A variable reach cargo gripper and loading and unloading robot

Abstract

The embodiment of the application provides a variable-distance cargo gripper and a loading and unloading robot, which comprises a frame body and a plurality of cargo gripping mechanisms. The frame body is used for being connected with the robot, and the plurality of cargo gripping mechanisms are arranged at intervals along the frame body and are used for collectively gripping the cargo. In the plurality of cargo gripping mechanisms, at least one cargo gripping mechanism is in sliding connection with the frame body and can adjust the distance between the cargo gripping mechanism and an adjacent cargo gripping mechanism to match the size of the side of the cargo, so that the at least two cargo gripping mechanisms can grip the side of the cargo, the stability of cargo gripping is improved, and the problem of cargo falling is avoided. Specifically, the cargo gripping mechanism comprises a supporting frame and a gripping assembly. The gripping assembly can move along the supporting frame and pull the cargo to the supporting frame for supporting and carrying.

Description

Technical Field

[0001] This application relates to the field of logistics equipment technology, and in particular to a variable-distance cargo gripper and a loading and unloading robot. Background Technology

[0002] In the logistics industry, goods need to be moved between warehouses and transport vehicles. Traditionally, this was done manually, which is costly and inefficient. With the continuous development of automated equipment, automated loading and unloading equipment has been gradually applied to loading and unloading in the logistics industry, reducing labor costs.

[0003] In related technologies, automated loading and unloading equipment includes a hand gripping mechanism for handling goods and a conveyor line for transporting goods. The hand gripping mechanism grabs goods from a stack of goods and places them on the conveyor line, which then transports the goods to a designated location.

[0004] However, existing hand-gripping mechanisms have fixed dimensions and can only grasp goods of corresponding sizes, resulting in a limited range of applications and a huge waste of resources. Utility Model Content

[0005] This application provides a variable-pitch cargo gripper and a loading / unloading robot, which can adapt to cargo of various sizes and facilitate cargo loading and unloading.

[0006] In a first aspect, embodiments of this application provide a variable-pitch cargo gripper, including:

[0007] Frame;

[0008] Multiple cargo gripping mechanisms are spaced apart along the frame, at least one of the cargo gripping mechanisms is slidably connected to the frame and can adjust the distance between it and the adjacent cargo gripping mechanism;

[0009] The cargo gripping mechanism includes a support frame and a gripping component. The gripping component is capable of moving along the support frame and pulling cargo onto the support frame, or pushing cargo off the support frame.

[0010] In one feasible implementation, multiple cargo gripping mechanisms are slidably connected to the frame, and the distance between two adjacent cargo gripping mechanisms can be adjusted.

[0011] In one feasible implementation, some of the multiple cargo gripping mechanisms are slidably connected to the frame, and each can adjust the distance between itself and the adjacent cargo gripping mechanism.

[0012] In one feasible implementation, the cargo gripping mechanism slidably connected to the frame includes a translation drive component, which is disposed on the support frame or the frame and is used to drive the corresponding support frame to move along the frame.

[0013] And / or, the translation drive assembly is one of the following: a telescopic cylinder drive assembly, a gear and rack drive assembly, a lead screw and nut drive assembly, and a belt drive drive assembly.

[0014] In one feasible implementation, the variable-pitch cargo gripper includes multiple cargo gripping mechanisms slidably connected to the frame, which share a translation drive component. The translation drive component is disposed on the frame and drives the cargo gripping mechanisms connected to it to move respectively.

[0015] And / or, the translation drive assembly is one of a chain drive assembly, a belt drive assembly, or a lead screw and nut drive assembly.

[0016] In one feasible implementation, each of the cargo gripping mechanisms includes a gripping drive assembly disposed on the support frame, the gripping drive assembly being used to drive the gripping assembly to move along the support frame.

[0017] In one feasible implementation, the gripping drive assembly includes a drive motor and a transmission assembly, the drive motor is mounted on the support frame, and the drive motor drives the gripping assembly to move along the support frame through the transmission assembly;

[0018] And / or, the transmission assembly is configured as a transmission chain assembly, a transmission belt assembly, or a transmission screw assembly.

[0019] In one feasible implementation, the transmission component is configured as a transmission chain assembly, a transmission belt assembly, or a transmission screw assembly.

[0020] In one feasible implementation, the gripping component includes a cargo gripping part and a slide;

[0021] The slide is slidably connected to the frame and connected to the transmission assembly. The cargo gripping part is disposed on the slide and is used to grip the cargo.

[0022] In one feasible implementation, the cargo gripping part includes a connecting mechanism and an adsorption part. The connecting mechanism is a fixed bracket or a four-bar linkage structure. The connecting mechanism is disposed on the slide. The adsorption part is disposed on the connecting mechanism. The adsorption part is used to adsorb and grip the cargo.

[0023] When the connecting mechanism is configured as a four-bar linkage, the four-bar linkage adjusts the position of the adsorption part through a linear drive component.

[0024] Secondly, embodiments of this application provide a loading and unloading robot, including a moving mechanism and a variable-pitch cargo gripper as described in any of the first aspects.

[0025] Firstly, this application provides a variable-pitch cargo gripper, including a frame and multiple cargo gripping mechanisms. The frame is used to connect to a robot, and the multiple cargo gripping mechanisms are spaced apart along the frame for jointly gripping cargo. At least one of the cargo gripping mechanisms is slidably connected to the frame, allowing adjustment of its distance from adjacent gripping mechanisms to match the dimensions of the cargo's side surface. This ensures that at least two gripping mechanisms grip the cargo's side surface, improving gripping stability and preventing cargo from falling. Specifically, each gripping mechanism includes a support frame and a gripping component. The gripping component can move along the support frame and pull the cargo onto it for support and transport. It is understood that because this variable-pitch cargo gripper has slidably adjustable gripping mechanisms, it can grip cargo of different sizes, expanding the application range of robots equipped with variable-pitch cargo grippers and avoiding resource waste due to robot idleness.

[0026] Secondly, embodiments of this application provide a loading and unloading robot, including a moving mechanism and a variable-pitch cargo gripper as described in the first aspect. Since this loading and unloading robot includes the variable-pitch cargo gripper of any of the above-described technical solutions, it possesses all the beneficial effects of the variable-pitch cargo gripper of any of the above-described technical solutions, which will not be elaborated further here. Attached Figure Description

[0027] The accompanying drawings, which are provided to further illustrate the present invention and constitute a part of the present invention, illustrate exemplary embodiments of the present invention and are used to explain the present application, but do not constitute an undue limitation of the present invention.

[0028] In the attached diagram:

[0029] Figure 1 This is a schematic diagram of the overall structure of a variable-pitch cargo gripper provided in one embodiment of this application;

[0030] Figure 2 This is a schematic diagram of the overall structure of a variable-pitch cargo gripper provided in another embodiment of this application;

[0031] Figure 3 yes Figure 1 Top view of a medium-pitch cargo gripper;

[0032] Figure 4 yes Figure 1Side view of the variable-pitch cargo gripper in the middle;

[0033] Figure 5 This is a side view of a variable-pitch cargo gripper provided in another embodiment of this application.

[0034] Explanation of reference numerals in the attached figures:

[0035] 100 - Frame; 200 - Cargo grabbing mechanism;

[0036] 210-Support frame; 220-Gripping assembly; 230-Translation drive assembly; 240-Gripping drive assembly;

[0037] 221-Cargo gripping unit; 222-Slide; 241-Drive motor; 242-Transmission assembly;

[0038] 2211-Connecting mechanism; 2212-Adsorption unit; 2213-Linkage assembly;

[0039] 2212a - Mounting base; 2212b - Suction cup. Detailed Implementation

[0040] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of this application.

[0041] In the description of the embodiments of this application, 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 indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0042] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," 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; 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, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0043] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0044] In the logistics industry, goods need to be moved between warehouses and transport vehicles. Traditionally, this was done manually, which is costly and inefficient. With the continuous development of automated equipment, automated loading and unloading equipment has been gradually applied to loading and unloading in the logistics industry, reducing labor costs.

[0045] In related technologies, automated loading and unloading equipment includes a hand gripping mechanism for handling goods and a conveyor line for transporting goods. The hand gripping mechanism grabs goods from a stack of goods and places them on the conveyor line, which then transports the goods to a designated location.

[0046] However, existing hand-gripping mechanisms have fixed dimensions and can only grasp goods of corresponding sizes, resulting in a limited range of applications and a huge waste of resources.

[0047] To address the aforementioned issues, this application provides a variable-pitch cargo gripper and a loading / unloading robot. The solution provided by this application will be described in detail below with reference to the accompanying drawings.

[0048] Figure 1 This is a schematic diagram of the overall structure of a variable-pitch cargo gripper provided in one embodiment of this application; Figure 2 This is a schematic diagram of the overall structure of a variable-pitch cargo gripper provided in another embodiment of this application; Figure 3 yes Figure 1 Top view of a medium-pitch cargo gripper; Figure 4 yes Figure 1 A side view of the variable-pitch cargo gripper in the middle.

[0049] Reference Figures 1 to 4As shown, this application embodiment provides a variable-distance cargo gripper, including a frame 100 and multiple cargo gripping mechanisms 200. The frame 100 is used to connect to a robot, and the multiple cargo gripping mechanisms 200 are spaced apart along the frame 100 for jointly gripping cargo. Among the multiple cargo gripping mechanisms 200, at least one cargo gripping mechanism 200 is slidably connected to the frame 100, allowing adjustment of its distance from adjacent cargo gripping mechanisms 200 to match the dimensions of the cargo's side surface. This ensures that at least two cargo gripping mechanisms 200 grip the cargo's side surface, improving the stability of cargo gripping and preventing cargo from falling.

[0050] Specifically, the cargo gripping mechanism 200 includes a support frame 210 and a gripping component 220. The gripping component 220 can move along the support frame 210 and pull cargo onto the support frame 210 for support and transport, or push cargo off the support frame 210. It is understood that because this variable-pitch cargo gripper has a slidably adjustable cargo gripping mechanism 200, it can grip cargo of different sizes, expanding the application range of robots equipped with variable-pitch cargo grippers and avoiding resource waste caused by robot idleness.

[0051] Reference Figure 1 As shown, in some examples, all the cargo gripping mechanisms 200 are slidably connected to the carriage via guide rails. All cargo gripping mechanisms 200 can adjust their positions according to the dimensions of the cargo side to ensure that multiple cargo gripping mechanisms 200 can grip the side of the cargo, ensuring that the cargo will not fall during the gripping process.

[0052] In other examples, some of the multiple gripping mechanisms 200 are mounted on the frame 100 via slide rails. For example, the two outermost gripping mechanisms on the left and right sides; or the one in the middle position; or the gripping mechanism fixedly mounted on the frame 100 and the gripping mechanism 200 slidably mounted on the frame 100 are spaced apart. At least one gripping mechanism 200 slidably mounted on the frame 100 is located on each side of the gripping mechanism 200 fixedly mounted on the frame 100. The slidably mounted gripping mechanism 200 can adjust its distance from the fixedly mounted gripping mechanism 200, accommodating goods of different sizes and ensuring that both are attached to the sides of the goods. This improves the stability of the connection between the gripping mechanism 200 and the goods, preventing the goods from falling during handling.

[0053] In some examples, the cargo gripping mechanism 200 can move actively along a slide rail mounted on the frame 100, or it can be driven to move by other drive mechanisms. For example, each cargo gripping mechanism 200 includes a translation drive assembly 230, which is fixedly mounted on the support frame 210 of the cargo gripping mechanism 200 and connected to the frame 100. The translation drive assembly 230 drives the support frame 210 to move along the frame 100, thereby driving the gripping assembly 220 to move.

[0054] like Figure 1 , Figure 3 and Figure 4 As shown, all cargo gripping mechanisms 200 are slidably mounted on the frame 100, and each cargo gripping mechanism 200 has a translation drive assembly 230 mounted on its support frame 210. Figure 2 As shown, the two outermost cargo gripping mechanisms 200 are slidably mounted on the frame 100, and each of their support frames 210 is equipped with a translation drive assembly 230. The other cargo gripping mechanisms 200 are fixedly mounted on the support frames 210 and do not have translation drive assemblies 230. Exemplarily, the translation drive assembly 230 can be a rack and pinion drive assembly, including a motor and a rack and pinion assembly. The motor is mounted on the support frame 210, the gear is mounted on the motor's output shaft, and the rack is horizontally positioned along the length of the frame 100. The gear meshes with the rack, and during the rotation of the gear driven by the motor, the support frame 210 moves along the rack under the motor's influence. Alternatively, in these examples, the translation drive assembly 230 can also be a telescopic cylinder drive assembly, a lead screw and nut drive assembly, a belt drive drive assembly, or a chain drive drive assembly. The specific connection methods are all existing technologies and will not be detailed here.

[0055] In other examples, the variable-pitch cargo gripper includes a translation drive assembly 230 mounted on the frame 100, and all cargo gripping mechanisms 200 slidably mounted on the frame 100 are connected to the translation drive assembly 230. The translation drive assembly 230 drives all cargo gripping mechanisms 200 slidably mounted on the frame 100 to operate simultaneously, changing the distance between adjacent cargo gripping mechanisms 200.

[0056] For example, when all the gripping mechanisms 200 are slidably connected to the frame 100, the translation drive assembly 230 can be configured as a chain drive assembly, a belt drive assembly, or a screw and nut drive assembly. When the translation drive assembly 230 drives all the gripping mechanisms 200 to operate simultaneously, adjacent gripping mechanisms 200 move towards or away from each other, changing the distance between them. For example, when the translation drive assembly 230 is a belt drive assembly, the motor is fixedly mounted on the frame 100, and the drive belt is wound around the frame 100 via pulleys, with the motor driving the drive belt to rotate. One of the two adjacent gripping mechanisms 200 is connected to the upper half of the drive belt, and the other is connected to the lower half of the synchronous belt, so that when the synchronous belt rotates, the two adjacent gripping mechanisms 200 can move synchronously towards or away from each other. It is understandable that the chain drive assembly is a similar design, while the screw and nut drive assembly drives two adjacent cargo gripping mechanisms 200 to move synchronously in opposite directions or in opposite directions through nuts with opposite thread directions. This is existing technology and will not be described in detail here.

[0057] Reference Figures 1 to 4 As shown, the goods gripping mechanism 200 is mounted on the support frame 210 via a slide rail. The gripping drive assembly 240 includes a drive motor 241 and a transmission assembly 242. The drive motor 241 is mounted on the support frame 210, and the transmission assembly 242 is also mounted on the support frame 210. The drive motor 241 drives the gripping assembly 220 to move along the support frame 210 via the transmission assembly 242, thereby pulling the goods onto the support frame 210. Alternatively, the drive gripping assembly 220 can push the goods from the support frame 210 onto the shelf.

[0058] For example, the transmission assembly 242 may be a transmission chain assembly, a transmission belt assembly, or a transmission screw assembly. Figures 1 to 4 As shown, the transmission assembly 242 is configured as a transmission chain assembly. Sprockets are respectively provided at both ends of the support frame 210. The transmission chain is wound around the sprockets at both ends and is connected to the gripping assembly 220. The drive motor 241 is connected to one of the sprockets. The drive motor 241 drives the transmission chain to rotate via the sprocket, thereby driving the gripping assembly 220 to move. In this application, the gripping assembly 220 is mounted on the support frame 210 via a slide rail. Compared to the prior art design where the gripping assembly 220 is mounted on a wide conveyor belt, it will not sway during movement, ensuring the stability of its connection with the goods.

[0059] In some examples, the gripping assembly 220 includes a cargo gripping part 221 and a slide 222; the slide 222 is slidably connected to the frame 100 and connected to the transmission assembly 242, and the cargo gripping part 221 is disposed on the slide 222 for gripping the cargo. Exemplarily, the cargo gripping part 221 includes a connecting mechanism 2211 and an adsorption part 2212. The connecting mechanism 2211 is a fixed bracket or a four-bar structure, disposed on the slide 222, and the adsorption part 2212 is disposed on the connecting mechanism 2211 for adsorbing and gripping the cargo. When the connecting mechanism 2211 is configured as a four-bar structure, the four-bar structure adjusts the position of the adsorption part 2212 via a linear drive component. It should be noted that the four-bar structure is prior art, and the linear drive component driving the four-bar structure to adjust the position of the adsorption part 2212 is also prior art; this solution does not involve improvements to this part and will not be described in detail.

[0060] Figure 5 This is a side view of a variable-pitch cargo gripper provided in another embodiment of this application. (See attached image.) Figure 5 As shown, exemplarily, the cargo gripping unit 221 includes a fixed bracket and an adsorption unit 2212. The fixed bracket is mounted on the slide 222, and the adsorption unit 2212 is mounted on the fixed bracket. The adsorption unit 2212 is used to adsorb cargo. The fixed bracket is L-shaped, and its upper end is a certain distance from the slide 222. The adsorption unit 2212 is located at the upper end of the fixed bracket. Exemplarily, the distance between the adsorption unit 2212 and the slide 222 can be half the height of the cargo, allowing the adsorption unit 2212 to adsorb near the center of the cargo, ensuring stable movement of the cargo during the pulling process by the adsorption unit 2212. In other examples, the fixed bracket can be height-adjustable, allowing it to be adjusted to a suitable height according to cargo of different volumes, ensuring that the adsorption unit 2212 can adsorb near the center of the cargo.

[0061] like Figures 1 to 5 As shown, exemplarily, the adsorption unit 2212 includes a fixed base 2212a and a suction cup 2212b. The fixed base 2212a is hinged to a connecting rod assembly or fixedly connected to a fixed bracket. The suction cup 2212b is disposed on the fixed base 2212a and is connected to an external vacuum assembly (this is prior art and not shown in the figure). The suction cup 2212b is used to adsorb goods. To ensure stable movement of goods, multiple suction cups 2212b can be disposed on the fixed base 2212a, with the multiple suction cups 2212b evenly distributed on the fixed base 2212a.

[0062] Secondly, embodiments of this application provide a loading and unloading robot, including a moving mechanism and a variable-pitch cargo gripper as described in the first aspect. Since this loading and unloading robot includes the variable-pitch cargo gripper of any of the above-described technical solutions, it possesses all the beneficial effects of the variable-pitch cargo gripper of any of the above-described technical solutions, which will not be elaborated further here.

[0063] It is readily understood that, based on the several embodiments provided in this application, those skilled in the art can combine, split, or reorganize the embodiments of this application to obtain other embodiments, none of which exceed the protection scope of this application.

[0064] The above detailed embodiments further illustrate the purpose, technical solution, and beneficial effects of the embodiments of this application. It should be understood that the above are merely specific embodiments of the embodiments of this application and are not intended to limit the protection scope of the embodiments of this application. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solutions of the embodiments of this application should be included within the protection scope of the embodiments of this application.

Claims

1. A variable-pitch cargo gripper, characterized in that, include: Frame (100); A plurality of cargo gripping mechanisms (200) are arranged at intervals along the frame (100), at least one of the cargo gripping mechanisms (200) is slidably connected to the frame (100) and can adjust the distance between it and the adjacent cargo gripping mechanism (200); The cargo gripping mechanism (200) includes a support frame (210) and a gripping component (220), which is capable of moving along the support frame (210) and pulling cargo onto the support frame (210), or pushing cargo off the support frame (210).

2. The variable-pitch cargo gripper according to claim 1, characterized in that, The multiple cargo gripping mechanisms (200) are slidably connected to the frame (100) and the distance between two adjacent cargo gripping mechanisms (200) can be adjusted.

3. The variable-pitch cargo gripper according to claim 1, characterized in that, Some of the cargo gripping mechanisms (200) are slidably connected to the frame (100), and each can adjust the distance between itself and the adjacent cargo gripping mechanism (200).

4. The variable-pitch cargo gripper according to claim 2 or 3, characterized in that, The cargo gripping mechanism (200) slidably connected to the frame (100) includes a translation drive assembly (230), which is disposed on the support frame (210) or the frame (100) and is used to drive the corresponding support frame (210) to move along the frame (100); And / or, the translation drive assembly (230) is one of the following: a telescopic cylinder drive assembly, a gear and rack drive assembly, a lead screw and nut drive assembly, or a belt drive drive assembly.

5. The variable-pitch cargo gripper according to claim 2 or 3, characterized in that, In the cargo gripping mechanism slidably connected to the frame, multiple cargo gripping mechanisms share a translation drive assembly (230). The translation drive assembly (230) is disposed on the frame (100) and drives the cargo gripping mechanism (200) connected to it to move respectively. And / or, the translation drive assembly (230) is one of a chain drive assembly, a belt drive assembly, or a lead screw and nut drive assembly.

6. The variable-pitch cargo gripper according to claim 1, characterized in that, Each of the cargo gripping mechanisms (200) includes a gripping drive assembly (240) disposed on the support frame (210) for driving the gripping assembly (220) to move along the support frame (210).

7. The variable-pitch cargo gripper according to claim 6, characterized in that, The gripping drive assembly (240) includes a drive motor (241) and a transmission assembly (242). The drive motor (241) is mounted on the support frame (210). The drive motor (241) drives the gripping assembly (220) to move along the support frame (210) through the transmission assembly (242). And / or, the transmission assembly (242) is configured as a transmission chain assembly, a transmission belt assembly, or a transmission screw assembly.

8. The variable-pitch cargo gripper according to claim 7, characterized in that, The gripping assembly (220) includes a cargo gripping part (221) and a slide (222); The slide (222) is slidably connected to the frame (100), and the slide (222) is connected to the transmission assembly (242). The cargo gripping part (221) is disposed on the slide (222) and is used to grip the cargo.

9. The variable-pitch cargo gripper according to claim 8, characterized in that, The cargo gripping part (221) includes a connecting mechanism (2211) and an adsorption part (2212). The connecting mechanism (2211) is a fixed bracket or a four-bar linkage structure. The connecting mechanism (2211) is mounted on the slide (222). The adsorption part (2212) is mounted on the connecting mechanism (2211). The adsorption part (2212) is used to adsorb and grip the cargo. When the connecting mechanism (2211) is configured as a four-bar linkage, the four-bar linkage adjusts the position of the adsorption part (2212) via a linear drive component.

10. A loading and unloading robot, characterized in that, Includes a moving mechanism and a variable-pitch cargo gripper as described in any one of claims 1-9.

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