WO2022057169A1 - 载物组件及搬运机器人 - Google Patents

载物组件及搬运机器人 Download PDF

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Publication number
WO2022057169A1
WO2022057169A1 PCT/CN2021/070885 CN2021070885W WO2022057169A1 WO 2022057169 A1 WO2022057169 A1 WO 2022057169A1 CN 2021070885 W CN2021070885 W CN 2021070885W WO 2022057169 A1 WO2022057169 A1 WO 2022057169A1
Authority
WO
WIPO (PCT)
Prior art keywords
carrier
arm
load
clamping
rotating shaft
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2021/070885
Other languages
English (en)
French (fr)
Inventor
邹扬威
潘胜
王馨浩
何云迪
杨威
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Quicktron Intelligent Technology Co Ltd
Original Assignee
Shanghai Quicktron Intelligent Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202022086578.7U external-priority patent/CN213200764U/zh
Priority claimed from CN202022086696.8U external-priority patent/CN213649438U/zh
Application filed by Shanghai Quicktron Intelligent Technology Co Ltd filed Critical Shanghai Quicktron Intelligent Technology Co Ltd
Priority to US17/799,908 priority Critical patent/US12187489B2/en
Priority to AU2021345623A priority patent/AU2021345623B2/en
Priority to JP2022536651A priority patent/JP7427789B2/ja
Priority to EP21868010.6A priority patent/EP4079657A4/en
Publication of WO2022057169A1 publication Critical patent/WO2022057169A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D19/00—Pallets or like platforms, with or without side walls, for supporting loads to be lifted or lowered
    • B65D19/38—Details or accessories
    • B65D19/44—Elements or devices for locating articles on platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D19/00—Pallets or like platforms, with or without side walls, for supporting loads to be lifted or lowered
    • B65D19/38—Details or accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D2519/00—Pallets or like platforms, with or without side walls, for supporting loads to be lifted or lowered
    • B65D2519/00004—Details relating to pallets
    • B65D2519/00009—Materials
    • B65D2519/00014—Materials for the load supporting surface
    • B65D2519/00019—Paper
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D2519/00—Pallets or like platforms, with or without side walls, for supporting loads to be lifted or lowered
    • B65D2519/00004—Details relating to pallets
    • B65D2519/00009—Materials
    • B65D2519/00014—Materials for the load supporting surface
    • B65D2519/00024—Metal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D2519/00—Pallets or like platforms, with or without side walls, for supporting loads to be lifted or lowered
    • B65D2519/00004—Details relating to pallets
    • B65D2519/00009—Materials
    • B65D2519/00014—Materials for the load supporting surface
    • B65D2519/00029—Wood
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D2519/00—Pallets or like platforms, with or without side walls, for supporting loads to be lifted or lowered
    • B65D2519/00004—Details relating to pallets
    • B65D2519/00009—Materials
    • B65D2519/00014—Materials for the load supporting surface
    • B65D2519/00034—Plastic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D2519/00—Pallets or like platforms, with or without side walls, for supporting loads to be lifted or lowered
    • B65D2519/00004—Details relating to pallets
    • B65D2519/00258—Overall construction
    • B65D2519/00263—Overall construction of the pallet
    • B65D2519/00273—Overall construction of the pallet made of more than one piece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D2519/00—Pallets or like platforms, with or without side walls, for supporting loads to be lifted or lowered
    • B65D2519/00004—Details relating to pallets
    • B65D2519/00258—Overall construction
    • B65D2519/00283—Overall construction of the load supporting surface
    • B65D2519/00288—Overall construction of the load supporting surface made of one piece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D2519/00—Pallets or like platforms, with or without side walls, for supporting loads to be lifted or lowered
    • B65D2519/00004—Details relating to pallets
    • B65D2519/00258—Overall construction
    • B65D2519/00283—Overall construction of the load supporting surface
    • B65D2519/00293—Overall construction of the load supporting surface made of more than one piece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D2519/00—Pallets or like platforms, with or without side walls, for supporting loads to be lifted or lowered
    • B65D2519/00004—Details relating to pallets
    • B65D2519/00258—Overall construction
    • B65D2519/00313—Overall construction of the base surface
    • B65D2519/00318—Overall construction of the base surface made of one piece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D2519/00—Pallets or like platforms, with or without side walls, for supporting loads to be lifted or lowered
    • B65D2519/00004—Details relating to pallets
    • B65D2519/00258—Overall construction
    • B65D2519/00313—Overall construction of the base surface
    • B65D2519/00328—Overall construction of the base surface shape of the contact surface of the base
    • B65D2519/00348—Overall construction of the base surface shape of the contact surface of the base contact surface of other form
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D2519/00—Pallets or like platforms, with or without side walls, for supporting loads to be lifted or lowered
    • B65D2519/00004—Details relating to pallets
    • B65D2519/00736—Details
    • B65D2519/00776—Accessories for manipulating the pallet
    • B65D2519/00781—Accessories for manipulating the pallet for moving on a surface, e.g. wheels, pads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D2519/00—Pallets or like platforms, with or without side walls, for supporting loads to be lifted or lowered
    • B65D2519/00004—Details relating to pallets
    • B65D2519/00736—Details
    • B65D2519/0081—Elements or devices for locating articles
    • B65D2519/00815—Elements or devices for locating articles on the pallet

Definitions

  • the present application relates to the technical field of automation equipment, and in particular, to a load-carrying assembly and a handling robot.
  • the handling robot is basically equipped with a loading platform for placing the goods.
  • the goods are usually placed directly on the loading platform, which makes the goods less smooth when the road surface is uneven or the transporting speed of the handling robot is fast. It is easy to fall off the load platform, thereby reducing the carrying efficiency.
  • Embodiments of the present application provide a load component and a handling robot to solve or alleviate one or more technical problems in the related art.
  • the embodiments of the present application provide a carrier assembly, including:
  • the load-carrying member including two opposing boundary portions
  • the clip carrier is arranged on the two boundary parts, and is rotatably connected with the carrier member;
  • the clip carrier is respectively provided with a carrier and a jaw on both sides of the rotating shaft;
  • the load-carrying member when the load-carrying member is empty, the load-carrying member is at least partially higher than the load-bearing surface of the load-carrying member; when the load-carrying member is loaded, the load-bearing member is not higher than the load-bearing face and the clamping jaw is higher than the load-bearing face.
  • the object-carrying member is an object-carrying plate
  • the two opposite boundary portions are two opposite side edges of the object-carrying plate
  • the two opposite side edges of the object-carrying plate are respectively provided with at least one installation groove
  • the clip The carrier is arranged in the installation groove and is rotatably connected with the groove wall of the installation groove.
  • the load-carrying member is at least one load-carrying arm
  • the two opposite boundary portions are the ends of the load-carrying arm
  • the distance between the rotation shaft and the end of the carrier is smaller than the distance between the rotation shaft and the end of the clamping jaw; or, the center of gravity of the clamping carrier is disposed away from the rotation shaft.
  • the center of gravity of the clip carrier is set at the end of the clip carrier away from the rotating shaft.
  • the clamping jaw includes a bearing portion and a clamping portion, the bearing portion and the bearing member are coplanar, and the clamping portion protrudes from the surface of the bearing portion from the end of the bearing portion away from the rotating shaft.
  • the top of the clamping portion is formed with a first inclined surface, and the first inclined surface is inclined downward from the top of the clamping portion to the side where the carrier is located.
  • an accommodating port that communicates with the mounting groove is further opened on the carrier plate, and a first shaft hole is provided on the outer wall of the clip carrier;
  • the carrier assembly further includes a mounting seat, and the mounting seat includes upper and lower mounted
  • the convex part and the cushion part the convex part is accommodated in the accommodating opening, the convex part is provided with a second rotating shaft hole opposite to the first rotating shaft hole, the cushion part is installed on the object carrier; the rotating shaft is inserted into the first rotating shaft hole and the second rotating shaft hole shaft hole.
  • the clip carrier is provided with at least one weight reduction groove.
  • the carrier assembly further includes:
  • the limiter is arranged below the installation groove and close to the clamping jaw to limit the rotation position of the clamping jaw when it is unloaded.
  • the carrier assembly further includes:
  • booster columns are arranged close to the top corners of the object carrier and the tops are respectively connected with the bottom surface of the object carrier;
  • the chassis is connected with the bottom ends of the plurality of raised columns.
  • the end of the carrier arm is provided with an installation opening, and the clip carrier is arranged in the installation opening.
  • an accommodating port that communicates with the mounting port is opened on the carrier arm, and a first shaft hole is provided on the outer wall of the clip carrier;
  • the carrier assembly further includes a mounting seat, and the mounting seat includes protrusions arranged up and down
  • the convex part is accommodated in the accommodating opening, the convex part is provided with a second rotating shaft hole opposite to the first rotating shaft hole, the cushion part is installed on the object board; the rotating shaft is inserted into the first rotating shaft hole and the second rotating shaft hole.
  • the carrier assembly further includes:
  • the first limiter is arranged below the load arm and close to the clamping jaw to limit the rotation position of the clamping jaw when it is unloaded;
  • the second limiter the second limiter is arranged in the middle of the top surface of the carrier arm, the top of the second limiter is formed with a second inclined surface, and the second inclined surface is directed to the load from the top of the second limiter
  • the inside of the arm slopes down diagonally.
  • an oblong mounting hole is provided in the middle of the object carrier arm along the width direction of the object carrier arm, and the second limiting member is mounted at any position in the oblong mounting hole.
  • the carrier assembly further includes:
  • the rubber pad is arranged on the top surface of the object-carrying arm, and the shape of the rubber pad matches the shape of the top surface of the object-carrying arm.
  • the carrier assembly further includes:
  • booster columns are arranged close to the end of the loading arm, and the top of the booster column is connected with the bottom surface of the loading arm;
  • the chassis is connected with the bottom ends of the plurality of raised columns.
  • the embodiments of the present application provide a handling robot, including the load-carrying assembly of any one of the foregoing embodiments.
  • the cargo-carrying assembly according to the embodiment of the present application can prevent the cargo from falling off due to factors such as uneven ground or too fast carrying speed, and can improve the carrying efficiency.
  • FIG. 1A shows a schematic structural diagram of a carrier assembly according to an embodiment of the present application
  • FIG. 1B shows a schematic diagram of the arrangement of the clip carrier in FIG. 1A in the installation groove
  • FIG. 1C shows a schematic structural diagram of the clip carrier in FIG. 1A
  • Figure 1D shows a schematic structural diagram of the mounting seat in Figure 1A;
  • FIG. 2A shows a schematic diagram of the action of the load assembly before the cargo is loaded
  • FIG. 2B shows a schematic diagram of the action of the cargo assembly in cargo loading
  • FIG. 2C shows a schematic diagram of the action of the cargo assembly when the cargo is loaded
  • FIG. 3A shows a schematic exploded perspective view of a carrier assembly according to another embodiment of the present application.
  • Figure 3B shows a schematic structural diagram of the clip carrier in Figure 3A;
  • Figure 3C shows a schematic structural diagram of the second limiting member in Figure 3A
  • Figure 3D shows a schematic structural diagram of the mounting seat in Figure 3A
  • Figure 4A shows a schematic diagram of the action of the clip carrier before the cargo is loaded
  • Figure 4B shows a schematic diagram of the action of the clip carrier after the cargo is loaded
  • Figure 4C shows a schematic diagram of the position between the cargo and the second limiting member before the cargo is loaded
  • 4D shows a schematic diagram of the position between the cargo and the second limiting member after the cargo is loaded
  • FIG. 5 shows a schematic structural diagram of a handling robot according to an embodiment of the present application.
  • Embodiments of the present application provide a load-carrying assembly and a handling robot, wherein the load-carrying assembly includes a load-carrying member and a clamping member.
  • the carrier member includes two opposite boundary portions, and the clip carrier is disposed on the two boundary portions of the carrier member and is rotatably connected with the carrier member; the carrier member and the clip carrier are respectively provided on both sides of the rotating shaft.
  • the load-carrying member when the load-carrying member is empty, the load-carrying member is at least partially higher than the load-bearing surface of the load-carrying member, which is conducive to loading the goods; when the load-carrying member is loaded, the load-bearing member is not higher than the load-bearing surface and the clamping jaw is higher than the load-bearing surface, It is beneficial for the carrier and the load-carrying member to jointly carry the goods and the clamping jaws to fix the goods on the load-carrying member, preventing the goods from falling off due to uneven carrying ground or fast carrying speed, which can improve the carrying efficiency.
  • FIG. 1A shows a schematic structural diagram of a carrier assembly according to an embodiment of the present application.
  • FIG. 1B shows a schematic diagram of the arrangement of the clip carrier in the installation slot in FIG. 1A .
  • FIG. 1C shows a schematic structural diagram of the clip carrier in FIG. 1A .
  • FIG. 1D shows a schematic structural diagram of the mount in FIG. 1A .
  • the carrier member in the carrier assembly 100 may be the carrier board 110 , and the two opposite boundary portions of the carrier member are the two opposite side edges of the carrier board 110 .
  • 100 may include: a carrier plate 110 and a plurality of clip carriers 120 .
  • the loading board 110 is used for placing goods.
  • the top surface of the loading board 110 is a bearing surface.
  • the goods are placed on the bearing surface of the loading board 110 .
  • the type of the object carrier 110 may be a tray, and preferably, the object carrier 110 may be a flat tray and a column tray.
  • the material of the object board 110 can be materials such as rubber and plastic, which have the characteristics of light weight, wear resistance, water resistance, anti-skid and elasticity, etc.
  • the material of the object board 110 can also be metal materials, wood materials and paper materials etc., the material of the object carrier 110 can be adjusted or selected according to actual needs, and the material of the object carrier 110 is not limited in this embodiment of the present application.
  • At least one mounting slot 111 is respectively provided on two opposite side edges of the object carrier 110 .
  • the object carrier 110 can be rectangular, the installation grooves 111 can be arranged on the edges of the two short sides of the object carrier 110, and the installation grooves 111 can also be arranged on the edges of the two long sides of the object carrier 110; the object carrier 110 Shapes such as circles, parallelograms, and ellipses with opposite side edges are also possible.
  • One or more mounting grooves 111 may be disposed on each side edge of the object carrier 110 , and the mounting grooves 111 provided on two opposite side edges of the object carrier 110 may be disposed opposite to each other. For example, in FIG.
  • a mounting groove 111 is provided on each of the two opposite side edges of the carrier plate 110 , and the mounting grooves 111 on the two opposite side edges are arranged oppositely, which is beneficial to the opposite setting of the clip carriers 120 .
  • the shape of the object carrier 110 , the number of the installation grooves 111 , and the installation position of the installation grooves 111 can be adjusted and selected according to actual needs, which are not limited in this embodiment of the present application.
  • the clip carrier 120 is disposed in the installation slot 111 and is rotatably connected with the groove wall of the installation slot 111 ; That is, when the carrier 121 sinks, the clamping jaw 122 rises; when the clamping jaw 122 sinks, the carrier 121 rises.
  • the carrier 121 can be disposed close to the bottom side 111A of the installation groove 111, and the clamping jaws 122 can be disposed close to the notch side 111B of the installation groove 111. In this way, when the loading plate 110 is loaded, the clamping jaws 122 are opposite to the side wall of the goods.
  • the clamping jaws 122 can hook the bayonet at the bottom of the goods to fix the goods on the bearing surface of the loading plate 110 to prevent the goods from falling off; further, the clamping jaws
  • the 122 can be located inside the notch side 111B of the installation slot 111, which is beneficial for holding smaller-sized goods; the clamping jaws 122 can also extend out of the notch side 111B of the installation slot 111, which is beneficial for clamping larger-sized goods.
  • the carrier 121 can also be disposed close to the notch side 111B of the installation groove 111, and the clamping jaws 122 can also be disposed close to the groove bottom side 111A of the installation groove 111. In this way, when the cargo plate 110 is loaded with goods, the clamping jaws 122 can be hooked. Hold the bayonet on the bottom of the cargo, and fix the cargo on the bearing surface of the cargo board 110 to prevent the cargo from being detached.
  • the end of the carrier 121 away from the clamping jaw 122 can be located inside the notch side 111B of the installation groove 111, which is beneficial to carry small-sized goods; the end of the carrier 121 away from the clamping jaw 122 can extend out of the installation groove
  • the notch side 111B of 111 is favorable for carrying larger-sized goods.
  • the carrier 121 when the object carrier 110 is empty, the carrier 121 is at least partially higher than the bearing surface of the object carrier 110; when the object carrier 110 is loaded, the carrier 121 is not higher than the bearing surface and the clamping jaws 122 are higher than the bearing surface .
  • the clamping member 120 takes the rotating shaft 130 as a fulcrum to generate inclination through the principle of leverage: the clamping jaw 122 sinks so as to be at least partially lower than the bearing surface of the loading plate 110, and the clamping jaw 122 is The sinking will drive the carrier 121 to rise, so that the carrier 121 is at least partially higher than the bearing surface of the object carrier 110 .
  • the carrier plate 110 when the carrier plate 110 is empty, if the carrier 121 is disposed close to the groove bottom side 111A of the installation groove 111 and the clamping jaws 122 are disposed close to the notch side 111B of the installation groove 111 , the carrier 121 is away from the position of the rotating shaft 130 . The end is raised and the end of the clamping jaw 122 away from the rotating shaft 130 is lowered, so that the clamping carrier 120 is inclined outward; If the side 111A is provided, the clip carrier 120 is inclined inward.
  • the end of the carrier 121 away from the rotating shaft 130 is rotated towards the direction close to the bearing surface of the cargo board 110 under the action of the gravity of the cargo, and gradually coplanar with the bearing surface of the cargo board 110 or
  • the carrier 121 also drives the gripper 122 to rotate towards the direction close to the bearing surface of the object carrier 110, so that the gripper 122 is higher than the object carrier 110 to fix the side wall 152 or the bottom of the goods, realize automatic clamping and protection of the goods, prevent the goods from falling off due to uneven road surface or fast carrying speed, thereby improving the carrying efficiency of goods.
  • the distance between the rotating shaft 130 and the end of the carrier 121 is smaller than the distance between the rotating shaft 130 and the end of the clamping jaw 122 .
  • the loading plate 110 can be empty.
  • the clamping member 120 takes the rotating shaft 130 as a fulcrum and relies on its own gravity to naturally incline downward toward the side where the clamping jaw 122 is located, the clamping jaw 122 naturally sinks and the bearing member 121 naturally rises, which is beneficial to the loading plate 110 Load cargo.
  • the center of gravity of the clamping member 120 is set away from the rotating shaft 130, so that the clamping member 120 can be naturally inclined downward by its own gravity with the rotating shaft 130 as the fulcrum when the loading plate 110 is empty, so that the clamping member 120 can be naturally inclined downward by its own gravity.
  • the claw 122 naturally sinks, and the carrier 121 naturally rises, which facilitates loading of goods on the loading board 110 .
  • the center of gravity of the clip carrier 120 is set at the end of the clip carrier 120 away from the rotating shaft 130 .
  • the center of gravity of the clamping member 120 can be set at the end of the clamping jaw 122 , then when the loading plate 110 is empty, the clamping member 120 can naturally tilt toward the side where the clamping jaw 122 is located by relying on its own weight with the rotating shaft 130 as the fulcrum. It is inclined downward, so that the clamping jaws 122 are naturally lowered, and the carrier 121 is naturally raised, which is favorable for loading goods on the loading board 110 .
  • the clamping jaw 122 includes a bearing portion 122A and a clamping portion 122B, the bearing portion 122A and the bearing member 121 are coplanar, and the clamping portion 122B protrudes from the bearing portion 122A from the end of the bearing portion 122A away from the rotating shaft 130 surface. Specifically, the clamping portion 122B protrudes toward the bearing surface of the loading board 110 .
  • the bearing portion 122A can carry the goods together with the carrier 121 and the loading board 110
  • the clamping portion 122B is convex. Due to the bearing surface of the cargo board 110 , the side wall 152 or the bottom of the cargo can be fixed on the cargo board 110 to prevent the cargo from falling off.
  • the top of the clamping portion 122B is formed with a first inclined surface 122C, and the first inclined surface 122C is inclined downward from the top of the clamping portion 122B to the side where the carrier 121 is located, which is beneficial for the goods to move along the first inclined surface 122C.
  • An inclined surface 122C slides to the top surface of the carrier plate 110 to prevent the goods from being misplaced or stuck.
  • the loading plate 110 is further provided with an accommodating port 112 that communicates with the mounting groove 111 , and the outer wall of the clamping member 120 is provided with a first shaft hole 123 ;
  • the loading assembly 100 further includes a mounting seat 140
  • the mounting seat 140 includes a convex portion 141 and a pad portion 142 arranged up and down.
  • the convex portion 141 is accommodated in the accommodating port 112.
  • the convex portion 141 is provided with a second shaft hole 143 opposite to the first shaft hole 123.
  • the shaft 130 is inserted into the first shaft hole 123 and the second shaft hole 143 . In this way, the clip carrier 120 can be rotated with the rotating shaft 130 as a fulcrum, so as to load and unload the goods.
  • two sides of the pad portion 142 are provided with mounting holes 144 , so that the pad portion 142 can be mounted under the object carrier plate 110 .
  • the clip carrier 120 is provided with at least one weight reduction groove 124 .
  • a weight-reducing groove 124 may be formed on the clip carrier 120 on the bottom side 111A of the slot near the installation slot 111 and the slot side 111B near the installation slot 111 to reduce the weight of the carrier assembly 100 .
  • the thickness of the wall of the weight-reducing groove 124 near the rotating shaft 130 may be greater than that at other positions, which can increase the wear resistance of the wall of the weight-reducing groove 124 and prolong the service life of the clamping member 120 .
  • the load-carrying assembly 100 may further include a limiter, and the limiter is disposed below the installation groove 111 and close to the clamping jaw 122 to limit the rotational position of the clamping jaw 122 when it is not loaded.
  • the limiting member can be a limiting slot 150 , the bottom wall 151 of the limiting slot 150 is parallel to the object carrier 110 , the side wall 152 of the limiting slot 150 is perpendicular to the object carrier 110 , and the side wall 152 of the limiting slot 150 is perpendicular to the object carrier 110 .
  • a connecting portion 153 is formed by extending outward from the top of the upper portion, and the connecting portion 153 is used for connecting with the bottom surface of the object carrier board 110 to install the limiting groove 150 on the object carrier board 110 .
  • the bottom of the clamping member 120 abuts against the bottom wall 151 of the limiting groove 150, which can limit the rotation position of the clamping jaws 122 and prevent the clamping jaws 122 from rotating excessively and hindering the loading and unloading of goods .
  • the object carrier assembly 100 may further include a plurality of booster columns 160 , the booster columns 160 are disposed near the top corners of the object carrier plate 110 and the top ends are respectively connected to the bottom surface of the object carrier plate 110 .
  • the object carrier 110 is rectangular, the spacer posts 160 are disposed near the four top corners of the object carrier 110 and are connected with the bottom surface of the object carrier 110 .
  • the plurality of booster posts 160 can boost the carrier plate 110 .
  • the carrier assembly 100 may further include a chassis 170 connected to the bottom ends of the plurality of booster columns 160 to support the booster columns 160 and make the loading plate 110 more stable, and also It is advantageous to install the chassis 170 on the handling robot.
  • FIG. 2A to FIG. 2C take the carrier of the clip carrier 120 disposed close to the groove bottom side 111A of the installation groove 111 and the clamping jaw 122 disposed close to the notch side 111B of the installation groove 111 as an example, The loading process of cargo loading by using the cargo loading assembly of the embodiment of the present application will be described.
  • the clamping member 120 uses the rotating shaft 130 as a fulcrum under the action of its own gravity. It is tilted outward so that the clamps 120 are in a released state, facilitating loading of the cargo 200 on the pallet 110 .
  • the cargo 200 presses the end of the clamping member 120 and the bearing member 121 away from the rotating shaft 130 , so that the bearing member 121 rotates toward the direction close to the loading board 110 and gradually engages with the loading board 110 .
  • the carrier 121 drives the clamping jaws 122 to rotate toward the direction close to the object carrier 110, so that the bearing portion 122A of the clamping jaws 122 is also coplanar with the bearing surface of the object carrier 110, and then the object carrier 110.
  • the carrier 121 and the carrier portion 122A of the clamping jaw 122 jointly carry the cargo 200, and the clamping portion 122B of the clamping jaw 122 protrudes from the bearing surface of the carrier plate 110 to clamp the side wall of the cargo 200.
  • the loading plate 110 , the carrier 121 and the bearing portion 122A of the clamping jaw 122 in the loading assembly 100 are kept in a coplanar state to jointly carry the cargo 200 , and the clamping portion 122B of the clamping jaw 122 protrudes on the bearing surface of the cargo board 110 to keep the side wall of the cargo 200 clamped.
  • the automatic loading of the goods can be realized without using a pneumatic device or a hydraulic device to clamp and fix the goods, which can reduce the loading cost and improve the loading efficiency.
  • the unloading process of the cargo 200 is opposite to the loading process of the cargo 200, and details are not described herein again. It should be noted that, when the cargo 200 is unloaded, since the clamping member 120 relies on its own gravity to tilt outward with the rotating shaft 130 as a fulcrum when the cargo 200 leaves the loading board 110, there is no need to perform an unloading operation on the clamping member 120, and the clamping member The 120 will not hinder the unloading of the cargo 200, which can improve the unloading efficiency.
  • Embodiments of the present application further provide a handling robot, including the load-carrying assembly 100 of any one of the foregoing embodiments.
  • At least one mounting groove 111 is respectively provided on two opposite side edges of the object carrier plate 110 , and a clamping carrier 120 is provided in the mounting groove 111 , wherein the clamping carrier 120 is The part 120 is rotatably connected with the groove wall of the installation groove 111 .
  • the carrier 121 of the clip carrier 120 is at least partially higher than the bearing surface of the carrier board 110 and the clamping jaws 122 are at least partially lower than the carrier surface of the carrier board 110, which is conducive to loading goods;
  • the carrier 121 is not higher than the bearing surface and the clamping jaws 122 are higher than the bearing surface, which is beneficial for the carrier 121 and the carrier 110 to jointly carry the goods and the jaws 122 to fix the goods on the carrier 110 . It can prevent the goods from falling off due to uneven ground or fast carrying speed, which can improve the carrying efficiency.
  • the clamping jaws 122 naturally sink by their own gravity, and there is no need to perform an unloading operation for the clamping piece, and the unloading efficiency of the goods is high.
  • FIG. 3A shows a schematic exploded perspective view of a carrier assembly according to an embodiment of the present application.
  • FIG. 3B shows a schematic structural diagram of the clip carrier in FIG. 3A .
  • FIG. 3C shows a schematic structural diagram of the second limiting member in FIG. 3A .
  • FIG. 3D shows a schematic structural diagram of the mount in FIG. 3A .
  • the structure of the carrier assembly 300 will be described below with reference to FIGS. 3A to 3D .
  • the carrier member in the carrier assembly 300 may be the carrier arm 310 , and the two opposite boundary portions of the carrier member may be the two ends of the carrier arm 310 .
  • 300 may include: at least one carrier arm 310 and two clip carriers 320 .
  • the load-carrying arm 310 is used for carrying goods, and the top surface of the load-carrying arm 310 is a bearing surface.
  • the number of the load-carrying arms 310 can be one, two or more, and the number of the load-carrying arms 310 can be adjusted according to actual needs and options, the embodiment of the present application does not limit the number of the object carrier arms 310 .
  • the load-carrying arm 310 can carry the middle portion of the cargo.
  • the two load-carrying arms 310 When there are two load-carrying arms 310 , the two load-carrying arms 310 are arranged at intervals, and the two load-carrying arms 310 can respectively carry two ends of the goods, so that the goods can be stably placed on the load-carrying arms 310 .
  • the multiple load-carrying arms 310 When there are multiple load-carrying arms 310, the multiple load-carrying arms 310 are arranged at intervals, and the multiple load-carrying arms 310 carry the goods in multiple places along the length direction or the width direction of the goods, and the load-carrying arms 310 can be further lifted to carry the goods. time stability.
  • the manufacturing cost of the carrier assembly 300 can be reduced.
  • the two clip carriers 320 are respectively disposed at the ends of the carrier arm 310 and are rotatably connected to the wall of the carrier arm 310 . That is, when the carrier 321 sinks, the jaws 322 rise; when the jaws 322 sink, the carrier 321 rises.
  • the clip carrier 320 is a single piece.
  • the wall of the carrier arm 310 includes an inner side wall 310A and an outer side wall 310B, and the clip carrier 320 can be rotatably connected to the inner side wall 310A or the outer side wall 310B of the carrier arm 310 , which is not limited in this embodiment of the present application , as long as the clip carrier 320 can clip the goods placed on the carrier arm 310 .
  • the bearing member 321 when the loading arm 310 is empty, the bearing member 321 is at least partially higher than the bearing surface of the loading arm 310; when the loading arm 310 is loaded, the bearing member 321 is not higher than the bearing surface and the clamping jaw 322 is higher than the bearing surface .
  • the clamping member 320 takes the rotating shaft 330 as a fulcrum to generate inclination through the principle of leverage: the clamping jaw 322 sinks so as to be at least partially lower than the bearing surface of the load-carrying arm 310, and the clamping jaw 322 is The sinking will drive the carrier 321 to rise, so that the carrier 321 is at least partially higher than the bearing surface of the carrier arm 310 .
  • the end of the bearing member 321 away from the rotating shaft 330 rotates towards the direction close to the bearing surface of the loading arm 310 under the action of the gravity of the cargo, and gradually coplanar with the bearing surface of the loading arm 310 or
  • the carrier 321 also drives the jaws 322 to rotate toward the bearing surface of the carrier arm 310, so that the jaws 322 are higher than the carrier arm 310.
  • the 310 bearing surface is used to fix the side wall or bottom of the goods, realize automatic clamping and protection of the goods, and prevent the goods from falling off due to uneven road surface or fast carrying speed, thereby improving the carrying efficiency of goods.
  • the distance between the rotating shaft 330 and the end of the carrier 321 is smaller than the distance between the rotating shaft 330 and the end of the clamping jaw 322 .
  • the load-carrying arm 310 can be empty.
  • the clamping member 320 takes the rotating shaft 330 as a fulcrum and relies on its own gravity to naturally incline downward toward the side where the clamping jaw 322 is located, the clamping jaw 322 naturally sinks and the bearing member 321 naturally rises, which is beneficial to the load-carrying arm 310 Load cargo.
  • the center of gravity of the clamping member 320 is set away from the rotating shaft 330, so that the clamping member 320 can be naturally inclined downward with the rotating shaft 330 as a fulcrum by its own gravity when the load carrying arm 310 is unloaded, so that the clamping member 320 is naturally inclined downward by its own gravity.
  • the claw 322 naturally sinks and the carrier 321 naturally rises, which facilitates the loading of goods on the loading arm 310 .
  • the center of gravity of the clip carrier 320 is set at the end of the clip carrier 320 away from the rotating shaft 330 .
  • the center of gravity of the clamping member 320 can be set at the end of the clamping jaw 322, then when the loading arm 310 is unloaded, the clamping member 320 can naturally tilt toward the side where the clamping jaw 322 is located by relying on its own weight with the rotating shaft 330 as the fulcrum. It is inclined downward, so that the jaws 322 naturally sink and the carrier 321 naturally rises, which facilitates the loading of goods on the load-carrying arm 310 .
  • the clamping jaw 322 includes a bearing portion 322A and a clamping portion 322B, the bearing portion 322A and the bearing member 321 are coplanar, and the clamping portion 322B protrudes from the bearing portion 322A from the end of the bearing portion 322A away from the rotating shaft 330 surface.
  • the carrying portion 322A can carry the goods together with the carrying member 321 and the load carrying arm 310
  • the clamping portion 322B protrudes from the carrying surface of the load carrying arm 310, which can hold the side wall of the goods. 352 or the bottom is fixed on the cargo arm 310 to prevent the cargo from falling off.
  • the end of the carrier arm 310 is provided with an installation opening 311
  • the clip carrier 320 is disposed in the installation opening 311 and is rotatably connected with the wall of the installation opening 311 .
  • the carrier 321 can be arranged close to the inner side 311A of the installation opening 311, and the clamping jaws 322 can be arranged close to the outer side 311B of the installation opening 311.
  • the clamping jaws 322 clamp the side walls of the goods;
  • the clamping jaws 322 can hook the bayonet at the bottom of the cargo to fix the cargo on the bearing surface of the loading arm 310 to prevent the cargo from falling off; further, the clamping jaws 322 can be extended to install
  • the outer side 311B of the port 311 is favorable for holding goods with larger size.
  • the carrier 321 can also be arranged close to the outer side 311B of the installation opening 311, and the clamping jaws 322 can also be arranged close to the inner side 311A of the installation opening 311. In this way, when the loading arm 310 is loaded with goods, the clamping jaws 322 can hook the bottom of the goods.
  • the bayonet is used to fix the cargo on the bearing surface of the loading arm 310 to prevent the cargo from being detached.
  • the end of the carrier 321 away from the clamping jaws 322 can be located in the middle of the installation opening 311, which is beneficial for carrying small-sized goods; Good for carrying larger-sized cargo.
  • the load carrying arm 310 when the load carrying arm 310 is unloaded, if the carrier 321 is disposed close to the inner side 311A of the installation opening 311 and the clamping jaws 322 are disposed close to the outer side 311B of the installation opening 311 , the end of the carrying member 321 away from the rotating shaft 330 rises and The end of the clamping jaw 322 away from the rotating shaft 330 sinks, so that the clamping carrier 320 is inclined outward; if the carrier 321 is arranged close to the outer side 311B of the installation opening 311 and the clamping jaw 322 is arranged close to the inner side 311A of the installation opening 311, the clamping member 320 Lean inward.
  • a first inclined surface 322C is formed on the top of the clamping portion 322B, and the first inclined surface 322C is inclined downward from the top of the clamping portion 322B to the carrier 321, which is beneficial for the goods to follow the first inclined surface. 322C slides to the top surface of the carrier arm 310 to avoid misalignment or jamming of the cargo.
  • the carrier arm 310 is provided with an accommodating port 312 that communicates with the mounting port 311
  • the outer side wall 310B of the clip carrier 320 is provided with a first shaft hole 323
  • the carrier assembly 300 further includes a mounting seat 340, the mounting seat 340 includes a convex part 341 and a cushion part 342 arranged up and down, the convex part 341 is accommodated in the accommodating opening 312, and the convex part 341 is provided with a second rotating shaft hole 343 opposite to the first rotating shaft hole 323, and the cushion part 342 is installed on the load arm 310 ;
  • the rotating shaft 330 is inserted into the first rotating shaft hole 323 and the second rotating shaft hole 343 , and a gasket 331 is also sleeved on the rotating shaft 330 .
  • the clip carrier 320 rotates with the rotating shaft 330 as a fulcrum, so as to load and unload the goods.
  • first mounting holes 344 are provided on both sides of the pad portion 342 , so that the pad portion 342 can be mounted under the load-carrying arm 310 .
  • the loading assembly 300 may further include: a first limiting member 350 , the first limiting member 350 is disposed under the loading arm 310 and close to the clamping jaw 322 to limit the clamping jaw 322 when it is not loaded rotation position.
  • the first limiting member 350 includes a bottom wall 351 and a side wall 352 , the cross-section of the first limiting member 350 is L-shaped, the bottom wall 351 of the first limiting member 350 is parallel to the carrier arm 310 , the first The side wall 352 of the limiting member 350 is perpendicular to the carrier arm 310 , and the top of the side wall 352 of the first limiting member 350 is provided with a second mounting hole 353 for mounting the first limiting member 350 on the loading arm 310 .
  • the bottom of the clamping member 320 abuts against the bottom wall 351 of the first limiting member 350 , which can limit the rotation position of the clamping jaw 322 and prevent the clamping jaw 322 from rotating excessively and hindering the loading of goods and uninstall.
  • the carrier assembly 300 may further include a second limiting member 380 , and the second limiting member 380 is disposed in the middle of the top surface of the carrier arm 310 .
  • the second stopper 380 can be inserted into the bayonet on the bottom of the cargo, which can prevent the cargo from shaking on the cargo arm 310 .
  • the second stopper 380 on the two load-carrying arms 310 can limit the opposite sides of the goods, and can also prevent the goods from shaking on the load-carrying arms 310 .
  • a second inclined surface 381 is formed on the top of the second limiting member 380 , and the second inclined surface 381 is inclined downward from the top end of the second limiting member 380 to the inner side 310A of the load arm 310 so that the cargo can be Slide to the top surface of the carrier arm 310 along the second inclined surface 381 .
  • a accommodating area for accommodating goods may be enclosed between the second limiting members 380 of the two cargo arms 310; if the cargo is placed in the accommodating area, then The goods can slide into the accommodating area along the second inclined surfaces 381 of the two second limiting members 380 , so that the goods can be prevented from being misplaced or stuck.
  • an oblong mounting hole 313 is provided in the middle of the carrier arm 310 along the width direction of the carrier arm 310 , and the second limiting member 380 is mounted on any position in the oblong mounting hole 313 . In this way, the position of the second limiting member 380 on the loading arm 310 can be adjusted by adjusting the position where the second limiting member 380 is installed in the oblong mounting hole 313 .
  • the distance between the two second limiting members 380 can be adjusted by adjusting the positions where the two second limiting members 380 are installed in the oblong mounting holes 313, In turn, it can adapt to the carrying needs of goods of different sizes.
  • the loading assembly 300 may further include a rubber pad 390 , the rubber pad 390 is disposed on the top surface of the loading arm 310 , and the shape of the rubber pad 390 is adapted to the shape of the top surface of the loading arm 310 .
  • the rubber pad 390 may be located between the top surface of the carrier arm 310 and the bottom surface of the first stopper 350 .
  • the friction force of the bearing surface of the load arm 310 can be increased to prevent the cargo from sliding; in addition, the rubber pad 390 is softer, which can also avoid the wear of the cargo and reduce noise.
  • the loading assembly 300 may further include a plurality of boosting posts 360 , the boosting columns 360 are disposed near the ends of the loading arms 310 , and the tops of the boosting columns 360 are connected with the bottom surface of the loading arms 310 . In this manner, the plurality of elevating posts 360 can elevate the carrier arm 310 .
  • the carrier assembly 300 may further include a chassis 370 connected to the bottom ends of the plurality of booster posts 360 for supporting the booster posts 360 and making the carrier arm 310 more stable, while also It is advantageous to install the chassis 370 on the handling robot.
  • FIG. 4A to FIG. 4D There are two carrier arms 310 of the carrier assembly 300 , the carrier 321 of the clip carrier 320 is disposed close to the inner side 311A of the installation opening 311 , and the clip claws 322 are close to each other.
  • the setting of the outer side 311B of the installation port 311 as an example, the loading process of the cargo loading using the cargo loading assembly 300 of the embodiment of the present application will be described.
  • the clamping member in the load-carrying assembly 300 Before the cargo 200 is loaded, since the center of gravity of the clamping member in the load-carrying assembly 300 is set at a position away from the rotating shaft 330, the clamping member tilts outward with the rotating shaft 330 as a fulcrum under the action of its own gravity, so that the clamping member is in the release state. state to facilitate loading of the cargo 200 on the cargo arm 310 .
  • the cargo 200 presses the end of the clamp carrier 321 away from the rotating shaft 330 , so that the carrier 321 rotates toward the direction close to the cargo arm 310 and gradually aligns with the carriage arm 310 .
  • the bearing surfaces are coplanar.
  • the bearing member 321 drives the clamping jaws 322 to rotate toward the direction close to the loading arm 310 , so that the bearing portion 322A of the clamping jaws 322 is also coplanar with the bearing surface of the loading arm 310 , so that the loading arm 310
  • the carrier 321 and the carrier portion 322A of the clamping jaw 322 jointly carry the cargo 200
  • the clamping portion 322B of the clamping jaw 322 protrudes from the bearing surface of the carrier arm 310 to clamp the side wall 352 of the cargo 200 .
  • the loading arm 310 , the bearing member 321 and the bearing portion 322A of the clamping jaw 322 in the loading assembly 300 are kept in a coplanar state, so as to jointly carry the cargo 200 , and the clamping portion 322B of the clamping jaw 322 protrudes on the bearing surface of the load carrying arm 310 to keep the side wall 352 of the load 200 clamped.
  • the automatic loading of the cargo 200 can be realized without using a pneumatic device or a hydraulic device to clamp and fix the cargo 200, which can reduce the loading cost and improve the loading efficiency.
  • the second limiting member 380 can limit the side wall 352 of the cargo 200 to prevent the cargo 200 from shaking.
  • the unloading process of the cargo 200 is opposite to the loading process of the cargo 200, and details are not described herein again. It should be noted that, when the cargo 200 is unloaded, since the clamping member relies on its own gravity to tilt outward with the rotation shaft 330 as the fulcrum when the cargo 200 leaves the load-carrying arm 310, there is no need to unload the clamping member, and the clamping member will not By preventing the unloading of the cargo 200, the unloading efficiency can be improved.
  • the embodiment of the present application further provides a handling robot, as shown in FIG. 5 , the handling robot includes the load-carrying assembly 300 and the robot body 300 according to any one of the foregoing embodiments.
  • the robot body 500 may be an AGV (Automated Guided Vehicle, AGV for short) robot.
  • two clip carriers 320 are provided at both ends of the carrier arm 310 , and the clip carriers 320 are rotatably connected to the wall of the carrier arm 310 .
  • the carrier 321 of the clip carrier 320 is at least partially higher than the bearing surface of the carrier arm 310 and the jaws 322 are at least partially lower than the carrier surface of the carrier arm 310, which is conducive to loading goods;
  • the bearing member 321 is not higher than the bearing surface and the clamping jaw 322 is higher than the bearing surface, which is beneficial for the bearing member 321 and the loading arm 310 to jointly carry the cargo and the clamping jaw 322 to fix the cargo on the loading arm 310. It can prevent the goods from falling off due to uneven ground or fast carrying speed, which can improve the carrying efficiency.
  • the clamping jaws 322 naturally sink by their own gravity, and there is no need to perform an unloading operation for the clamping piece, and the unloading efficiency of the goods is high.
  • first and second are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as “first” or “second” may expressly or implicitly include one or more of that feature.
  • plurality means two or more, unless otherwise expressly and specifically defined.
  • the terms “installed”, “connected”, “connected”, “fixed” and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection, an electrical connection, or a communication; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction between the two elements. .
  • installed may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection, an electrical connection, or a communication; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction between the two elements.
  • a first feature "on” or “under” a second feature may include direct contact between the first and second features, or may include the first and second features Not directly but through additional features between them.
  • the first feature being “above”, “over” and “above” the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is level higher than the second feature.
  • a first feature “below”, “below” and “beneath” a second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature has a lower level than the second feature.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Pallets (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)

Abstract

一种载物组件和搬运机器人，其中，载物组件（100）包括：载物构件，载物构件包括两个相对的边界部；夹载件（120），夹载件（120）设置于两个边界部，并与载物构件转动连接；夹载件（120）在转轴（130）两侧分别设置有承载件（121）和夹爪（122）；其中，当载物构件空载时，承载件（121）至少部分高于载物构件的承载面；当载物构件装载时，承载件（121）不高于承载面以及夹爪（122）高于承载面。该载物组件和搬运机器人可以防止货物因地面不平或运载速度过快等因素而发生脱落，可提高运载效率。

Description

载物组件及搬运机器人
本申请要求于2020年09月21日提交中国专利局、申请号为202022086578.7、实用新型名称为“载物组件和搬运机器人”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。以及本申请要求于2020年09月21日提交中国专利局、申请号为202022086696.8、实用新型名称为“载物组件和搬运机器人”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及自动化设备技术领域，尤其涉及一种载物组件和搬运机器人。
背景技术
搬运机器人基本设置有用于放置货物的载物平台，在搬运机器人运载货物的过程中，货物通常是直接置于载物平台上，这就使得当路面不平或搬运机器人的运载速度较快时，货物容易从载物平台上脱落，进而降低运载效率。
发明内容
本申请实施例提供一种载物组件及搬运机器人，以解决或缓解相关技术中的一项或更多项技术问题。
为实现上述目的，本申请采取以下技术方案：
作为本申请实施例的一个方面，本申请实施例提供一种载物组件，包括：
载物构件，载物构件包括两个相对的边界部；
夹载件，夹载件设置于两个边界部，并与载物构件转动连接；夹载件在转轴两侧分别设置有承载件和夹爪；
其中，当载物构件空载时，承载件至少部分高于载物构件的承载面；当载物构件装载时，承载件不高于承载面以及夹爪高于承载面。
在一种实施方式中，载物构件为载物板，两个相对的边界部为载物板两个相对的侧缘，载物板两个相对的侧缘分别设置有至少一个安装槽，夹载件设置于安装槽，并与安装槽的槽壁转动连接。
在一种实施方式中，载物构件为至少一个载物臂，两个相对的边界部为载物臂的端部，夹载件为两个，两个夹载件分别设置于载物臂的端部，并与载物臂的壁体转动连接。
在一种实施方式中，转轴与承载件端部之间的距离小于转轴与夹爪端部之间的距离；或者，夹载件的重心远离转轴设置。
在一种实施方式中，夹载件的重心设置于夹载件远离转轴的端部。
在一种实施方式中，夹爪包括承载部和夹紧部，承载部与承载件共平面，夹紧部从承载部远离转轴的端部凸出于承载部表面。
在一种实施方式中，夹紧部的顶部形成有第一倾斜面，第一倾斜面由夹紧部的顶端向承载件所在侧斜向下倾斜。
在一种实施方式中，载物板上还开设有与安装槽连通的容置口，夹载件的外壁上设置有第一转轴孔；载物组件还包括安装座，安装座包括上下设置的凸部和垫部，凸部容置于容置口内，凸部设置有与第一转轴孔相对的第二转轴孔，垫部安装于载物板；转轴插设于第一转轴孔和第二转轴孔。
在一种实施方式中，夹载件开设有至少一个减重槽。
在一种实施方式中，载物组件还包括：
限位件，限位件设置于安装槽的下方且靠近夹爪，以限制夹爪空载时的转动位置。
在一种实施方式中，载物组件还包括：
多个垫高柱，垫高柱靠近载物板的顶角设置且顶端分别与载物板的底面连接；
底盘，底盘与多个垫高柱的底端连接。
在一种实施方式中，载物臂的端部开设有安装口，夹载件设置于安装口。
在一种实施方式中，载物臂上开设有与安装口连通的容置口，夹载件的外壁上设置有第一转轴孔；载物组件还包括安装座，安装座包括上下设置的凸部和垫部，凸部容置于容置口内，凸部设置有与第一转轴孔相对的第二转轴孔，垫部安装于载物板；转轴插设于第一转轴孔和第二转轴孔。
在一种实施方式中，载物组件还包括：
第一限位件，第一限位件设置于载物臂的下方并靠近夹爪，以限制夹爪空载时的转动位置；
第二限位件，第二限位件设置于载物臂顶面的中部，第二限位件的顶部形成有第二倾斜面，第二倾斜面由第二限位件的顶端向载物臂的内侧斜向下倾斜。
在一种实施方式中，载物臂的中部沿载物臂的宽度方向设置有长圆安装孔，第二限位件安装于长圆安装孔中的任一位置。
在一种实施方式中，载物组件还包括：
橡胶垫，橡胶垫设置于载物臂的顶面，橡胶垫的形状与载物臂的顶面的形状相适配。
在一种实施方式中，载物组件还包括：
多个垫高柱，垫高柱靠近载物臂的端部设置，垫高柱的顶端与载物臂的底面连接；
底盘，底盘与多个垫高柱的底端连接。
作为本申请实施例的另一个方面，本申请实施例提供一种搬运机器人，包括上述任一种实施方式的载物组件。
上述技术方案中的一个技术方案具有如下优点或有益效果：根据本申请实施例的载物组件可以防止货物因地面不平或运载速度过快等因素而发生脱落，可提高运载效率。
上述概述仅仅是为了说明书的目的，并不意图以任何方式进行限制。除上述描述的示意性的方面、实施方式和特征之外，通过参考附图和以下的详细描述，本申请进一步的方面、实施方式和特征将会是容易明白的。
附图说明
为了更清楚地说明本发明实施例或相关技术中的技术方案，下面将对实施例或相关技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明实施例中记载的一些实施例，对于本领域普通技术人员来讲，还可以根据这些附图获得其他的附图。
图1A示出根据本申请一实施例的载物组件的一种结构示意图；
图1B示出图1A中夹载件设置于安装槽的布设示意图；
图1C示出图1A中夹载件的结构示意图；
图1D示出图1A中安装座的结构示意图；
图2A示出货物装载前载物组件的动作示意图；
图2B示出货物装载中载物组件的动作示意图；
图2C示出货物装载完成时载物组件的动作示意图；
图3A示出根据本申请另一实施例的载物组件的一种立体分解示意图；
图3B示出图3A中夹载件的结构示意图；
图3C示出图3A中第二限位件的结构示意图；
图3D示出图3A中安装座的结构示意图；
图4A示出货物装载前夹载件的动作示意图；
图4B示出货物装载后夹载件的动作示意图；
图4C示出货物装载前货物与第二限位件之间的位置示意图；
图4D示出货物装载后货物与第二限位件之间的位置示意图；
图5示出根据本申请实施例的一种搬运机器人的结构示意图。
具体实施方式
在下文中，仅简单地描述了某些示例性实施例。正如本领域技术人员可认识到的那样，在不脱离本申请的精神或范围的情况下，可通过各种不同方式修改所描述的实施例。因此，附图和描述被认为本质上是示例性的而非限制性的。
为了解决搬运机器人运载货物的过程中，货物容易从载物平台上脱落，进而降低运载效率的技术问题。本申请实施例提供一种载物组件和搬运机器人，其中，该载物组件包括载物构件和夹载件。具体地，载物构件包括两个相对的边界部，夹载件设置于载物构件的两个边界部，并与载物构件转动连接；夹载件在转轴两侧分别设置有承载件和夹爪；当载物构件空载时，承载件至少部分高于载物构件的承载面，有利于装载货物；当载物构件装载时，承载件不高于承载面以及夹爪高于承载面，有利于承载件与载物构件共同承载货物以及夹爪将货物固定于载物构件上，防止货物因运载地面不平或运载速度较快而发生脱落，可提高运载效率。
接下来，结合附图对本申请实施例的载物组件和搬运机器人进行详细说明。
实施例1
图1A示出根据本申请一实施例的载物组件的一种结构示意图。图1B示出图1A中夹载件设置于安装槽的布设示意图。图1C示出图1A中夹载件的结构示意图。图1D示出图1A中安装座的结构示意图。如图1A至图1D所示，该载物组件100中载物构件可以为载物板110，载物构件的两个相对的边界部为载物板110两个相对的侧缘，载物组件100可以包括：载物板110和多个夹载件120。
其中，载物板110用于放置货物，具体地，载物板110的顶面为承载面，当运载货物时，货物放置于载物板110的承载面上。载物板110的类型可以为托盘，优选地，载物板110可以为平托盘和柱式托盘。此外，载物板110的材料可以为橡胶和塑料等具有轻质、耐磨、防水、防滑和富有弹性等特性的材料，载物板110的材料也可以为金属材料、木质材料和纸质材料等，载物板110的材料可以根据实际需要进行调整或选择，本申请实施例对于载物板110的材料不作限制。
载物板110两个相对的侧缘分别设置有至少一个安装槽111。载物板110可以呈矩形，安装槽111可设置于载物板110两个短边的边缘上，安装槽111也可以设置于载物板110的两个长边的边缘上；载物板110还可以呈圆形、平行四边形和椭圆形等具有相对侧缘的形状。载物板110的各侧缘上可设置一个或多个安装槽111，载物板110两个相对的侧缘上所设置的安装槽111可相对设置。例如，附图1A中在载物板110两个相对的侧缘上各设置一个安装槽111，并且两个相对的侧缘上的安装槽111相对设置，这有利于夹载件120相对设置，以便夹载件120在货物相对的位置上进行夹载。载物板110的形状、安装槽111的数量和安装槽111的设置位置可以根据实际需要进行调整和选择，本申请实施例对此不作限制。
夹载件120设置于安装槽111，并与安装槽111的槽壁转动连接；夹载件120在转轴130两侧分别设置有承载件121和夹爪122。也就是说，当承载件121下沉时，夹爪122升起；当夹爪122下沉时，承载件121升起。
其中，承载件121可靠近安装槽111的槽底侧111A设置，夹爪122可靠近安装槽111的槽口侧111B设置，如此，当载物板110装载时，夹爪122对货物的侧壁152进行夹持；或者，当货物的底部具有卡口时，夹爪122可勾住货物底部的卡口，将货物固定于载物板 110的承载面上，避免货物脱落；进一步地，夹爪122可位于安装槽111的槽口侧111B的内侧，有利于夹载尺寸较小的货物；夹爪122也可以伸出安装槽111的槽口侧111B，有利于夹载尺寸较大的货物。
此外，承载件121也可靠近安装槽111的槽口侧111B设置，夹爪122也可以靠近安装槽111的槽底侧111A设置，如此，当载物板110装载货物时，夹爪122可勾住货物底部的卡口，将货物固定于载物板110的承载面上，避免货物脱离。进一步地，承载件121远离夹爪122的端部可位于安装槽111的槽口侧111B的内侧，有利于承载尺寸较小的货物；承载件121远离夹爪122的端部可伸出安装槽111的槽口侧111B，有利于承载尺寸较大的货物。
其中，当载物板110空载时，承载件121至少部分高于载物板110的承载面；当载物板110装载时，承载件121不高于承载面以及夹爪122高于承载面。具体地，当载物板110空载时，夹载件120以转轴130为支点通过杠杆原理产生倾斜：夹爪122下沉，从而至少部分低于载物板110的承载面，夹爪122的下沉将带动承载件121上升，从而使承载件121至少部分高于载物板110的承载面。
示例性地，当载物板110空载时，若承载件121靠近安装槽111的槽底侧111A设置并且夹爪122靠近安装槽111的槽口侧111B设置，则承载件121远离转轴130的端部升高且夹爪122远离转轴130的端部降低，使得夹载件120向外倾斜；若承载件121靠近安装槽111的槽口侧111B设置并且夹爪122靠近安装槽111的槽底侧111A设置，则夹载件120向内倾斜。
当载物板110装载货物时，承载件121远离转轴130的端部在货物重力的作用下朝向靠近载物板110的承载面的方向转动，并逐渐与载物板110的承载面共面或低于载物板110的承载面，以与载物板110共同承载货物，承载件121还带动夹爪122朝向靠近载物板110的承载面的方向转动，使得夹爪122高于载物板110的承载面，以对货物的侧壁152或底部进行固定，实现对货物的自动夹载和保护，防止因路面不平或运载速度较快而发生货物脱落，进而可提高货物运载效率。
在一种实施方式中，转轴130与承载件121端部之间的距离小于转轴130与夹爪122端部之间的距离。具体地，当夹载件120的质量分布均匀时，设置转轴130与承载件121端部之间的距离小于转轴130与夹爪122端部之间的距离，则可在载物板110空载时，使夹载件120以转轴130为支点依靠自身重力朝向夹爪122所在侧斜自然向下倾斜，从而使夹爪122自然下沉，承载件121自然升起，有利于在载物板110上装载货物。
在一种实施方式中，夹载件120的重心远离转轴130设置，则可在载物板110空载时，使夹载件120以转轴130为支点依靠自身重力自然向下倾斜，从而使夹爪122自然下沉，承载件121自然升起，有利于在载物板110上装载货物。
在一种实施方式中，夹载件120的重心设置于夹载件120远离转轴130的端部。具体地，夹载件120的重心可设置于夹爪122的端部，则可在载物板110空载时，夹载件120可以转轴130为支点依靠自身重量朝向夹爪122所在侧自然斜向下倾斜，从而使夹爪122自然下沉，承载件121自然升起，有利于在载物板110上装载货物。
在一种实施方式中，夹爪122包括承载部122A和夹紧部122B，承载部122A与承载件121共平面，夹紧部122B从承载部122A远离转轴130的端部凸出于承载部122A表面。具体地，夹紧部122B朝向载物板110的承载面凸出，当载物板110装载货物时，则承载部122A可与承载件121和载物板110共同承载货物，夹紧部122B凸出于载物板110的承载面，可将货物的侧壁152或底部固定于载物板110上，避免货物发生脱落。
在一种实施方式中，夹紧部122B的顶部形成有第一倾斜面122C，第一倾斜面122C由夹紧部122B的顶端向承载件121所在侧斜向下倾斜，有利于货物沿该第一倾斜面122C滑至承载板110的顶面，避免货物发生错位或被卡住。
在一种实施方式中，载物板110上还开设有与安装槽111连通的容置口112，夹载件120的外壁上设置有第一转轴孔123；载物组件100还包括安装座140，安装座140包括上下设置的凸部141和垫部142，凸部141容置于容置口112内，凸部141设置有与第一转轴孔123相对的第二转轴孔143，垫部142安装于载物板110；转轴130插设于第一转轴孔123和第二转轴孔143。如此，夹载件120可以转轴130为支点发生转动，以便装载和卸载货物。
其中，垫部142的两侧设置有安装孔144，以便将垫部142安装于载物板110的下方。
在一种实施方式中，夹载件120开设有至少一个减重槽124。具体地，可在夹载件120上靠近安装槽111的槽底侧111A和靠近安装槽111的槽口侧111B分别开设一个减重槽124，以减轻载物组件100的重量。其中，减重槽124靠近转轴130处槽壁的厚度可大于其他位置处的厚度，可增加减重槽124的槽壁的耐磨性，延长夹载件120的使用寿命。
在一种实施方式中，载物组件100还可以包括限位件，限位件设置于安装槽111的下方且靠近夹爪122，以限制夹爪122空载时的转动位置。
具体地，限位件可以为限位槽150，限位槽150的底壁151与载物板110平行，限位槽150的侧壁152与载物板110垂直，限位槽150侧壁152的顶部向外延伸形成连接部153，连接部153用于与载物板110的底面连接，以将限位槽150安装于载物板110。
当载物板110空载时，夹载件120的底部与限位槽150的底壁151抵接，可限制夹爪122的转动位置，避免夹爪122发生过度转动而阻碍货物的装载和卸载。
在一种实施方式中，载物组件100还可以包括多个垫高柱160，垫高柱160靠近载物板110的顶角设置且顶端分别与载物板110的底面连接。例如，当载物板110为矩形时，垫高柱160靠近载物板110四个顶角设置并与载物板110的底面连接。如此，多个垫高柱160可以垫高载物板110。
在一种实施方式中，载物组件100还可以包括底盘170，底盘170与多个垫高柱160的底端连接，以便对垫高柱160进行支撑并使载物板110更加稳固，同时还有利于将底盘170安装于搬运机器人上。
接下来，请一并参阅附图2A至附图2C，以夹载件120的承载件靠近安装槽111的槽底侧111A设置以及夹爪122靠近安装槽111的槽口侧111B设置为例，对采用本申请实施例的载物组件进行货物装载的装载过程进行说明。
如图1A至图2C所示，当货物200装载前，由于载物组件100中夹紧件120的重心设置于远离转轴130的位置，则夹紧件120在自身重力作用下以转轴130为支点向外倾斜，使得夹紧件120处于松开状态，便于在载物板110上装载货物200。
当货物200放置于载物板110上时，货物200压住夹紧件120承载件121远离转轴130的端部，使得承载件121朝向靠近载物板110的方向转动并逐渐与载物板110的承载面共面，此时，承载件121带动夹爪122朝向靠近载物板110的方向转动，使得夹爪122的承载部122A也与载物板110的承载面共面，进而载物板110、承载件121和夹爪122的承载部122A共同承载货物200，而夹爪122的夹紧部122B凸出于载物板110的承载面，以对货物200的侧壁进行夹紧。
当货物200完成装载时，则载物组件100中载物板110、承载件121和夹爪122的承载部122A保持共面状态，以共同承载货物200，夹爪122的夹紧部122B凸出于载物板110的承载面，以保持对货物200的侧壁进行夹紧。如此，可以实现货物的自动装载，而无需利用气动装置或液压装置来对货物进行装夹固定，可降低装载成本和提升装载效率。
可以理解的，货物200的卸载过程与货物200的装载过程相反，在此不再赘述。需要说明的是，当卸载货物200时，由于货物200离开载物板110时夹紧件120依靠自身重力以转轴130为支点向外倾斜，无需对夹紧件120进行卸载操作，并且夹紧件120不会阻碍货物200的卸载，可提高卸载效率。
本申请实施例还提供一种搬运机器人，包括上述任一种实施方式的载物组件100。
根据本申请实施例的载物组件100和搬运机器人，通过在载物板110的两个相对的侧缘分别设置至少一个安装槽111，并在安装槽111设置夹载件120，其中，夹载件120与安装槽111的槽壁转动连接。
当载物板110空载时，夹载件120的承载件121至少部分高于载物板110的承载面以及夹爪122至少部分低于载物板110的承载面，有利于装载货物；当载物板110装载时，承载件121不高于承载面以及夹爪122高于承载面，有利于承载件121与载物板110共同承载货物以及夹爪122将货物固定于载物板110，防止货物因运载地面不平或运载速度较快而发生脱落，可提高运载效率。此外，当卸载货物时，夹爪122依靠自身重力自然下沉，无需针对夹紧件进行卸载操作，货物卸载效率高。
实施例2
图3A示出根据本申请实施例的载物组件的一种立体分解示意图。图3B示出图3A中夹载件的结构示意图。图3C示出图3A中第二限位件的结构示意图。图3D示出图3A中安装座的结构示意图。下面结合附图3A至图3D对载物组件300的结构进行说明。
如图3A至图3D所示，该载物组件300中载物构件可以为载物臂310，载物构件的两个相对的边界部可以为载物臂310的两个端部，载物组件300可以包括：至少一个载物臂310和两个夹载件320。
其中，载物臂310用于承载货物，载物臂310的顶面为承载面，载物臂310的数量可以为一个、两个或多个，载物臂310的数量可以根据实际需要进行调整和选择，本申请实施例对载物臂310的数量不作限制。
示例性地，当载物臂310为一个时，载物臂310可对货物的中部进行承载。
当载物臂310为两个时，两个载物臂310间隔设置，两个载物臂310可分别对货物的两端进行承载，使得货物能够平稳的放置于载物臂310上。
当载物臂310为多个时，多个载物臂310间隔设置，多个载物臂310沿货物的长度方向或宽度方向对货物多处进行承载，可以进一步提升载物臂310对货物承载时的平稳性。
此外，在本实施方式中，由于载物臂310所需制作材料较少，因而可以降低载物组件300的制作成本。
两个夹载件320分别设置于载物臂310的端部，并与载物臂310的壁体转动连接，夹载件320在转轴330两侧分别设置有承载件321和夹爪322。也就是说，当承载件321下沉时，夹爪322升起；当夹爪322下沉时，承载件321升起。其中，夹载件320为一体件。
在一个示例中，载物臂310的壁体包括内侧壁310A和外侧壁310B，夹载件320可与载物臂310的内侧壁310A或外侧壁310B转动连接，本申请实施例对此不作限制，只要夹载件320能够对放置于载物臂310上的货物进行夹载即可。
其中，当载物臂310空载时，承载件321至少部分高于载物臂310的承载面；当载物臂310装载时，承载件321不高于承载面以及夹爪322高于承载面。
具体地，当载物臂310空载时，夹载件320以转轴330为支点通过杠杆原理产生倾斜：夹爪322下沉，从而至少部分低于载物臂310的承载面，夹爪322的下沉将带动承载件321上升，从而使承载件321至少部分高于载物臂310的承载面。
当载物臂310装载货物时，承载件321远离转轴330的端部在货物重力的作用下朝向靠近载物臂310的承载面的方向转动，并逐渐与载物臂310的承载面共面或低于载物臂310的承载面，以与载物臂310共同承载货物，承载件321还带动夹爪322朝向靠近载物臂310的承载面的方向转动，使得夹爪322高于载物臂310的承载面，以对货物的侧壁或底部进行固定，实现对货物的自动夹载和保护，防止因路面不平或运载速度较快而发生货物脱落，进而可提高货物运载效率。
在一种实施方式中，转轴330与承载件321端部之间的距离小于转轴330与夹爪322 端部之间的距离。具体地，当夹载件320的质量分布均匀时，设置转轴330与承载件321端部之间的距离小于转轴330与夹爪322端部之间的距离，则可在载物臂310空载时，使夹载件320以转轴330为支点依靠自身重力朝向夹爪322所在侧斜自然向下倾斜，从而使夹爪322自然下沉，承载件321自然升起，有利于在载物臂310上装载货物。
在一种实施方式中，夹载件320的重心远离转轴330设置，则可在载物臂310空载时，使夹载件320以转轴330为支点依靠自身重力自然向下倾斜，从而使夹爪322自然下沉，承载件321自然升起，有利于在载物臂310上装载货物。
在一种实施方式中，夹载件320的重心设置于夹载件320远离转轴330的端部。具体地，夹载件320的重心可设置于夹爪322的端部，则可在载物臂310空载时，夹载件320可以转轴330为支点依靠自身重量朝向夹爪322所在侧自然斜向下倾斜，从而使夹爪322自然下沉，承载件321自然升起，有利于在载物臂310上装载货物。
在一种实施方式中，夹爪322包括承载部322A和夹紧部322B，承载部322A与承载件321共平面，夹紧部322B从承载部322A远离转轴330的端部凸出于承载部322A表面。其中，当载物臂310装载货物时，则承载部322A可与承载件321和载物臂310共同承载货物，夹紧部322B凸出于载物臂310的承载面，可将货物的侧壁352或底部固定于载物臂310上，避免货物发生脱落。
在一种实施方式中，载物臂310的端部开设有安装口311，夹载件320设置于安装口311，并与安装口311的壁体转动连接。
其中，承载件321可靠近安装口311的内侧311A设置，夹爪322可靠近安装口311的外侧311B设置，如此，当载物臂310装载时，夹爪322对货物的侧壁进行夹持；或者，当货物的底部具有卡口时，夹爪322可勾住货物底部的卡口，将货物固定于载物臂310的承载面上，避免货物脱落；进一步地，夹爪322可以伸出安装口311的外侧311B，有利于夹载尺寸较大的货物。
此外，承载件321也可靠近安装口311的外侧311B设置，夹爪322也可以靠近安装口311的内侧311A设置，如此，当载物臂310装载货物时，夹爪322可勾住货物底部的卡口，将货物固定于载物臂310的承载面上，避免货物脱离。进一步地，承载件321远离夹爪322的端部可位于安装口311的中部，有利于承载尺寸较小的货物；承载件321远离夹爪322的端部可伸出安装口311的外侧311B，有利于承载尺寸较大的货物。
示例性地，当载物臂310空载时，若承载件321靠近安装口311的内侧311A设置并且夹爪322靠近安装口311的外侧311B设置，则承载件321远离转轴330的端部上升且夹爪322远离转轴330的端部下沉，使得夹载件320向外倾斜；若承载件321靠近安装口311的外侧311B设置并且夹爪322靠近安装口311的内侧311A设置，则夹载件320向内倾斜。
在一种实施方式中，夹紧部322B的顶部形成有第一倾斜面322C，第一倾斜面322C由夹紧部322B的顶端向承载件321斜向下倾斜，有利于货物沿第一倾斜面322C滑至载物臂310的顶面，避免货物发生错位或被卡住。
在一种实施方式中，载物臂310上开设有与安装口311连通的容置口312，夹载件320的外侧壁310B上设置有第一转轴孔323；载物组件300还包括安装座340，安装座340包括上下设置的凸部341和垫部342，凸部341容置于容置口312内，凸部341设置有与第一转轴孔323相对的第二转轴孔343，垫部342安装于载物臂310；转轴330插设于第一转轴孔323和第二转轴孔343，且转轴330上还套设有垫片331。如此，夹载件320以转轴330为支点发生转动，以便装载和卸载货物。
其中，垫部342的两侧设置有第一安装孔344，以便将垫部342安装于载物臂310的下方。
在一种实施方式中，载物组件300还可以包括：第一限位件350，第一限位件350设 置于载物臂310的下方并靠近夹爪322，以限制夹爪322空载时的转动位置。
具体地，第一限位件350包括底壁351和侧壁352，第一限位件350的横截面呈L形，第一限位件350的底壁351与载物臂310平行，第一限位件350的侧壁352与载物臂310垂直，第一限位件350侧壁352的顶部设置有第二安装孔353，以将第一限位件350安装于载物臂310。
当载物臂310空载时，夹载件320的底部与第一限位件350的底壁351抵接，可限制夹爪322的转动位置，避免夹爪322发生过度转动而阻碍货物的装载和卸载。
在一种实施方式中，载物组件300还可以包括第二限位件380，第二限位件380设置于载物臂310顶面的中部。
在一个示例中，在运载货物时，第二限位件380可插入货物底部的卡口内，这样可防止货物在载物臂310上晃动。
在一个示例中，当载物臂310为两个时，两个载物臂310上的第二限位件380可对货物的相对侧进行限位，也可以防止货物在载物臂310上晃动。
在一个示例中，第二限位件380的顶部形成有第二倾斜面381，第二倾斜面381由第二限位件380的顶端向载物臂310的内侧310A斜向下倾斜，以便货物沿该第二倾斜面381滑至载物臂310的顶面。示例性地，当载物臂310为两个时，两个载物臂310的第二限位件380之间可围成容置货物的容置区域；若向容置区域内放置货物，则货物可沿两个第二限位件380的第二倾斜面381滑入容置区域，这样可以避免货物发生错位或被卡住。
在一种实施方式中，载物臂310的中部沿载物臂310的宽度方向设置有长圆安装孔313，第二限位件380安装于长圆安装孔313中的任一位置。如此，可以通过调节第二限位件380安装于长圆安装孔313中的位置来调节第二限位件380在载物臂310上的位置。
在一个示例中，当载物臂310为两个时，可通过调节两个第二限位件380安装于长圆安装孔313中的位置来调节两个第二限位件380之间的间距，进而可适应不同尺寸货物的运载需求。
在一种实施方式中，载物组件300还可以包括橡胶垫390，橡胶垫390设置于载物臂310的顶面，橡胶垫390的形状与载物臂310的顶面的形状相适配。
在一个示例中，橡胶垫390可位于载物臂310的顶面与第一限位件350的底面之间。
在本实施方式中，通过设置橡胶垫390可增加载物臂310承载面的摩擦力，防止货物滑动；此外，橡胶垫390更柔软，还可避免磨损货物和减少噪音。
在一种实施方式中，载物组件300还可以包括多个垫高柱360，垫高柱360靠近载物臂310的端部设置，垫高柱360的顶端与载物臂310的底面连接。如此，多个垫高柱360可以垫高载物臂310。
在一种实施方式中，载物组件300还可以包括底盘370，底盘370与多个垫高柱360的底端连接，以便对垫高柱360进行支撑并使载物臂310更加稳固，同时还有利于将底盘370安装于搬运机器人上。
接下来，请一并参阅附图4A至附图4D，以载物组件300的载物臂310为两个、夹载件320的承载件321靠近安装口311的内侧311A设置以及夹爪322靠近安装口311的外侧311B设置为例，对采用本申请实施例的载物组件300进行货物装载的装载过程进行说明。
当货物200装载前，由于载物组件300中夹紧件的重心设置于远离转轴330的位置，则夹紧件在自身重力作用下以转轴330为支点向外倾斜，使得夹紧件处于松开状态，便于在载物臂310上装载货物200。
当货物200放置于载物臂310上时，货物200压住夹紧件承载件321远离转轴330的端部，使得承载件321朝向靠近载物臂310的方向转动并逐渐与载物臂310的承载面共面，此时，承载件321带动夹爪322朝向靠近载物臂310的方向转动，使得夹爪322的承载部 322A也与载物臂310的承载面共面，进而载物臂310、承载件321和夹爪322的承载部322A共同承载货物200，而夹爪322的夹紧部322B凸出于载物臂310的承载面，以对货物200的侧壁352进行夹紧。
当货物200完成装载时，则载物组件300中载物臂310、承载件321和夹爪322的承载部322A保持共面状态，以共同承载货物200，夹爪322的夹紧部322B凸出于载物臂310的承载面，以保持对货物200的侧壁352进行夹紧。如此，可以实现货物200的自动装载，而无需利用气动装置或液压装置来对货物200进行装夹固定，可降低装载成本和提升装载效率。此外，当货物200完成装载时，第二限位件380可对货物200的侧壁352进行限位，避免货物200发生晃动。
可以理解的，货物200的卸载过程与货物200的装载过程相反，在此不再赘述。需要说明的是，当卸载货物200时，由于货物200离开载物臂310时夹紧件依靠自身重力以转轴330为支点向外倾斜，无需对夹紧件进行卸载操作，并且夹紧件不会阻碍货物200的卸载，可提高卸载效率。
本申请实施例还提供一种搬运机器人，如图5所示，该搬运机器人包括上述任一种实施方式的载物组件300和机器人本体300。其中，机器人本体500可以是AGV(Automated Guided Vehicle，简称AGV)机器人。
根据本申请实施例的载物组件300和搬运机器人，通过在载物臂310的两个端部设置两个夹载件320，并使夹载件320与载物臂310的壁体转动连接。
当载物臂310空载时，夹载件320的承载件321至少部分高于载物臂310的承载面以及夹爪322至少部分低于载物臂310的承载面，有利于装载货物；当载物臂310装载时，承载件321不高于承载面以及夹爪322高于承载面，有利于承载件321与载物臂310共同承载货物以及夹爪322将货物固定于载物臂310，防止货物因运载地面不平或运载速度较快而发生脱落，可提高运载效率。此外，当卸载货物时，夹爪322依靠自身重力自然下沉，无需针对夹紧件进行卸载操作，货物卸载效率高。
上述实施例的载物组件和搬运机器人的其他构成可以采用于本领域普通技术人员现在和未来知悉的各种技术方案，这里不再详细描述。
在本说明书的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本申请的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本申请中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接，还可以是通信；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
在本申请中，除非另有明确的规定和限定，第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正上方和斜上方，或仅仅表示第 一特征水平高度小于第二特征。
上文的公开提供了许多不同的实施方式或例子用来实现本申请的不同结构。为了简化本申请的公开，上文中对特定例子的部件和设置进行描述。当然，它们仅仅为示例，并且目的不在于限制本申请。此外，本申请可以在不同例子中重复参考数字和/或参考字母，这种重复是为了简化和清楚的目的，其本身不指示所讨论各种实施方式和/或设置之间的关系。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到其各种变化或替换，这些都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。

Claims (18)

  1. 一种载物组件，其特征在于，包括：
    载物构件，所述载物构件包括两个相对的边界部；
    夹载件，所述夹载件设置于两个所述边界部，并与所述载物构件转动连接；所述夹载件在转轴两侧分别设置有承载件和夹爪；
    其中，当所述载物构件空载时，所述承载件至少部分高于所述载物构件的承载面；当所述载物构件装载时，所述承载件不高于所述承载面以及所述夹爪高于所述承载面。
  2. 根据权利要求1所述的载物组件，其特征在于，所述载物构件为载物板，所述两个相对的边界部为所述载物板两个相对的侧缘，所述载物板两个相对的侧缘分别设置有至少一个安装槽，所述夹载件设置于所述安装槽，并与所述安装槽的槽壁转动连接。
  3. 根据权利要求1所述的载物组件，其特征在于，所述载物构件为至少一个载物臂，所述两个相对的边界部为所述载物臂的端部，所述夹载件为两个，两个所述夹载件分别设置于所述载物臂的端部，并与所述载物臂的壁体转动连接。
  4. 根据权利要求1至3中任一项所述的载物组件，其特征在于，所述转轴与所述承载件端部之间的距离小于所述转轴与夹爪端部之间的距离；或者，所述夹载件的重心远离所述转轴设置。
  5. 根据权利要求1至3中任一项所述的载物组件，其特征在于，所述夹载件的重心设置于所述夹载件远离所述转轴的端部。
  6. 根据权利要求1所述的载物组件，其特征在于，所述夹爪包括承载部和夹紧部，所述承载部与所述承载件共平面，所述夹紧部从所述承载部远离所述转轴的端部凸出于所述承载部表面。
  7. 根据权利要求6所述的载物组件，其特征在于，所述夹紧部的顶部形成有第一倾斜面，所述第一倾斜面由所述夹紧部的顶端向所述承载件所在侧斜向下倾斜。
  8. 根据权利要求2所述的载物组件，其特征在于，所述载物板上还开设有与所述安装槽连通的容置口，所述夹载件的外壁上设置有第一转轴孔；所述载物组件还包括安装座，所述安装座包括上下设置的凸部和垫部，所述凸部容置于所述容置口内，所述凸部设置有与所述第一转轴孔相对的第二转轴孔，所述垫部安装于所述载物板；所述转轴插设于所述第一转轴孔和所述第二转轴孔。
  9. 根据权利要求2所述的载物组件，其特征在于，所述夹载件开设有至少一个减重槽。
  10. 根据权利要求2所述的载物组件，其特征在于，还包括：
    限位件，所述限位件设置于所述安装槽的下方且靠近所述夹爪，以限制所述夹爪空载时的转动位置。
  11. 根据权利要求2所述的载物组件，其特征在于，还包括：
    多个垫高柱，所述垫高柱靠近所述载物板的顶角设置且顶端分别与所述载物板的底面连接；
    底盘，所述底盘与多个所述垫高柱的底端连接。
  12. 根据权利要求3所述的载物组件，其特征在于，所述载物臂的端部开设有安装口，所述夹载件设置于所述安装口。
  13. 根据权利要求12所述的载物组件，其特征在于，所述载物臂上开设有与所述安装口连通的容置口，所述夹载件的外壁上设置有第一转轴孔；所述载物组件还包括安装座，所述安装座包括上下设置的凸部和垫部，所述凸部容置于所述容置口内，所述凸部设置有与所述第一转轴孔相对的第二转轴孔，所述垫部安装于所述载物板；所述转轴插设于所述第一转轴孔和所述第二转轴孔。
  14. 根据权利要求3所述的载物组件，其特征在于，还包括：
    第一限位件，所述第一限位件设置于所述载物臂的下方并靠近所述夹爪，以限制所述 夹爪空载时的转动位置；
    第二限位件，所述第二限位件设置于所述载物臂顶面的中部，所述第二限位件的顶部形成有第二倾斜面，所述第二倾斜面由所述第二限位件的顶端向所述载物臂的内侧斜向下倾斜。
  15. 根据权利要求14所述的载物组件，其特征在于，所述载物臂的中部沿所述载物臂的宽度方向设置有长圆安装孔，所述第二限位件安装于所述长圆安装孔中的任一位置。
  16. 根据权利要求3所述的载物组件，其特征在于，还包括：
    橡胶垫，所述橡胶垫设置于所述载物臂的顶面，所述橡胶垫的形状与所述载物臂的顶面的形状相适配。
  17. 根据权利要求3所述的载物组件，其特征在于，还包括：
    多个垫高柱，所述垫高柱靠近所述载物臂的端部设置，所述垫高柱的顶端与所述载物臂的底面连接；
    底盘，所述底盘与多个所述垫高柱的底端连接。
  18. 一种搬运机器人，其特征在于，包括权利要求1至17中任一项所述的载物组件。
PCT/CN2021/070885 2020-09-21 2021-01-08 载物组件及搬运机器人 Ceased WO2022057169A1 (zh)

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