A series of mechanical arm type magazine hooking mechanism, box taking and placing device and system

Abstract

The utility model discloses a kind of series connection mechanical arm formula material box hooking mechanism, taking and placing box device and system, material box hooking mechanism includes mechanism seat body and hooking piece, hooking piece is connected mechanism seat body by control mechanism;Control mechanism includes first arm and second arm;The first arm, second arm and the hooking piece three components constitute open-chain series connection mechanical arm, rotationally connected between adjacent components, and each rotationally connected respectively has corresponding drive mechanism.The material box hooking mechanism of the utility model, adopt the taking and placing operation of material box by the series connection mechanical implementation of multiple rotating shafts, compared with the box taking mechanism by multiple translation axis, the material box hooking mechanism structure of the utility model is more flexible to implement the operation of taking and placing box, the motion space occupied is smaller, structure is more compact lightweight.Open-chain series connection mechanical arm after arm length, and can be bidirectionally extended relative to mechanism seat body, can complete bidirectional taking and placing box operation, and can carry out double deep position material box taking and placing operation.

Description

Technical Field

[0001] This utility model relates to the field of warehouse bin retrieval technology, and in particular to a series robotic arm bin hooking mechanism, bin retrieval device and system. Background Technology

[0002] In automated warehousing and logistics systems, especially in intelligent picking scenarios involving "bin-to-person" operations, achieving efficient and precise bin handling is a crucial aspect. Traditional bin handling mechanisms often employ telescopic fork structures (as shown in patent CN 118239430 A) or gripping mechanisms (as shown in patent CN210557157 U) based on linear guides and translation modules. These mechanisms typically extend by nesting multiple translation axes to grasp and pull bins from the rack. However, such structures generally suffer from large overall size, heavy weight, high inertia, and low space utilization. They are easily limited by installation space in confined operating environments, making it difficult to meet the compactness and lightweight requirements of modern intelligent warehousing systems. Furthermore, because their movement relies on step-by-step translation, the dynamic response speed is slow, and it is not easy to switch to the other side after completing a single-sided handling operation, limiting the system's bidirectional operation capability and layout flexibility. Utility Model Content

[0003] Purpose of the invention: In order to overcome the shortcomings of the existing technology, this utility model provides a highly flexible, compact and lightweight serial robotic arm type bin hooking mechanism, bin picking and placing device and system.

[0004] Technical solution: To achieve the above objectives, the present invention provides a series robotic arm type bin hooking mechanism, which includes a mechanism base and a hooking component, wherein the hooking component is connected to the mechanism base through a control mechanism;

[0005] The control mechanism includes a first arm and a second arm; the first arm, the second arm, and the hook component constitute an open-chain serial robotic arm, with adjacent components rotatably connected, and each rotatable connection having a corresponding drive mechanism.

[0006] Furthermore, the open-chain serial robotic arm can be retracted within the length range of the first arm. That is, in the retracted state, both the second arm and the hook can be folded and retracted within the length range of the first arm. In the length direction of the first arm, neither the second arm nor the hook extends beyond the first arm.

[0007] Furthermore, the first arm has two first arm bodies arranged in parallel; the second arm has two second arm bodies arranged in parallel; one end of the hook is placed between the two second arm bodies, and in the folded storage state, the second arm is placed between the two first arm bodies, and the hook is placed between the two second arm bodies.

[0008] Preferably, a first motor and a second motor are mounted on the mechanism base; the second motor is directly driven connected to the first arm or establishes a drive connection with the first arm through a first transmission component. In this embodiment, the first transmission component is a gear assembly, and the first arm is rotatably mounted on the mechanism base through a first rotating shaft. The first transmission component includes a first gear connected to the first motor and a second gear connected to the first rotating shaft.

[0009] The second motor is connected to the second arm via a second transmission component.

[0010] Specifically, a second rotating shaft connecting to the second arm is installed at the end of the first arm. The second transmission component includes a first sprocket coaxially mounted with the first rotating shaft, a second sprocket connected to the second rotating shaft, and a chain connecting the first sprocket and the second sprocket. Alternatively, the second transmission component can also be a synchronous belt mechanism. A transmission relationship is established between the second motor and the first sprocket through a gear set, which includes a third gear connected to the second motor and a fourth gear coaxially fixed with the first sprocket.

[0011] During operation, when the second arm moves relative to the first arm, the second motor operates and drives the second arm to move through the second transmission component. When the first arm rotates relative to the mechanism base, the first motor and the second motor are controlled to operate in coordination, so that while the first arm moves relative to the mechanism base, the second arm remains stationary relative to the first arm, or the second arm rotates relative to the first arm as needed.

[0012] Furthermore, the hook is driven by a third motor to rotate relative to the second arm; the third motor is positioned between the two second arm bodies.

[0013] Furthermore, the base of the mechanism has a gate-shaped structure.

[0014] A bin-picking and dispensing device includes a base and the aforementioned tandem robotic arm bin-picking mechanism; the mechanism base of the tandem robotic arm bin-picking mechanism is connected to the base via a translation drive mechanism, enabling the mechanism base to translate horizontally.

[0015] A box-taking and placing device, wherein a conveying mechanism is installed at the bottom of the base; the conveying direction of the conveying mechanism is consistent with the translation direction of the mechanism base.

[0016] Preferably, it includes the aforementioned box-picking and placing device, and further includes a drive mechanism for moving the mechanism seat. Both sides of the mechanism seat's movement space have shelves, and the shelves have multiple storage positions for accommodating the boxes. The drive mechanism can be in the form of a Cartesian robot, an industrial robot, a shuttle, or other similar vehicle.

[0017] During operation, the control system can control the open-chain tandem robotic arm to extend to the corresponding side based on the location of the target bin, and perform a series of operations: hooking the target bin onto a specific part, pulling the bin out so that its edge touches the conveyor mechanism, and the open-chain tandem robotic arm and the conveyor mechanism working together to transport the bin into the base. Returning the bin is performed in the reverse order.

[0018] Beneficial effects: The serial robotic arm type bin hooking mechanism, bin picking and placing device and system of this utility model have the following beneficial effects:

[0019] (1) The bin-picking mechanism of this utility model uses a series of rotating shafts to carry out bin-picking and placing operations. Compared with a bin-picking mechanism composed of multiple translation shafts, the bin-picking mechanism of this utility model is more flexible in carrying out bin-picking and placing operations, occupies less motion space, and has a more compact and lightweight structure. The extended arm of the open-chain serial robotic arm is long and can extend in both directions relative to the mechanism base, enabling bidirectional bin-picking and placing operations, and also enabling the picking and placing of double-deep bins.

[0020] (2) The first and second arms of the dual-arm structure enable the first and second arms to be subjected to more even force when picking up and putting down the box, thereby improving the reliability and stability of the structure and facilitating the folding and storage of the open-chain connected robotic arms.

[0021] (3) The motors driving the first and second arms are both mounted on the mechanism base, which can reduce the overall load of the open-chain serial robotic arm and improve the response speed and movement flexibility of the mechanism. Attached Figure Description

[0022] Figure 1 This is a structural diagram of a series robotic arm-type hopper hooking mechanism;

[0023] Figure 2 A cross-sectional view of the first rotating shaft portion in a series robotic arm-type bin-grabbing mechanism;

[0024] Figure 3 A cross-sectional view of the second rotating shaft portion in a series robotic arm-type hopper hooking mechanism;

[0025] Figure 4 This is a structural diagram of the box loading and unloading device.

[0026] In the diagram: 1-Mechanism base; 2-Hooking component; 3-Control mechanism; 31-First arm; 311-First arm body; 32-Second arm; 321-Second arm body; 33-First motor; 34-Second motor; 35-First transmission component; 351-First gear; 352-Second gear; 36-Second transmission component; 361-First sprocket; 362-Second sprocket; 363-Chain; 37-Third motor; 38-Second rotating shaft; 39-Gear set; 391-Third gear; 392-Fourth gear; 310-Bearing; 320-First rotating shaft; 4-Base; 5-Translation drive mechanism; 6-Conveying mechanism. Detailed Implementation

[0027] The present invention will be further described below with reference to the accompanying drawings.

[0028] like Figure 1 The tandem robotic arm type bin hooking mechanism shown includes a mechanism base 1 and a hooking component 2, wherein the hooking component 2 is connected to the mechanism base 1 through a control mechanism 3;

[0029] The control mechanism 3 includes a first arm 31 and a second arm 32; the first arm 31, the second arm 32 and the hook 2 constitute an open-chain serial mechanical arm, with adjacent components rotatably connected, and each rotatable connection having a corresponding drive mechanism.

[0030] Preferably, the open-chain serial robotic arm can be stored within the length range of the first arm 31. That is, in the stored state, the second arm 32 and the hook 2 can both be folded and stored within the length range of the first arm 31. In the length direction of the first arm 31, the second arm 32 and the hook 2 do not extend beyond the first arm 31.

[0031] The bin-picking mechanism of this utility model employs a series of rotating shafts to perform bin-picking and placing operations. Compared to bin-picking mechanisms composed of multiple translation shafts, this utility model's bin-picking mechanism offers greater flexibility, occupies less space, and is more compact and lightweight. The extended arm of the open-chain serial robotic arm allows for bidirectional bin-picking and placing relative to the mechanism base 1, enabling bidirectional bin-picking and placing operations, including double-depth bin-picking and placing.

[0032] Preferably, the first arm 31 has two first arm bodies 311 arranged in parallel; the second arm 32 has two second arm bodies 321 arranged in parallel; one end of the hook 2 is placed between the two second arm bodies 321. In the folded storage state, the second arm 32 is placed between the two first arm bodies 311 and the hook 2 is placed between the two second arm bodies 321.

[0033] The first arm 31 and the second arm 32 of the dual-arm structure enable the first arm 31 and the second arm 32 to be subjected to more even force during the operation of picking up and putting down the box, thereby improving the reliability and stability of the structure and facilitating the folding and storage of the open-chain connected robotic arms.

[0034] Preferably, a first motor 33 and a second motor 34 are mounted on the mechanism base 1; for example... Figure 2 As shown, the second motor 33 is directly connected to the first arm 31 or establishes a driving connection with the first arm 31 through the first transmission component 35. In this embodiment, the first transmission component 35 is a gear assembly. The first arm 31 is rotatably mounted on the mechanism base 1 through the first rotating shaft 320. The first transmission component 35 includes a first gear 351 connected to the first motor 33 and a second gear 352 connected to the first rotating shaft 320.

[0035] The second motor 34 is connected to the second arm 32 via the second transmission component 36.

[0036] Specifically, such as Figure 3 As shown, a second rotating shaft 38 connecting the second arm 32 is installed at the end of the first arm 31. The two ends of the second rotating shaft 38 are respectively connected to the two second arm portions 321 via bearings 310. The second transmission component 36 includes a first sprocket 361 coaxially rotatably mounted with the first rotating shaft 320, a second sprocket 362 connected to the second rotating shaft 38, and a chain 363 connecting the first sprocket 361 and the second sprocket 362. Alternatively, the second transmission component 36 can also be a synchronous belt mechanism. A transmission relationship is established between the second motor 34 and the first sprocket via a gear set 39. The gear set 39 includes a third gear 391 connected to the second motor 34 and a fourth gear 392 coaxially fixed with the first sprocket.

[0037] During operation, when the second arm 32 moves relative to the first arm 31, the second motor 34 operates and drives the second arm 32 to operate via the second transmission component 36. When the first arm 31 rotates relative to the mechanism base 1, the first motor 33 and the second motor 34 are controlled to operate in coordination, so that while the first arm 31 rotates relative to the mechanism base 1, the second arm 32 remains stationary relative to the first arm 31, or the second arm 32 rotates relative to the first arm 31 as needed.

[0038] The motors driving the first arm 31 and the second arm 32 are both mounted on the mechanism base 1, which can reduce the overall load of the open-chain serial robotic arm operation and improve the response speed and movement flexibility of the mechanism.

[0039] Preferably, the hook 2 is driven by a third motor 37 to rotate relative to the second arm 32; the third motor 37 is positioned between the two second arm bodies 321.

[0040] Preferably, the mechanism base 1 has a gate-shaped structure.

[0041] A box-picking and placing device includes a base 4 and the aforementioned tandem robotic arm type box-picking mechanism; the mechanism base 1 of the tandem robotic arm type box-picking mechanism is connected to the base 4 through a translation drive mechanism 5, so that the mechanism base 1 can be translated horizontally.

[0042] Preferably, a conveying mechanism 6 is installed at the bottom of the base 4; the conveying direction of the conveying mechanism 6 is consistent with the translation direction of the mechanism base 1. In this embodiment, the conveying mechanism 6 is a belt conveyor.

[0043] A bin-picking and placing system includes the aforementioned bin-picking and placing device, and further includes a drive mechanism for moving the mechanism base 1. The mechanism base 1 has shelves on both sides of its movement space, and the shelves have multiple storage positions for accommodating bins. The drive mechanism can be in the form of a Cartesian robot, an industrial robot, a shuttle, or other similar vehicle.

[0044] During operation, the control system can control the open-chain tandem robotic arm to extend to the corresponding side based on the location of the target material box, and perform a series of operations: hooking the characteristic part of the material box, pulling the material box out so that the edge of the material box touches the conveyor mechanism 6, and the open-chain tandem robotic arm and the conveyor mechanism 6 working together to transport the material box into the base 4. The process of returning the material box is carried out in the reverse order.

[0045] Based on the picking and placing box system of this utility model, the boxes on both sides of the movement space of the base 4 can be picked up and placed. The translation drive mechanism 5 can expand the picking range of the box hooking mechanism, so that the box hooking mechanism can pick up goods in both directions and in both deep positions.

[0046] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A series robotic arm type bin hooking mechanism, comprising a mechanism base (1) and a hooking component (2), wherein the hooking component (2) is connected to the mechanism base (1) via a control mechanism (3); characterized in that: The control mechanism (3) includes a first arm (31) and a second arm (32); the first arm (31), the second arm (32) and the hook (2) form an open-chain serial mechanical arm, with adjacent components rotatably connected, and each rotatable connection having a corresponding drive mechanism.

2. The tandem robotic arm type hopper hooking mechanism according to claim 1, characterized in that, The open-chain serial robotic arm can be housed within the length range of the first arm (31).

3. The tandem robotic arm type hopper hooking mechanism according to claim 1, characterized in that, The first arm (31) has two first arm bodies (311) arranged in parallel; the second arm (32) has two second arm bodies (321) arranged in parallel; one end of the hook (2) is placed between the two second arm bodies (321).

4. The tandem robotic arm type hopper hooking mechanism according to claim 1, characterized in that, The mechanism base (1) is equipped with a first motor (33) and a second motor (34); the first motor (33) is directly connected to the first arm (31) or is connected to the first arm (31) through the first transmission component (35); The second motor (34) is connected to the second arm (32) via the second transmission component (36).

5. The tandem robotic arm type hopper hooking mechanism according to claim 4, characterized in that, The second transmission component (36) includes a first sprocket connected to the second motor (34), a second sprocket connected to the second arm (32), and a chain connecting the first sprocket and the second sprocket.

6. The tandem robotic arm type hopper hooking mechanism according to claim 3, characterized in that, The hook (2) is driven by a third motor (37) to rotate relative to the second arm (32); the third motor (37) is positioned between the two second arm bodies (321).

7. The tandem robotic arm type hopper hooking mechanism according to claim 1, characterized in that, The mechanism base (1) has a gate-shaped structure.

8. A device for taking and placing boxes, characterized in that, Includes a base (4) and a series robotic arm type bin hooking mechanism as described in any one of claims 1-7; the mechanism base (1) of the series robotic arm type bin hooking mechanism is connected to the base (4) through a translation drive mechanism (5), so that the mechanism base (1) can be translated horizontally.

9. The container loading and unloading device according to claim 8, characterized in that, A conveying mechanism (6) is installed at the bottom of the base (4); the conveying direction of the conveying mechanism (6) is consistent with the translation direction of the mechanism base (1).

10. A system for retrieving and placing boxes, characterized in that, It includes the box-taking device as described in claim 8, and further includes a drive mechanism for moving the mechanism seat (1), wherein both sides of the movement space of the mechanism seat (1) have shelves, and the shelves have multiple storage positions for accommodating the boxes.

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