. The first driver is installed inside the housing (400).

7. The bin handling device with mechanical locking function according to claim 2, characterized in that, Two fork structures (200) are arranged opposite each other along a second direction, which is at an angle to the first direction. The fork structure (200) also includes a drive member (260) and a second drive assembly (270). Each base (240) is fixedly connected to the drive member (260). The second drive assembly (270) includes a second driver (271) and a transmission member (272). The second driver (271) can drive the two drive members (260) to move towards or away from each other along the second direction through the transmission member (272) to drive the two fork structures (200) to open and close.

8. The bin handling device with mechanical locking function according to claim 7, characterized in that, The transmission component (272) is configured as a lead screw that extends along the second direction. The drive component (260) is provided with connecting holes. The two ends of the lead screw pass through the connecting holes of the two drive components (260) respectively and are threadedly connected to the connecting holes.

9. The bin handling device with mechanical locking function according to claim 7, characterized in that, The bin handling device further includes a base plate (300) for supporting the bin (100) located in the receiving cavity (210). The base plate (300) and the fork structure (200) are slidably connected by a guide assembly (310). The guide assembly (310) includes a slider (311) and a guide rail (312). One of the slider (311) and the guide rail (312) is located on the base (240), and the other is located on the base plate (300). The guide rail (312) extends along the second direction, and the slider (311) is slidably mounted on the guide rail (312).

10. The bin handling device with mechanical locking function according to claim 9, characterized in that, Each of the fork structures (200) is connected to the base plate (300) by at least two guide components (310), which are spaced apart along the first direction.

11. A robot (10), characterized in that, The device includes a storage rack (2000), a lifting device (3000), and a bin handling device with mechanical locking function as described in any one of claims 1 to 10. The storage rack (2000) includes a plurality of placement platforms (2100) spaced apart along its height direction. The lifting device (3000) is connected to the bin handling device and is configured to drive the bin handling device to move up and down along the height direction of the storage rack (2000). The bin handling device is capable of placing the bin (100) on the placement platform (2100).

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