Device for picking up boxes and robots

Abstract

Device for picking up boxes, comprising: a main body, wherein a warehouse is arranged in the main body, the warehouse having a goods inlet; a telescopic device comprising telescopic arms arranged on opposite sides of the goods inlet; wherein each telescopic arm comprises at least three arms that are displaceable relative to one another, and the at least three arms can be extended and contracted in a first direction, the first direction being a goods inlet and outlet direction of the warehouse; wherein a first arm segment of at least three arms is displaceably connected to the main body, and the end of a last arm segment facing away from the main body is provided with a tilting finger structure; a control device which serves to control the rotation of the tilting finger structure into a position in which a box to be transported can be tilted; and a drive device comprising a drive component that drives the first arm segment in each telescopic arm to slide relative to the main body, wherein the last arm segment is provided with a sensor arrangement for detecting the box to be transported; wherein upon detection of the box to be transported by the sensor arrangement, the tilting finger structure is controlled such that it rotates into a position in which the box to be transported can be tilted.

Description

[0001] This application claims priority to Chinese patent applications filed on April 27, 2020, with the Chinese Patent Office with application number 202010345452.9 and an invention title “Device for picking up boxes”, the entire contents of which are incorporated into this application by reference. TECHNICAL FIELD

[0002] The present application relates to the field of logistics and in particular to a device for picking up boxes and a robot. STATE OF THE ART

[0003] In the existing robotic transport process in the logistics sector, the original AGV robot was used to transport shelves. With technological advances, most manufacturers are now moving to the transport of warehouse equipment such as crates or boxes. Existing telescopic forks for picking up crates and boxes are usually in the form of one-stage fixed and two-stage extendable forks. However, when the shelf layout changes, the state-of-the-art transport equipment cannot access the inner and outer crates of the shelves and cannot meet the transport requirements. CONTENT OF THIS APPLICATION

[0004] Against this background, the present application proposes a device for picking up boxes and a robot for improving the transport effect.

[0005] The present application proposes a device for picking up boxes, the device for picking up boxes comprising: a main body, a telescopic device, a control device and a drive device; wherein a warehouse is arranged in the main body, the warehouse having a goods inlet; the telescopic device comprises telescopic arms arranged on opposite sides of the goods inlet; wherein each telescopic arm comprises at least three arms that are displaceable relative to one another, and the at least three arms can be extended and contracted in a first direction, the first direction being a goods inlet and outlet direction of the warehouse; wherein a first arm segment of at least three arms is displaceably connected to the main body, and the end of a last arm segment facing away from the main body is provided with a tilting finger structure; the drive device comprises a drive component that drives the first arm segment in each telescopic arm to slide relative to the main body and a motion coupling mechanism that drives motion coupling between adjacent arms in each telescopic arm; the control device serves to control the tilting finger structure so that it rotates into a position in which a box to be transported can be tilted.

[0006] With the technical solution described above, the goods can be retrieved from a lower storage area by using at least three arms to pick up boxes.

[0007] In a specific embodiment, the motion coupling mechanism is a closed-loop synchronous belt. The motion coupling between the arms is driven by a closed-loop synchronous belt.

[0008] In a specific embodiment, the at least three arms are three arms; the closed-loop synchronous belt comprises a first synchronous belt and a second synchronous belt; the first timing belt is arranged on the first arm segment, and wherein the first timing belt is fixedly connected to the main body and the center arm of the three arms and is used to drive the center arm to slide relative to the main body; the second synchronous belt is arranged on the center arm, and wherein the second synchronous belt is fixedly connected to the first arm segment and the last arm segment, respectively, and is used to drive the last arm segment to slide relative to the first arm segment; wherein The last arm segment is equipped with a selection mechanism, which is used to selectively connect the last arm segment to the second synchronous belt and the center arm. When the last arm segment and the center arm are firmly connected via the selection mechanism, the last arm segment is released from the fixed connection to the second synchronous belt. The provided selection mechanism makes it possible to extend either three arms or two arm segments, thus enabling the removal of goods at different depths in the warehouse.

[0009] In a specific embodiment, the selection mechanism comprises: a first magnetic element arranged on the second synchronous belt and a second magnetic element arranged on the center arm; a first electromagnet and a second electromagnet arranged on the last arm segment, wherein the first electromagnet can absorb the first magnetic element when the first electromagnet is energized; wherein the second electromagnet can attract the second magnetic element when the second electromagnet is energized. This achieves that the last arm segment can be selectively fixedly connected to the second synchronous belt or to the center arm.

[0010] In a specific embodiment, it is provided that the first arm segment is provided with a first limiting rib in order to limit horizontal wobbling of the first synchronous belt; the center arm is provided with a second limiting rib for limiting the horizontal wobble of the first synchronous belt and with a third limiting rib for limiting the horizontal wobble of the second synchronous belt; The last arm segment is provided with a fourth limiting rib to limit the horizontal wobble of the second synchronous belt. The limiting rib improves the stability of the synchronous belt during movement.

[0011] In a specific embodiment, the first limiting rib and the second limiting rib are arranged opposite one another, and a gap for receiving the first synchronous belt exists between the first limiting rib and the second limiting rib; the third limiting rib and the fourth limiting rib are arranged opposite one another, and a gap for receiving the second synchronous belt exists between the third limiting rib and the fourth limiting rib. The provided limiting rib can improve the stability of the synchronous belt during movement.

[0012] In a specific embodiment, it is provided that the second limiting rib is provided with two guide projections in order to limit the wobbling of the first synchronous belt in the vertical direction; The fourth limiting rib is provided with two guide projections to limit the vertical wobble of the second synchronous belt. The limiting rib improves the stability of the synchronous belt during movement.

[0013] In a specific embodiment, it is provided that along the second direction the setting position of the first synchronous belt is lower than the setting position of the second synchronous belt; the second direction is perpendicular to the first direction. This leaves room for cables to move.

[0014] In a specific embodiment, the height of the three arms of each telescopic arm along the second direction meets the following conditions: H2≤H1 <H3; wobei H1 die Höhe des ersten Armsegments in der zweiten Richtung ist, H2 die Höhe des Mittelarms in der zweiten Richtung ist und H3 die Höhe des letzten Armsegments in der zweiten Richtung ist. Es bleibt Bewegungsraum für Kabel.

[0015] In a specific embodiment, the main body is provided with a power supply device, wherein the tilting finger structure comprises a steering gear attached to the end of the last arm segment, a tilting finger connected to the steering gear, and a cable connected to the steering gear, the cable being connected to the power supply. The steering gear drives the tilting finger structure to reduce mechanical wear.

[0016] In a specific embodiment, the cable comprises a first cable and a second cable, the first cable and the second cable each being armored track cables; the at least three arms are three arms, the middle arm of the three arms being provided with an adapter module; the first end of the first cable is attached to the side wall of the main body; the second end of the first cable is connected to the adapter module; The first end of the second cable is connected to the adapter module, and the second end of the second cable is connected to the steering gear and the sensor assembly. The arrangement of the cable is facilitated.

[0017] In a specific embodiment, it is provided that in each telescopic arm the first cable and the second cable are arranged offset along the third direction; The third direction is perpendicular to the first direction and the second direction. This facilitates cable arrangement.

[0018] In a specific embodiment, the last arm segment is provided with a sensor component for detecting the box to be transported; the sensor arrangement is connected to the control device via the cable; The control device further serves to control the tilting finger structure when the sensor assembly detects the crate to be transported, rotating it into a position where the crate to be transported can be tilted. This improves the accuracy of the transport.

[0019] In a specific embodiment, the sensor arrangement includes a one-way light barrier located on the last two arm segments of two opposing telescopic arms, and forward detectors located on the last arm segments of the two telescopic arms. The accuracy of picking up the goods is improved.

[0020] In a specific embodiment, a robot is provided which is equipped with the device for picking up boxes described in any of the preceding embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly explain the technical solutions of the embodiments of the present disclosure, the drawings to be used in the embodiments are briefly introduced below. The drawings are incorporated herein by reference and form a part of this description, and these drawings illustrate embodiments according to the present disclosure and, together with the description, serve to explain the technical solutions of the present disclosure. It should be understood that the following drawings illustrate only certain embodiments of the present disclosure and should therefore not be considered limiting the scope. Other drawings can be obtained from these drawings without creative effort by one of ordinary skill in the art. Fig. 1 is a schematic diagram of the application scenario of the box picking device provided by embodiments of the present application; Fig. 2 is a schematic diagram of the application scenario of the box picking device provided by embodiments of the present application; Fig. 3 is a schematic diagram of the box picking apparatus provided by embodiments of the present application in a state where no goods are picked up; Fig. 4 is a schematic diagram of the box picking apparatus provided by embodiments of the present application in a state where the goods are picked up; Fig. 5 is a schematic structural diagram of the drive device provided by an embodiment of the present application; Fig. 6 is a schematic diagram of the cooperation between the telescopic arm and the drive device provided by embodiments of the present application; Fig. 7 is a schematic structural diagram of the telescopic arm provided by embodiments of the present application; Fig. Figure 8 is a schematic diagram of the application of the box picking apparatus provided by embodiments of the present application. DETAILED DESCRIPTION

[0022] To clarify the purposes, technical solutions, and advantages of the present application, the present application will be described in more detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only some of the embodiments of this application, not all of them. All other embodiments that a person of ordinary skill in the art can derive from the embodiments in the present application without creative effort are within the scope of the present application.

[0023] In order to facilitate the understanding of the device for receiving boxes provided by embodiments of the present application, the device for receiving boxes provided by embodiments of the present application will be described in detail below with reference to Fig. 1 and Fig. 2. As described in the Fig. 1 and Fig. As shown in Figure 2, the device for picking up boxes provided by embodiments of the present application is used for transporting boxes in the warehouse. In the warehouse, the boxes are stored on the shelves 100, but when the shelves 100 are placed in the warehouse, they must be placed according to the adaptability of the warehouse to the environment. As shown in Fig. 1, the shelves 100 are arranged in two rows, and a picking channel is provided between the two rows of shelves 100. However, since the demands on storage space are becoming increasingly high, the prior art provides four rows of shelves 100 as shown in Fig. 2, and a picking channel is provided between the four rows of shelves 100. To adapt to the pick-up method in a warehouse with four rows of shelves 100 arranged in rows, embodiments of the present application provide a device for picking up boxes, which is described in detail below with reference to specific drawings.

[0024] First, the box used in the present application for storing finished or semi-finished products in the logistics industry will be explained, including but not limited to common boxes such as plastic boxes, cardboard boxes and wooden boxes.

[0025] With joint reference to Fig. 3 and Fig. 4 illustrate the Fig. 3 and Fig. 4 schematic structural representations of various states of the device for receiving boxes provided by embodiments of the present application.

[0026] With reference to Fig. 3 initially, shows Fig. 3 is a schematic structural diagram when the telescopic arm 20 of the box picking device is not extended. To facilitate understanding of the box picking device provided by embodiments of the present application, the three-dimensional XYZ coordinate system is created with the placement direction of the shelf as a reference, where the Z direction is the vertical direction, λ is the X direction, and λ is the Y direction, and the X direction indicates the direction in which goods can be taken out from the shelf, and the Y direction is perpendicular to the X direction. To be consistent with the description of the first direction, the second direction, and the third direction below, the first direction below refers to the X direction, the second direction to the Z direction, and the third direction to the Y direction.

[0027] With further reference to Fig. 3, the main structure of the device for receiving boxes comprises at least a main body 10 and a telescopic device. First, the main body 10 is explained, wherein in Fig. 3 the main body 10 has a cuboid structure, and its interior is provided with a corresponding cuboid storage 11. The storage 11 has a goods inlet 12, wherein the goods inlet 12 can also be used as a goods outlet, wherein the box can be moved through the goods inlet 12 into the storage 11 and can also be moved out of the storage 11 through the goods inlet 12. In combination with the structure in Fig. 3, the main body 10 comprises a cuboid structure surrounded by three side walls and a base plate, and a side not provided with the side wall serves as the goods inlet 12 of the warehouse 11, and wherein the opening direction of the goods inlet 12 points in the X direction, so that the goods taken from the shelf can enter the warehouse 11 of the main body 10 through the goods inlet 12. It is understood that the cuboid shape of the main body 10 in the example in Fig. 3 is only a specific example of the main body 10 in the present application, and the main body 10 provided by embodiments of the present application may also take other shapes, such as a circular cylinder, an elliptical cylinder, a polygon, and other different shapes. The shape of the bearing 11 may also take other shapes, such as oval or polygonal shapes, which only need to fit the box.

[0028] With further reference to Fig. 3, the telescopic device provided by embodiments of the present application comprises telescopic arms 20 arranged on opposite sides of the goods inlet 12, wherein in combination with the Fig. 3, two telescopic arms 20 are arranged symmetrically on both sides of the goods inlet 12, and each telescopic arm 20 is connected to a side wall of the main body 10. The space between the two telescopic arms 20 is the space in which the box to be transported is located, the box to be transported being delimited in the space by two telescopic arms 20, and when the telescopic arms 20 move together, the box to be transported can be pulled into the warehouse 11. To facilitate understanding of the structure of the telescopic arm 20, a corresponding description is given below with reference to Fig. 4.

[0029] Fig. Figure 4 shows the state of the telescopic arm 20 when the device for picking up boxes is picking up goods. Since the two telescopic arms 20 have the same structure, one of the telescopic arms 20 will be used as an example for the description. The telescopic arm 20 comprises at least three arms that are displaceable relative to one another, and in the following description, the telescopic arm 20 comprises three arms by way of example. In combination with Fig. 3 and Fig. 4, the three arms comprise the following: a first arm segment 21, a middle arm 22, and a last arm segment 23. The first arm segment 21, the middle arm 22, and the last arm segment 23 are arranged along the side wall of the main body 10, to which the first arm segment 21 is slidably connected, in the direction into the bearing 11. The first arm segment 21 is slidably connected to the main body 10, the middle arm 22 is slidably connected to the first arm segment 21, and the last arm segment 23 is slidably connected to the middle arm 22. The sliding direction of the three arms slides along the first direction (X direction), that is, the three arms can slide along the goods receiving direction to realize the retraction and extension of the telescopic arm 20 along the goods receiving direction. In combination with Fig. 3, the three arms are arranged overlapping in the bearing 11 when the three arms are retracted; in combination with Fig. 4, the three arms, when extended, extend along the first direction and the three arms extend to the outside of the bearing 11.

[0030] With further reference to Fig. 4, the end of the last arm segment 23 facing away from the main body 10 is provided with a tilting finger structure 30, and the tilting finger structure 30 is used to flip the box to be transported. As a concrete example, the tilting finger structure 30 includes a steering gear 31 attached to the end of the last arm segment 23 and a tilting finger 32 connected to the steering gear 31. In combination with Fig. 4, the steering gear 31 is attached to the end of the last arm segment 23, and the tilting finger 32 is connected to the steering gear 31 and can be driven by the steering gear 31 to rotate the tilting finger 32. The tilting finger 32 has two positions: a working position and an avoidance position. When the tilting finger 32 is working, the steering gear 31 drives the tilting finger 32 to rotate it to a horizontal position, and the longitudinal direction of the tilting finger 32 is along the Y direction. The tilting fingers 32 of the two telescopic arms 20 are opposite each other and extend into the space defined by the two telescopic arms 20, so that when the telescopic arms 20 are retracted, the box to be transported can be pulled.When the telescopic arm 20 is inserted into the shelf, the tilting finger 32 does not need to operate, and at this time, the tilting finger 32 is in the avoidance position, and the tilting finger 32 is driven by the steering gear 31 to rotate so that its longitudinal direction is in the Z direction, thereby preventing the telescopic arms 20 from obstructing the box to be transported from entering the space between the telescopic arms 20 when inserted into the shelf. When the steering gear 31 is used to drive the tilting finger 32, there is no wear of the mechanical structure in the prior art, compared to the situation where a mechanical structure is used to drive the tilting finger 32 in the prior art, which improves the reliability of the tilting finger structure 30.Of course, the flip finger structure provided by embodiments of the present application may also assume other structures that can flip the box to be transported.

[0031] When the steering gear 31 is in operation, power is supplied to the steering gear 31 via a cable, and the cable is connected to the power supply. The power supply may be a battery or other power source capable of providing power, and is arranged in the main body 10. As shown in Fig. 4, the cable comprises a first cable 51 and a second cable 52, the first cable 51 and the second cable 52 are armored track cables; the center arm 22 is provided with an adapter module 53, wherein the first end of the first cable 51 is fixed to the side wall of the main body 10 and connected to the power supply; wherein the second end of the first cable 51 is connected to the adapter module 53; wherein the first end of the second cable 52 is connected to the adapter module 53, wherein the second end of the second cable 52 is connected to the steering gear 31; wherein the adapter module 53 can electrically connect the first cable 51 and the second cable 52 to each other. When the above structure is adopted, the second cable 52 can retract and extend according to the retraction and extension of the last arm segment 23, and the second cable 52 can retract and extend together with the retraction and extension of the first arm segment 21 and the middle arm 22.The use of two cable sections not only ensures that the cable follows the movement of the three arms during extension and retraction, but also guarantees the reliability of the cable's connection to the power supply and the steering gear 31. In a specific embodiment, in each telescopic arm 20, the first cable 51 and the second cable 52 are offset along the third direction; the third direction is perpendicular to the first direction and the second direction. If, as shown in . Fig. 4, the first cable 51 and the second cable 52 are arranged offset, there is no interference between the first cable 51 and the second cable 52 during retraction and extension, thereby ensuring that the movement space of the two cables can be realized in a limited space, thereby ensuring the reliability of the connection between the cable and the power supply and the steering gear 31 during the retraction and extension of the telescopic arm 20.

[0032] When the tilting finger structure 30 provided by embodiments of the present application uses a cable for power supply, as an optional embodiment, a sensor arrangement 40 for detecting the box box can be provided at the end of the last arm segment 23 facing away from the main body 10, wherein the sensor arrangement 40 can be connected via a cable to the control device of the device for picking up boxes.When using a two-stage cable, the second cable 52 is connected not only to the steering gear 31 but also to the sensor assembly 40 to send the signal from the sensor assembly 40 to the control device. The control device can be used to control the steering gear 31 to drive the tilting finger 32 to rotate into a position where the box to be transported can be tilted when the sensor assembly 40 detects the box to be transported, thereby improving the accuracy of transporting the box. If the sensor assembly 40 is provided, the sensor assembly 40 can comprise various sensors. The sensor assembly 40 can, for example, comprise a one-way light barrier 41 arranged on two last arm segments 23 of two opposite telescopic arms 20 and forward detectors 42 provided on the last arm segments 23 of the two telescopic arms 20.The accuracy of picking up goods is improved. In use, the forward detector 42 can be used to detect the direction of retraction and extension of the telescopic arm 20, thereby ensuring that the telescopic arm 20 is located on both sides of the box to be transported when the telescopic arm is retracted and extended, thereby ensuring the accuracy of the telescopic arm 20 during retraction and extension. In addition, through the detection between the sensors of the through-beam photoelectric sensor 41, it can be determined whether the position of the tilting finger 32 is correct and whether the box to be transported can be locked during the rotation of the tilting finger 32. After receiving the above signal, the control device can control the operation of the steering gear 31 of the tilting finger structure 30, thereby precisely locking the box to be transported.From the above description, it can be seen that when using cables, the telescopic arm 20 provided by embodiments of the present application can be provided with a sensor arrangement 40 in order to improve the reliability of the entire device for picking up boxes during operation.

[0033] It is understood that the above control device may be a single-chip microcomputer, a PLC, or an industrial control computer, and a common function of the above control device is to control the operation of components based on the detection signal of the sensor assembly 40 by the control device, therefore, the present application does not detail the signal interaction between the sensor assembly 40 and the control device.

[0034] In an alternative embodiment, it is contemplated that the control device can also be used to control the tilting finger structure to rotate into a position where a crate to be transported can be tilted if the device for picking up crate items does not include a sensor arrangement. At this time, the control device sends control commands directly to the tilting finger structure without collecting data via the sensor arrangement.

[0035] In an alternative embodiment, it is provided that the control device can also control the retraction and extension of the telescopic arm 20, wherein specifically the control device is connected to the drive device and controls the retraction and extension of the telescopic arm 20 via the drive device.

[0036] As in Fig. As shown in Figure 5, the retraction and extension of the telescopic arm during operation is controlled by the drive device, which drive device includes a drive component 63 that drives the first arm segment 21 in each telescopic arm to slide relative to the main body 10, and a motion coupling mechanism that drives a motion coupling between adjacent arms in each telescopic arm. The motion coupling mechanism can drive the motion coupling between the arms. For example, the motion coupling mechanism can adopt various structures such as synchronous belts and transmission belts, with the motion coupling mechanism using a closed-loop synchronous belt as a specific example.

[0037] As in Fig. 5, a specific drive component 63 includes a drive motor (not labeled in the figure) provided on the main body 10 and a transmission shaft (not labeled in the figure) connected to the drive motor via a belt (not labeled in the figure). The transmission shaft is used to synchronously drive two timing belts 64 provided on the main body 10. The two timing belts are each used to drive the first arm segment 21 of the two telescopic arms so that it will slide relative to the main body 10. In addition, the drive device also includes a closed-loop timing belt that drives a motion coupling between adjacent arms in each telescopic arm. The Fig. The closed-loop synchronous belt shown in Figure 5 comprises a first synchronous belt 61 and a second synchronous belt 62. The first synchronous belt 61 is provided on the first arm segment 21, and the first synchronous belt 61 is fixedly connected to the main body 10 and the center arm 22 and is used to drive the center arm 22 to slide relative to the main body 10. The second synchronous belt 62 is provided on the center arm 22, and the second synchronous belt 62 is fixedly connected to the first arm segment 21 and the last arm segment 23, respectively, and is used to drive the last arm segment 23 to slide relative to the first arm segment 21. As shown in Fig. 5, along the second direction (Z direction), the adjustment position of the first timing belt 61 is lower than the adjustment position of the second timing belt 62; thereby leaving a clearance for the above-mentioned first cable and second cable, so that the first cable and the second cable can be arranged with the two timing belts along the second direction, thereby making good use of the space of the telescopic arm and reducing the space occupied by cables and timing belts.

[0038] With reference to Fig. 6 shows Fig. 6 is a schematic diagram of the cooperation between the synchronous belt and the three arms. As an optional solution, it is provided that the first arm segment 21 is provided with a first limiting rib for limiting horizontal wobble of the first synchronous belt 61; wherein the center arm 22 is provided with a second limiting rib 71 for limiting horizontal wobble of the first synchronous belt 61; wherein the first limiting rib (the first limiting rib is in Fig. 6 not shown due to the shielding of the first synchronous belt 61) is located in the space surrounded by the first synchronous belt 61 in order to support the first synchronous belt 61 from the inside, wherein the second limiting rib 71 is provided on the side of the center arm 22 facing the first arm segment 21, and wherein the first limiting rib and the second limiting rib 71 are arranged opposite one another, wherein a gap for receiving the first synchronous belt 61 exists between the first limiting rib and the second limiting rib 71, wherein the cooperation of the first limiting rib and the second limiting rib 71 limits the wobbling of the first synchronous belt 61 in the horizontal direction (Y direction), thereby ensuring the reliability of the transmission of the first synchronous belt 61.In addition, as an optional solution, it is provided that the second limiting rib 71 is provided with two guide projections for limiting the wobble of the first timing belt 61 in the vertical direction (Z direction), whereby the wobble of the first timing belt 61 in the horizontal and vertical directions can be limited, so that the reliability of the transmission of the first timing belt 61 is improved.

[0039] With further reference to Fig. 6 and as an optional solution, it is provided that the center arm 22 is provided with a third limiting rib for limiting a horizontal wobble of the second synchronous belt 62; wherein the last arm segment 23 is provided with a fourth limiting rib 73 for limiting a horizontal wobble of the second synchronous belt 62. The third limiting rib is located in the space surrounded by the second synchronous belt 62 (due to the shielding of the second synchronous belt 62, the third limiting rib is therefore in Fig. 6 not shown) to support the second timing belt 62 from the inside, wherein the fourth limiting rib 73 is provided on the side of the last arm segment 23 facing the center arm 22, and wherein the third limiting rib and the fourth limiting rib 73 are arranged opposite each other, wherein between the third limiting rib and the fourth limiting rib 73 there is a gap for receiving the second timing belt 62, wherein by the cooperation of the third limiting rib and the fourth limiting rib 73 the wobble of the second timing belt 62 in the horizontal direction (Y direction) is limited, thereby ensuring the reliability of the transmission of the second timing belt 62.In addition, as an optional solution, it is provided that the fourth limiting rib 73 is provided with two guide projections for limiting the wobble of the second timing belt 62 in the vertical direction (Z direction), whereby the wobble of the second timing belt 62 in the horizontal and vertical directions can be limited, so that the reliability of the transmission of the second timing belt 62 is improved.

[0040] In an alternative solution, it is provided that the first arm segment 21 is provided with a fifth limiting rib for limiting the second synchronous belt 62, and the fifth limiting rib is arranged on a side of the first arm segment 21 facing the center arm 22, and wherein the fifth limiting rib and the third limiting rib together limit the wobbling of the second synchronous belt 62 in the horizontal direction.

[0041] In addition, when using the above-mentioned limit ribs, the thickness of the arm in the horizontal direction (Y direction) can be increased by adjusting the limit ribs, thereby increasing the structural strength of each arm and improving the reliability of the telescopic arm during use.

[0042] As in Fig. 7, shows Fig. 7 is a side view of the telescopic arm. As an optional solution, the height of the three arms of each telescopic arm along the second direction is configured to satisfy the following: H2=H1×H3; where H1 is the height of the first arm segment 21 in the second direction, H2 is the height of the middle arm 22 in the second direction, and H3 is the height of the last arm segment 23 in the second direction. This leaves room for movement of the cables. When the above structure is adopted, the adjustment position of the first timing belt and the second timing belt is combined with the adjustment position of the first cable and the second cable.By utilizing the height changes of the three arms in the Z direction, sufficient space is ensured at the last arm segment 23 to accommodate the aforementioned tilting finger structure, sensor array, second cable, and other structures. At the same time, the higher height of the last arm segment 23 improves the stability of the box being transported during pulling. By using a lower height of the middle arm 22, sufficient space can be left below the middle arm 22 to provide a foldable space for an adapter module, the first cable, and the second cable. When the first arm segment 21 assumes the above-mentioned height, the middle arm 22 and the end arm can be stably supported, while also leaving space for the installation of the aforementioned first cable, first synchronous belt, and other structures.

[0043] In order to improve the versatility of the device for picking up boxes provided by embodiments of the present application and to adapt it to the Fig. 1 and Fig. 2, as an extended example, the telescopic arm provided by embodiments of the present application is configured as an adjustable telescopic arm. For example, the last arm segment may be provided with a selection mechanism, wherein the selection mechanism is used to selectively connect the last arm segment to the second timing belt and the center arm; when the last arm segment and the center arm are connected via the selection mechanism, the last arm segment is disconnected from the second timing belt.In a specific embodiment, the selection mechanism comprises: a first magnetic element arranged on the second synchronous belt and a second magnetic element arranged on the center arm; a first electromagnet and a second electromagnet arranged on the last arm segment, wherein the first electromagnet can absorb the first magnetic element when the first electromagnet is energized; wherein the second electromagnet can attract the second magnetic element when the second electromagnet is energized. Here, the first electromagnet and the second electromagnet can be connected to the control device via cables, wherein the working state of the first electromagnet and the second electromagnet can be controlled by the control device.When it is necessary to extend the three arm segments, the control device causes the first electromagnet to be attracted to the first magnetic element and causes the second electromagnet to be turned off. At this time, the second synchronous belt is firmly connected to the last arm segment, the last arm segment and the middle arm are unlocked, and the last arm segment can slide relative to the middle arm. When the drive device is operating, the second synchronous belt can drive the first arm segment and the last arm segment for movement coupling, and all three arms can be extended. At this time, it can be set to the position shown in FIG. Fig. 2 can be used for shelves and the box located in the shelf 100 can be removed, such as the one shown in Fig. 8. When it is necessary to move the two arms in and out, the control device controls the second electromagnet to attract the second magnetic element, with the first electromagnet turned off. At this time, the last arm segment and the middle arm are fixed by the adsorption effect of the second electromagnet and the second magnetic element, and at the same time, the last arm segment and the second synchronous belt are released from the fixed connection. When the drive device drives the telescopic arm, only the first arm segment and the middle arm extend, and the last arm segment does not protrude from the middle arm, thereby achieving the extension of the two arms, which is due to the arrangement of the shelves in Fig. 1, and being used to take out the box located on the outer shelf 100 in Fig. 2, such as the one in Fig. 8 shows the device 2 for picking up boxes.

[0044] From the above description, it can be seen that the last arm segment can be permanently connected to either the second synchronous belt or the center arm using the provided selection mechanism. This allows different working methods to be selected depending on the working environment, enhancing the adaptability of the crate picking device.

[0045] In an alternative solution, it is contemplated that the first magnetic element and the second magnetic element may be iron blocks embedded in the second synchronous belt and the center arm, or other materials that can be magnetically attracted. Furthermore, the setting positions of the first magnetic element and the second magnetic element can be adjusted according to actual requirements, and the corresponding setting positions of the first electromagnet and the second electromagnet can be adjusted according to the actual situation to ensure that the corresponding two can be attracted and connected, and the above-mentioned movement requirements are met after attraction.

[0046] As apparent from the above description, the box picking device provided by embodiments of the present application can utilize three arms to pick up the box and realize the removal of goods from a deeper storage area. Furthermore, accurate picking of the goods can be achieved by the provided sensor arrangement and the control device.

[0047] Based on the above-mentioned box-picking device, embodiments of the present application may also provide a robot equipped with the above-mentioned box-picking device. The robot picks up the boxes using the above-mentioned box-picking device to ensure accurate picking of the goods.

[0048] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Therefore, if these modifications and variations of the present application fall within the scope of the claims of the present application and equivalent technology, the present application is intended to encompass these modifications and variations.

Claims

[1] Device for picking up boxes, comprising: a main body, wherein a warehouse is arranged in the main body, the warehouse having a goods inlet; a telescopic device comprising telescopic arms arranged on opposite sides of the goods inlet; wherein each telescopic arm comprises at least three arms that are displaceable relative to one another, and the at least three arms can be extended and contracted in a first direction, the first direction being a goods inlet and outlet direction of the warehouse; wherein a first arm segment of at least three arms is displaceably connected to the main body, and the end of a last arm segment facing away from the main body is provided with a tilting finger structure; a control device which serves to control the rotation of the tilting finger structure into a position in which a box to be transported can be tilted; and a drive device comprising a drive component that drives the first arm segment in each telescopic arm to slide relative to the main body, wherein the last arm segment is provided with a sensor arrangement for detecting the box to be transported; wherein upon detection of the box to be transported by the sensor arrangement, the tilting finger structure is controlled such that it rotates into a position in which the box to be transported can be tilted. [2] A box picking device according to claim 1, wherein the tilting finger structure comprises a steering gear attached to the end of the last arm segment and a tilting finger connected to the steering gear. [3] Device for picking up boxes according to claim 2, wherein the sensor arrangement comprises a one-way light barrier arranged on two last arm segments of two opposite telescopic arms; and forward detectors provided on the last arm segments of the two telescopic arms; and wherein the respective forward detector is used to detect the direction of retraction and extension of the telescopic arm so that the telescopic arm is located on both sides of the box to be transported when it is extended and retracted; wherein the through-beam sensor is used to detect the correct position of the tilting finger and to detect whether the box to be transported is locked when the tilting finger is rotated. [4] A box picking device according to claim 1, wherein the drive component comprises a drive motor arranged on the main body and a transmission shaft connected to the drive motor via a belt, the transmission shaft being used to synchronously drive two timing belts provided on the main body, and the two timing belts being respectively used to drive the first arm segments of the two opposite telescopic arms to slide relative to the main body. [5] A box picking device according to claim 1, wherein the drive device also comprises a motion coupling mechanism that drives a motion coupling between adjacent arms in each telescopic arm. [6] The box picking device according to claim 5, wherein the at least three arms are three arms; wherein the movement coupling mechanism comprises a first timing belt and a second timing belt; wherein the first timing belt is arranged on the first arm segment, and wherein the first timing belt is fixedly connected to the main body and the center arm of the three arms and is used to drive the center arm to slide relative to the main body; wherein the second synchronous belt is arranged on the center arm, and wherein the second synchronous belt is fixedly connected to each of the first arm segment and the last arm segment and is used to drive the last arm segment to slide relative to the first arm segment. [7] A box picking device according to claim 6, wherein the first arm segment is provided with a first limiting rib for limiting horizontal wobble of the first timing belt; wherein the center arm is provided with a second limiting rib for limiting the horizontal wobble of the first synchronous belt and with a third limiting rib for limiting the horizontal wobble of the second synchronous belt; The last arm segment is provided with a fourth limiting rib to limit the horizontal wobble of the second synchronous belt. [8] A box receiving device according to claim 7, wherein the first limiting rib and the second limiting rib are arranged opposite each other, and wherein there is a gap between the first limiting rib and the second limiting rib for receiving the first timing belt; wherein the third limiting rib and the fourth limiting rib are arranged opposite each other, and wherein there is a gap between the third limiting rib and the fourth limiting rib for receiving the second synchronous belt. [9] A box-picking device according to claim 7, wherein the second limiting rib is provided with two guide projections for limiting the wobbling of the first timing belt in the vertical direction; and / or wherein the fourth limiting rib is provided with two guide projections to limit the wobble of the second synchronous belt in the vertical direction. [10] A box picking device according to claim 6, wherein along the second direction, the setting position of the first timing belt is lower than the setting position of the second timing belt; where the second direction is perpendicular to the first direction. [11] Device for picking up boxes according to claim 10, wherein the height of the three arms of each telescopic arm along the second direction satisfies the following conditions: H2≤H1 <H3; wobei H1 die Höhe des ersten Armsegments in der zweiten Richtung ist, H2 die Höhe des Mittelarms in der zweiten Richtung ist und H3 die Höhe des letzten Armsegments in der zweiten Richtung ist. [12] A box picking device according to claim 2, wherein the main body is provided with a power supply, the tilting finger structure also comprising a cable connected to the steering gear, and the cable is connected to the power supply. [13] Device for picking up boxes according to claim 12, wherein the sensor arrangement is connected to the control device via the cable.

Images