CN218752807U

CN218752807U - Box taking device and logistics robot

Info

Publication number: CN218752807U
Application number: CN202222701657.3U
Authority: CN
Inventors: 李晓伟; 肖玉辉
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2022-10-13
Filing date: 2022-10-13
Publication date: 2023-03-28
Anticipated expiration: 2032-10-13

Abstract

The application discloses get case device and logistics robot belongs to storage technical field. The application discloses get case device includes: a base; the telescopic fork comprises a telescopic piece, a front shifting finger and a rear shifting finger, wherein the telescopic piece can be stretched in a first direction and is provided with a first telescopic piece; the front shifting finger is movably arranged at the front end of the first telescopic piece and can move to one side of the first telescopic piece facing the accommodating space; the rear shifting finger is arranged on one side of the accommodating space, which faces towards the first telescopic piece, and is arranged at an interval with the front shifting finger, and the mounting position of the rear shifting finger on the first telescopic piece along the telescopic direction of the telescopic piece is adjustable. The rear shifting finger can be adjusted front and back relative to the front shifting finger, and the storage and the taking of different container sizes can be met.

Description

Box taking device and logistics robot

Technical Field

The utility model relates to a storage technical field, concretely relates to get case device and logistics robot.

Background

When the workbins with different lengths exist, the conventional telescopic fork can only store and take goods according to the size of the longest workbin, and when the size of the workbin is small, the telescopic fork easily collides with other goods shelves, the workbin, personnel and the like, so that the storage and taking requirements of containers with different lengths cannot be met.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the problem that the existing telescopic fork can not meet the storage and the taking of the workbins with different sizes. The purpose is realized by the following technical scheme:

the utility model discloses a first aspect provides a get case device, include:

a base;

the telescopic fork is arranged on two opposite sides of the base respectively, the base and the telescopic fork surround to form a containing space for containing a container, the telescopic fork comprises a first telescopic piece, a front shifting finger and a rear shifting finger, and the telescopic fork can be stretched back and forth along a first direction; along the first direction, the front shifting finger is movably arranged at the front end of the first telescopic piece and can move to one side of the first telescopic piece facing the accommodating space; along the first direction, the back shifting finger is arranged on one side, facing the accommodating space, of the first telescopic piece and is arranged at an interval with the front shifting finger, and the mounting position of the back shifting finger on the first telescopic piece along the first direction is adjustable so as to adjust the distance between the back shifting finger and the front shifting finger.

According to the utility model discloses a get case device, back shifting finger can be adjusted from beginning to end along the flexible direction (flexible direction) of extensible member, with preceding shifting finger cooperation, when the container size is less, can adjust the interval of preceding shifting finger and back shifting finger, the flexible length of fork can be with packing box propelling movement to goods shelves short when stocking to goods shelves, avoid flexible fork and other goods shelves, container, personnel's collision, when the container size is great, the interval of shifting finger and back shifting finger before can enlarging to be suitable for the access of big container.

In addition, according to the utility model discloses a get case device still can have following additional technical characterstic:

in some embodiments of the present invention, the first extensible member has a plurality of installation positions arranged at intervals along the first direction, and the rear finger is selectively arranged on any one of the installation positions.

In some embodiments of the present invention, the telescopic fork further comprises:

the guide structure is arranged on the first telescopic piece, the rear shifting finger is arranged on the guide structure in a sliding manner and is used for adjusting the relative position of the rear shifting finger and the front shifting finger according to the length size of the container along the first direction

And the locking piece is arranged on the rear shifting finger and used for locking the rear shifting finger on the guide structure after the rear shifting finger slides in place.

In some embodiments of the present invention, the guiding structure is any one of a sliding groove, a guide rod and a guide rail provided on the telescopic member.

In some embodiments of the present invention, the locking member is in threaded connection with the rear finger and can abut against the guide structure.

the first driving part is arranged on the first telescopic piece and provided with a driving end, the rear shifting finger is connected with the driving end of the first driving part, and the first driving part can drive the rear shifting finger to move relative to the first telescopic piece along the telescopic direction of the telescopic fork.

In some embodiments of the present invention, the first driving part includes any one of an electric putter, a rack and pinion linear motion mechanism, a synchronous belt linear motion mechanism, a ball screw linear motion mechanism, or a linear module, and the driving end of the electric putter is connected to the rear finger.

The utility model discloses an in some embodiments, get case device still include the controller with set up in collection module on the base, collection module with first drive component respectively with the controller communication is connected, collection module is configured to discern and waits to fork and get the identification information of container, the controller is used for the basis identification information confirms that to wait to fork and get the maximum length of container, and be used for according to maximum length control first drive component adjusts the relative position of back shifting finger and preceding shifting finger.

In some embodiments of the utility model, get case device still including set up in the adjustment mechanism of base, the both sides of base flexible fork with the adjustment mechanism transmission is connected, makes the both sides of base flexible fork can move or back-to-back motion in opposite directions, adjustment mechanism includes first drive unit, first drive unit with the controller communication is connected, the controller still be used for the basis identification information confirms to wait to fork and gets the maximum width of container, and be used for the basis maximum width control first drive unit action makes the both sides of base flexible fork move or back-to-back motion in opposite directions, in order to adjust the both sides of base the interval of flexible fork.

In some embodiments of the present invention, the collection module is a two-dimensional code recognition device or a bar code recognition device.

The second aspect of the utility model provides a logistics robot, including the first aspect get the case device.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like parts are designated by like reference numerals throughout the drawings. In the drawings:

FIG. 1 schematically illustrates a top view of a prior art tote handling apparatus forking containers of different lengths;

figure 2 schematically shows an axonometric view from a first perspective of an embodiment of the extraction device of the invention;

figure 3 schematically shows a partial side view of a first embodiment of the telescopic fork of the box extraction device of the present invention;

figure 4 schematically shows a partial side view of a second embodiment of the telescopic fork of the box-fetching device according to the present invention;

fig. 5 schematically shows a partial top view of a third embodiment of the telescopic fork of the box-fetching device according to the present invention;

figure 6 schematically shows an isometric view from a second perspective of an embodiment of the present invention of a carton picker assembly;

figure 7 schematically shows an axonometric view from a third perspective of an embodiment of the device for taking boxes of the invention;

figure 8 schematically shows an isometric view from a fourth perspective of an embodiment of the present invention of a carton pick-up device;

fig. 9 schematically shows a side view of an embodiment of the logistics robot of the invention.

The reference numbers are as follows:

the box taking device 10, a base 11, a telescopic fork 12, a first telescopic part 121c, a second telescopic part 121d, a mounting position 121a, a guide structure 121b, a front finger 122, a rear finger 123, a synchronous belt transmission mechanism 124, a second driving part 125, a first driving part 126, a first guide rail assembly 127, a driving motor 128, a first synchronous belt assembly 129, a third driving unit 14, a second synchronous belt 15, a third synchronous belt 16, a first nut member 171, a second nut member 172, a spline shaft 173, a first driving pulley 18, a second driving pulley 19, a second guide rail assembly 101, a second driving unit 102 and a follow-up frame 103;

a lifting mechanism 20;

a door frame 30 and a storage plate 31;

a chassis 40;

a rotation timing belt 51, a rotation driving motor 52, a rotation driving synchronizing wheel 53, and a rotation driven synchronizing wheel 54.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" may be intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "includes," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order described or illustrated, unless specifically identified as an order of performance. It should also be understood that additional or alternative steps may be used.

Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.

For convenience of description, spatially relative terms, such as "inner", "outer", "lower", "below", "upper", "above", and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the example term "at 8230; \8230; below" may include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

As shown in fig. 1, when containers with different lengths exist, the current telescopic fork function enables the shelf to be designed according to the size L1 of the longest container; when the length of the container is L2 which is shorter, the shelf space is greatly wasted; if the goods shelf is planned according to L2, the fork plate can extend out of the goods shelf in the box taking and returning process of the telescopic fork, so that collision with other goods shelves, containers, personnel and the like is caused, and the risk is high.

This application will be dialled after and indicate to set to and can adjust from beginning to end along the direction that stretches out and draws back, can adjust according to the size of container to satisfy different container size's demand, also avoid the less flexible fork of container size to stretch out the overlength simultaneously and cause the risk of colliding with other goods shelves, container, personnel etc. to take place.

Referring to fig. 2 to 5, according to an embodiment of the present invention, a box taking device 10 is provided, including a base 11 and a telescopic fork 12, wherein the telescopic fork 12 includes a first telescopic member 121, a front finger 122 and a rear finger 123, the telescopic fork 12 is respectively disposed at two opposite sides of the base 11, a receiving space for receiving a container is formed by the base 11 and the telescopic fork 12, and the telescopic member 121 can be extended and retracted back and forth along a first direction; along the first direction, the front finger 122 is movably disposed at the front end of the first expansion piece 121, and can move to a side of the first expansion piece 121 facing the accommodating space; the rear finger 123 is disposed on one side of the first telescopic member 121 facing the accommodating space, and is spaced from the front finger 122, and a mounting position of the rear finger 123 on the first telescopic member 121 along the first direction a is adjustable to adjust a distance between the rear finger 123 and the front finger 122.

It is understood that the container in this application can be, but is not limited to, a package, a box, or the like, for containing an object.

The telescopic fork 12 located on one side of the second direction is a first telescopic fork, the telescopic fork 12 located on the opposite side of the second direction is a second telescopic fork, and the first telescopic fork and the second telescopic fork form a fork holding assembly.

For convenience of understanding, the direction a in fig. 2 is a first direction, i.e., the length direction of the telescopic fork is a first direction, and the direction B is a second direction, i.e., a horizontal direction perpendicular to the first direction is a second direction, which is perpendicular to the first direction.

This application sets back shifting finger 123 to and can the fore-and-aft regulation along the first direction, can adjust according to the size of container, and the interval of back shifting finger preceding shifting finger relatively is adjustable, and flexible fork stretches out different length when can realizing getting goods and delivering goods to the extension length of flexible fork is the same when avoiding getting goods and delivering goods, causes flexible fork to stretch out the overlength easily when the fork gets little packing box and causes the risk of collision with other goods shelves, container, personnel etc. to take place.

In some embodiments, the front finger 122 is rotatably disposed at the front end of the first telescopic member 121, and in particular, the front finger 122 is driven by a motor to rotate to a side of the first telescopic member 121 facing the accommodating space.

In some embodiments, referring to fig. 3, the first telescopic member 121 has a plurality of mounting positions 121a arranged at intervals along the first direction, and the rear finger 123 can be arranged on any one of the mounting positions 121 a. Specifically, can set up multiunit mounting hole along the first direction on first extensible member 121 orientation accommodation space one side, every group mounting hole can regard as an installation position 121a, and back group indicates 123 accessible fastener to install on arbitrary a set of mounting hole, and the interval of adjacent two sets of mounting holes can rationally set up according to the length of container. The mounting position 121a of the present application is not limited to the structure of the mounting hole, but may also be the structure of the card slot, and the rear finger 123 may also be clamped in the card slot.

In some embodiments, referring to fig. 4, the fork 12 further comprises a guide structure 121b and a locking member, wherein the guide structure 121b is disposed on the first telescopic member 121, the rear finger 123 is slidably disposed on the guide structure 121b, and the rear finger 123 is used for adjusting the relative position of the rear finger 123 and the front finger 122 according to the length dimension of the container in the first direction; a locking member is provided on the rear finger 123 for locking the rear finger 123 to the guide structure 121 b.

The rear shifting finger 123 can slide on the guide structure 121b, compared with the mode of arranging a plurality of installation positions 121a, the stepless adjustment of the distance between the rear shifting finger 123 and the front shifting finger 122 can be realized, after the adjustment to a preset position is carried out, the rear shifting finger 123 can be fixed on the guide structure 121b through locking, and the adjustment of the rear shifting finger 123 can be realized more quickly.

In some embodiments, the locking element may be, but is not limited to, a set screw, a handle with a threaded rod, or the like.

In some embodiments, guide structure 121b is any one of a runner, guide rod, or guide rail disposed on telescoping member 121.

In some embodiments, the locking element is threadably coupled to the rear finger 123 and may rest against the guide structure.

For example, a sliding groove along the telescopic direction may be disposed on a side of the first telescopic member 121 facing the accommodating space, the sliding groove may be, but is not limited to, a T-shaped groove, the rear finger 123 is provided with a T-shaped protrusion slidably disposed on the T-shaped groove, the locking member passes through the T-shaped protrusion and is in threaded connection with the rear finger 123, and an end of the locking member abuts against a wall surface of the T-shaped groove to fix the rear finger 123.

For example, a T-shaped nut may be provided in the T-shaped groove, and the rear finger 123 may be screwed to the nut in the T-shaped groove by a bolt.

For example, a sliding groove may be provided on the rear finger 123, the sliding groove may be slidably provided on the guide rod or the guide rail, a locking member is screwed on the rear finger 123, and an end of the locking member may pass through the sliding groove and abut against the guide rod or the guide rail.

In some embodiments, referring to fig. 5, the telescopic fork 12 further comprises a first driving part 126, the first driving part 126 is disposed on the first telescopic member 121, the rear finger 123 is connected to a driving end of the first driving part 126, and the first driving part 126 can drive the rear finger 123 to move relative to the first telescopic member 121 along a first direction.

In some embodiments, the first driving member 126 can drive the rear finger 123 to move in a first direction, and a guiding structure 121b can be disposed on the first telescopic member 121 to guide the rear finger 123 when the first driving member 126 drives the rear finger 123.

In some embodiments, the first driving part 126 includes any one of an electric push rod, a rack and pinion linear motion mechanism, a synchronous belt linear motion mechanism, a ball screw linear motion mechanism, or a linear module, and the driving end of the electric push rod is connected with the rear finger.

Exemplarily, the first driving part may be an electric push rod, a movable end of the electric push rod may be directly and fixedly connected to the rear finger 123, the electric push rod is fixedly installed on the first telescopic member 121, and the electric push rod drives the first telescopic member 121 to move along the first direction.

Illustratively, the first driving member 126 may be a rack and pinion linear motion mechanism (not shown in the drawings), the rack and pinion linear motion mechanism includes a gear, a rack, a first driving motor, a slider and a linear guide, the linear guide and the rack are respectively and fixedly mounted on the first telescopic member 121, the slider is slidably mounted on the linear guide, the rear finger 126 and the motor are respectively and fixedly connected with the slider, the motor is mounted on the slider, a gear is fixedly mounted on a shaft of the motor, the gear is engaged with the rack, and the rear finger 126 is driven by the motor to rotate so as to move along the first direction.

Illustratively, the first driving member 126 may be a timing belt linear motion mechanism, the timing belt linear motion mechanism includes a front synchronous wheel, a rear synchronous wheel, a second driving motor, and a timing belt, the front synchronous wheel and the rear synchronous wheel are rotatably mounted on the first telescopic member 121, the front synchronous wheel and the rear synchronous wheel are connected through a timing belt transmission, the second driving motor is connected with the front synchronous wheel and the rear synchronous wheel in a transmission manner, and the rear finger can be fixedly mounted on the timing belt to realize the movement along the first direction.

The ball screw linear motion mechanism comprises a nut, a screw rod, a third driving motor, a guide rail and a sliding block, and the ball screw linear motion mechanism is in the prior art and is not detailed in detail herein.

The linear module can be a synchronous belt linear module or a ball screw linear module, and the movable end of the linear module is fixedly connected with the rear finger 126. The linear module is a prior art, and the specific structure thereof is not described in detail, wherein the linear module has a motor, and the motor drives the movable end to move linearly.

First driver part 126 is electric putter in this application, can make simple structure compact to can carry out accurate control to the removal of back finger 123 through electric putter, and then can guarantee the interval of back finger 123 and preceding finger 122, thereby realize accessing the expectation of different length size.

In some embodiments, the first driving member 126 may also use a combination of the guiding structure 121b and a belt transmission to realize the linear movement of the rear finger 123 along the extending and retracting direction of the first telescopic member 121. For example, two synchronizing wheels may be rotatably disposed around the first telescopic element 121 in the telescopic direction, the two synchronizing wheels are connected through a synchronous belt drive, one of the synchronizing wheels is driven by a motor, the first telescopic element 121 is further provided with a guide structure 121b, the rear finger 123 is slidably disposed on the guide structure 121b and fixed on the synchronous belt, and the movement of the rear finger 123 may be achieved by controlling the forward and reverse rotation of the motor.

The first driving member 126 is exemplified above, but other configurations are possible, for example, a motor and a link are combined, a motor and a rack and pinion and guide structure 121b are combined to realize linear motion, and the first driving member 126 may be a linear motor directly driving the rear finger 123 to move, which is not illustrated here. The first driving part 126 of the present application is not limited to the above-listed structure.

In some embodiments, the box taking device 10 further includes a controller and an acquisition module disposed on the base 11, the acquisition module and the first driving component are respectively in communication connection with the controller, the acquisition module is configured to identify identification information of a container to be forked, and the controller is configured to determine a maximum length of the container to be forked according to the identification information and to control the first driving component to adjust a relative position of the rear finger and the front finger according to the maximum length.

For example, when the first driving member is a rack and pinion linear motion mechanism, a synchronous belt linear motion mechanism, a ball screw linear motion mechanism or a linear module, the motor of the first driving member may be in communication connection with the controller, and when the first driving member is an electric push rod, the control port of the electric push rod is in communication connection with the controller. Specifically, optionally, the motor may be a servo motor or a synchronous motor, and a servo driver of the servo motor or the synchronous motor is in communication connection with the controller.

The number of containers to be picked up by the telescopic fork 12 may be one or more. When the number of containers is one, the identification information may be the size of the length, width, and height of one container. When the number of containers is plural, the identification information may be the size of the length, width, and height of two containers. The controller can control the moving position of the rear shifting finger 123 relative to the front shifting finger 122 along the first direction according to the sum of the lengths of the containers to be forked, so that the distance between the rear shifting finger 123 and the front shifting finger 122 along the first direction can adapt to the maximum length of the containers to be forked, and the problem that the distance between the rear shifting finger 123 and the front shifting finger 122 along the first direction is too large or too small is avoided. The two containers may have the same or different length, width and height, and are not limited herein.

When the number of the containers is multiple, the multiple containers can be arranged side by side along the first direction or the second direction on the shelf.

When the containers are arranged side by side in the second direction, the controller may determine the distance between the rear finger 123 and the front finger 122 in the first direction according to the maximum length dimension (the dimension in the first direction) of the plurality of containers; when the containers are arranged side by side in the first direction, the controller may determine the distance between the rear finger 123 and the front finger 122 in the first direction according to the sum of the lengths (the dimension in the first direction) of the plurality of containers.

In some embodiments, the carton taking device 10 further includes an adjusting mechanism disposed on the base, the retractable forks on two sides of the base 11 are in transmission connection with the adjusting mechanism, so that the retractable forks 12 on two sides of the base 11 can move in opposite directions or move away from each other, the adjusting mechanism includes a first driving unit, the first driving unit is in communication connection with the controller, the controller is further configured to determine a maximum width of the container to be taken according to the identification information, and control the first driving unit to move according to the maximum width, so that the retractable forks on two sides of the base 11 move in opposite directions or move away from each other, and the distance between the retractable forks on two sides of the base 11 is adjusted.

When the number of the containers is multiple and the containers are placed side by side along the second direction, the controller may determine the distance between the telescopic forks on both sides of the base 11 according to the sum of the widths (the size along the second direction) of the containers; when the containers are arranged side by side in the first direction, the controller may determine the spacing of the telescopic forks 12 on both sides of the base 11 according to the size of the largest width among the plurality of containers (the size in the second direction).

In some embodiments, the acquisition module may be a 3D camera, a two-dimensional code recognition device or a barcode recognition device, may acquire the size of the container according to the two-dimensional code or barcode information on the two-dimensional code recognition device or barcode recognition device, and may also acquire the size of the container according to the 3D camera, and send the size information of the container to the controller, so as to adjust the position of the rear shift lever, wherein the electric push rods of different container sizes may have different preset telescopic lengths correspondingly. In the practical use process, the limitation of the height of the shelf can be received, the 3D camera can not acquire the size of the container in the length direction, and the two-dimensional code recognition equipment or the bar code recognition equipment is adopted to scan the bar code or the two-dimensional code on the container, so that the size information of the container can be read more conveniently. Therefore, a 3D camera, a two-dimensional code recognition device or a bar code recognition device can be reasonably selected according to the height of the actual shelf to read the size information of the container.

In some embodiments, the adjustment mechanism includes a first track assembly 127 and a first drive unit, the two telescopic forks 12 being slidably mounted on the first track assembly 127; the first driving unit is used for driving the two telescopic forks 12 to move in the second direction in a facing direction or a back-to-back direction so as to adjust the box taking size.

In some embodiments, referring to fig. 2 and 8, the first driving unit includes a driving motor 128 and a first timing belt assembly 129; the first timing belt assembly 129 includes a belt and two pulleys; two band pulleys interval sets up and connect through belt transmission, can divide into the belt first part belt and second part belt, and a flexible fork 12 fixed mounting is on first part belt, and another flexible fork 12 fixed mounting is on the second part belt, two flexible forks 12 fixed mounting are in the upper and lower both sides of belt promptly. For example, one telescopic fork 12 may be fixedly connected to a first belt portion of the first synchronous belt assembly 129 by using a first driving block, and the other telescopic fork 12 may be fixedly connected to a second belt portion of the first synchronous belt assembly 129 by using a second driving block, at this time, when the driving motor 128 drives the first synchronous belt assembly 129, the telescopic fork 12 on the first belt portion and the telescopic fork 12 on the second belt portion may be driven to move toward or away from each other along the second direction, so as to adjust the box-taking size of the telescopic fork 12.

The first guide rail assembly 127 is installed on the base 11, and may include two guide rails and two sets of slide blocks; the two sliding blocks in the first set of sliding blocks are respectively in sliding connection with the first guide rail and the second guide rail, and the two sliding blocks in the second set of sliding blocks are respectively in sliding connection with the first guide rail and the second guide rail; the first telescopic fork 12 is fixedly connected with the first set of sliding blocks and can slide on the first guide rail and the second guide rail through the first set of sliding blocks; the second telescopic fork 12 is fixedly connected with a second set of sliding blocks and can slide on the first guide rail and the second guide rail through the second set of sliding blocks.

The distance between the two telescopic pieces 121 can be adjusted, and the position of the rear shifting finger 123 can be adjusted along the telescopic direction of the telescopic fork 12, so that the box taking device 10 can adapt to the widths and the lengths of containers with different specifications, and the flexibility of the box taking device 10 in storing and taking the containers is improved.

In some embodiments, referring to fig. 6, the telescopic fork 12 further includes a transmission mechanism and a plurality of second telescopic members 121d, two adjacent second telescopic members 121d are slidably connected, the sliding direction of the plurality of second telescopic members 121d is the same, and the sliding direction of the plurality of second telescopic members 121d is arranged along the first direction a. That is to say, the structure that a plurality of second extensible member 121d slidable connection formed is similar to the slide rail structure on the drawer, but second extensible member 121d that is located the most inboard in accommodation space and first extensible member 121d slidable connection, first extensible member 121d and second extensible member 121d stretch out and draw back along first direction a, between two adjacent second extensible members and first extensible member 121d and the adjacent second extensible member of first extensible member are connected through a set of drive mechanism transmission respectively, can realize the linkage of first extensible member 121d and a plurality of second extensible member 121 d. Specifically, the transmission mechanism may be a synchronous belt transmission mechanism 124, which may include a synchronizing wheel and a synchronous belt, wherein two synchronizing wheels are rotatably disposed on each second expansion member 121d at two intervals, the two synchronizing wheels are connected through the synchronous belt transmission, and the synchronous belt of one second expansion member 121d is fixedly connected to another second expansion member of the second expansion member 121d slidably connected thereto. The outermost second telescopic member 121d of the two telescopic forks 12 may be fitted on the first and second partial belts of the first timing belt assembly 129. When the first expansion member 121d is extended, a plurality of second expansion members 121d (except for being installed at the first timing belt assembly 129) are simultaneously extended. The transmission mechanism may also be a rack and pinion transmission mechanism, that is, the two adjacent second telescopic members 121d realize linkage through rack and pinion transmission. The number of the second telescopic members 121d may also be one, that is, the first telescopic member 121d and the second telescopic member 121d are slidably connected along the first direction a to achieve the telescopic fork.

In some embodiments, referring to fig. 5, the telescopic fork 12 further comprises a second driving member 125, and the second driving member 125 is in transmission connection with the front finger 122 to drive the front finger 122 to rotate. Specifically, the second driving member 125 may include a motor, and a motor shaft is drivingly connected to the front finger 122.

When the first telescopic member 121 of the telescopic member 121 is forked out and enters two sides of the container, the front shifting finger 122 is located at the foremost end of the first telescopic member 121, the front shifting finger 122 swings to one side of the container under the driving of the second driving part 125, and the telescopic member 121 shifts the container into the accommodating space of the base 11 through the front shifting finger 122, so that the box taking work is completed.

In some embodiments, the box fetching device 10 further comprises a third driving component, and the third driving component can drive the first telescopic component 121 of the telescopic component 121 to extend out from the introducing port.

In some embodiments, referring to fig. 8, the third driving part may include a ball spline assembly, which is mounted on the base 11, including a first nut member 171, a second nut member 172, a spline shaft 173, a third driving unit 14, a second timing belt 15, a third timing belt 16, a first driving pulley 18, and a second driving pulley 19; a telescopic fork 12 is fixedly connected with a first driving belt wheel 18; the other telescopic fork 12 is fixedly connected with a second driving belt wheel 19; the first nut member 171 and the second nut member 172 are sleeved on the spline shaft 173; the first nut member 171 is fixedly connected to the first drive pulley 18; the second nut member 172 is fixedly connected to the second drive pulley 19. Illustratively, while the first drive unit drives the telescopic fork 12 to move in the second direction on the first rail assembly 127, the telescopic fork 12 may also move in the second direction on the spline shaft 173 via the first nut member 171; while the first driving unit drives the telescopic fork 12 to move in the second direction, the telescopic fork 12 can also move in the second direction on the spline shaft 173 by the second nut member 172. The third driving unit 14 is installed on the base 11 and can drive the spline shaft 173 to rotate, the spline shaft 173 can drive the first nut member 171 and the second nut member 172 to rotate, and the first nut member 171 drives the telescopic fork 12 to complete the telescopic action through the first driving pulley 18; the second nut drives the second telescopic fork 12 to complete the telescopic action through the second driving belt wheel 19. Specifically, the third driving unit 14 is connected to a second synchronous belt 15 assembly, the second synchronous belt 15 assembly is connected to a spline shaft 173, the spline shaft 173 is connected to a third synchronous belt 16 assembly, and an expansion part 121 is fixedly connected to the third synchronous belt 16 assembly; a multi-stage guide rail assembly is mounted on the telescopic member 121; when the third driving unit 14 drives the second synchronous belt 15 assembly, the second synchronous belt 15 assembly drives the spline shaft 173 to rotate, the spline shaft 173 rotates to drive the first nut member 171 and the second nut member 172 to rotate respectively, and the first nut member 171 and the second nut member 172 rotate to drive the telescopic fork 12 on the third synchronous belt 16 assembly to extend and retract along the horizontal direction perpendicular to the second direction on the multistage guide rail assembly.

In some embodiments, the third driving member may be in driving connection with a transmission mechanism to realize the telescopic movement of the telescopic fork 12, and in particular, the third driving member includes a motor in driving connection with the transmission mechanism. When the transmission mechanism is a structure including the synchronous belt and the synchronous wheel, the motor may be in transmission connection with one synchronous wheel on the telescopic fork 12. When the transmission mechanism is in a structure comprising the gear and the rack, the motor can be in transmission connection with the rack.

Referring to fig. 6-8, the box taking device 10 further includes a second rail assembly 101, a second driving unit 102, a second rail assembly 101, and a follower frame 103.

The second guide rail assembly 101 is installed on the base 11, and may include at least one guide rail and at least one set of sliding blocks; the length direction of the second rail assembly 101 is parallel to the telescopic direction of the telescopic fork 12. Two sliding blocks in the third set of sliding blocks are respectively connected with the third guide rail and the fourth guide rail in a sliding manner; two sliding blocks in the fourth set of sliding blocks are respectively in sliding connection with the third guide rail and the fourth guide rail; the follow-up frame 103 is fixedly connected with the third set of sliding blocks and the fourth set of sliding blocks, and can slide along the telescopic direction of the telescopic fork 12 on the third guide rail and the fourth guide rail through the third set of sliding blocks and the fourth set of sliding blocks.

The second driving unit 102 is used for pulling the follower frame 103 to extend out of the base 11 along the extension and retraction direction of the telescopic fork when the first telescopic fork 12 and the second telescopic fork 12 extend out; the rear finger 123 is used to push the follower frame 103 to retract to the position where the follower frame 103 is located when the telescopic fork 12 mechanism does not work when the first telescopic fork 12 and the second telescopic fork 12 retract. Specifically, the second driving unit 102 maintains the pulling force acting on the follower carriage 103 when the telescopic fork 12 mechanism is not in operation, and pulls the follower carriage 103 to move on the second rail assembly 101 along the telescopic direction of the telescopic fork when the embracing fork assembly is extended, and limits the extending stroke of the follower carriage 103 through a fixing element arranged on the base 11; when the holding fork assembly retracts, the rear shifting finger 123 is used for driving the follow-up frame 103 to retract to the position of the follow-up frame 103 under the condition that the telescopic fork 12 mechanism does not work. For example, the second driving unit 102 may be designed in the form of a spring, one end of which is fixed on the base 11, and the other end of which is fixedly connected to the follower frame 103, and the spring is always kept in a tension form in the state that the telescopic fork 12 mechanism is not operated; when the holding fork assembly extends, the spring pulls the following frame 103, and the fixed stroke of the following frame 103 along the telescopic direction of the telescopic fork is limited by the fixing element, and the fixed stroke can be set according to actual requirements, which is not limited by the embodiment of the disclosure. When the holding fork assembly retracts, the rear finger 123 can be used to push the following frame 103 until the following frame 103 is pushed back to the initial position, that is, the position of the following frame 103 under the condition that the telescopic fork 12 mechanism does not work.

By providing the follower frame 103, the telescopic fork 12 can be prevented from falling from the gap between the rack and the box taking device 10 when the target container size hooked by the telescopic fork is small when retracted.

When the length of container is less, can reduce back thumb 123 and preceding thumb 122's interval, back thumb 123 is adjusted to preceding thumb 122 one side promptly, and the extension length of telescopic fork 12 can be reduced to the container of access on the goods shelves to telescopic fork 12, avoids telescopic fork 12 to stretch out the overlength and touch goods shelves, container, personnel etc..

According to the utility model discloses an embodiment provides a logistics robot, get case device 10 including the aforesaid.

The logistics robot further comprises a controller, an electric push rod and an acquisition module of the box taking device are respectively in communication connection with the controller, and the electric push rod adjusts the self telescopic length through size information received by the controller.

Can dial after the size automatically regulated of container and the interval of preceding finger, compare with manual regulation, it is more intelligent.

In some embodiments, referring to fig. 9, the logistics robot may further include a chassis 40, a gantry 30, a lifting mechanism, and a plurality of parcel plates 31. Wherein, the door frame 30 is arranged on the chassis 40; a plurality of object placing plates 31 are arranged on the door frame 30 at intervals along the vertical direction, and the object placing plates 31 are used for storing the fork-taking containers; the lifting mechanism is arranged on the door frame 30, the box taking device 10 is rotatably arranged on the lifting mechanism, the rotation axis of the box taking device 10 on the lifting mechanism is vertically arranged, and the lifting mechanism is used for driving the box taking device 10 to move up and down.

The lifting mechanism can provide power for the box taking device 10 to move in the vertical direction.

Specifically, the lifting mechanism can include a lifting frame and a lifting transmission mechanism, the lifting frame can be vertically slidably arranged on the door frame 30, and the lifting frame can be driven by the lifting transmission mechanism to move up and down on the door frame 30.

In some embodiments, the lifting transmission mechanism includes a chain, a lifting motor, a driving sprocket and a driven sprocket, the driving sprocket and the driven sprocket are correspondingly disposed at the bottom and the top of the gantry 30, the driving sprocket and the driven sprocket are connected by the chain transmission, the driving sprocket is driven by the lifting motor, and the lifting frame is fixedly disposed on the chain.

In some embodiments, referring to fig. 7, the logistics robot further comprises a swing mechanism disposed on the lifting frame and in transmission connection with the base 11 for driving the base 11 to swing along a vertical axis. So that the introduction port can be directed toward the storage plate 31.

Specifically, the swing mechanism may include a swing timing belt 51, a swing driving motor 128 and two swing timing wheels, wherein one swing timing wheel is fixedly disposed on the lifting frame, the other swing timing wheel is disposed on the base 11 and is in transmission connection with the swing motor, the motor is mounted on the base 11, and the two swing timing wheels are in transmission connection through the timing belt. After the goods can be taken from the container on the goods shelf by the driving of the motor, the container on the holding fork assembly is placed on the object placing plate 31. Specifically, after the container on the goods shelf is hooked to the box taking device 10 by the fork holding assembly, the rotary motor drives the base 11 to rotate on the lifting frame, so that the introducing port rotates towards one side of the object placing plate 31, and a plurality of containers which are forked can be placed on the object placing plate 31 at different heights through the lifting mechanism, so that the robot can take goods for multiple times.

In an embodiment, the revolving structure may also realize the revolving of the base 11 through a gear pair transmission structure, wherein the gear pair is driven by a revolving motor.

The chassis 40 is a traveling member having driving wheels for driving the gantry 30 to move. The chassis 40 may be a robot chassis of the prior art and will not be described in detail herein.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A carton taking device is characterized by comprising:

a base;

the telescopic fork is arranged on two opposite sides of the base respectively, the base and the telescopic fork surround to form a containing space for containing a container, the telescopic fork comprises a first telescopic piece, a front shifting finger and a rear shifting finger, and the telescopic fork can be stretched back and forth along a first direction; along the first direction, the front shifting finger can be movably arranged at the front end of the first telescopic piece and can move to one side of the first telescopic piece facing the accommodating space; along the first direction, the back shifting finger is arranged on one side, facing the accommodating space, of the first telescopic piece and is arranged at an interval with the front shifting finger, and the mounting position of the back shifting finger on the first telescopic piece along the first direction is adjustable so as to adjust the distance between the back shifting finger and the front shifting finger.

2. The carton taking device according to claim 1, wherein the first telescopic member is provided with a plurality of mounting positions arranged at intervals along the first direction, and the rear finger is selectively arranged on any one of the mounting positions.

3. The carton retrieving device of claim 1, wherein the telescopic fork further comprises:

the guide structure is arranged on the first telescopic piece, the rear shifting finger is arranged on the guide structure in a sliding mode, and the relative position of the rear shifting finger and the front shifting finger is adjusted according to the length size of the container along the first direction;

4. A carton taking device according to claim 3, wherein the guiding structure is any one of a sliding groove, a guide rod and a guide rail provided on the first telescopic member.

5. A container pick device as claimed in claim 3, wherein the locking member is threadedly connected to the rear finger and is adapted to abut against the guide formation.

6. The carton retrieving device of claim 1, wherein the telescopic fork further comprises:

7. The carton taking device according to claim 6, wherein the first driving part comprises any one of an electric push rod, a rack and pinion linear motion mechanism, a synchronous belt linear motion mechanism, a ball screw linear motion mechanism or a linear module, and a driving end of the electric push rod is connected with the rear shifting finger.

8. The carton taking device according to claim 6, further comprising a controller and an acquisition module disposed on the base, wherein the acquisition module and the first driving component are respectively in communication connection with the controller, the acquisition module is configured to identify identification information of the container to be forked, and the controller is configured to determine a maximum length of the container to be forked according to the identification information and control the first driving component to adjust a relative position of the rear finger and the front finger according to the maximum length.

9. The box taking device according to claim 8, further comprising an adjusting mechanism disposed on the base, wherein the telescopic forks on two sides of the base are in transmission connection with the adjusting mechanism, so that the telescopic forks on two sides of the base can move towards or away from each other, the adjusting mechanism comprises a first driving unit, the first driving unit is in communication connection with the controller, and the controller is further configured to determine a maximum width of the container to be taken by forking according to the identification information, and control the first driving unit to move according to the maximum width, so that the telescopic forks on two sides of the base move towards or away from each other, so as to adjust a distance between the telescopic forks on two sides of the base.

10. The box taking device according to claim 8, wherein the acquisition module is a two-dimensional code recognition device or a bar code recognition device.

11. A logistics robot, comprising: a carton retrieval device as claimed in any one of claims 1 to 10.