CN215249394U - Fork and transfer robot - Google Patents

Abstract

The application provides a fork and transfer robot relates to storage technical field for solve the problem that current fork size is fixed, only can a specification and dimension packing box of adaptation. This fork includes: a base; the operating mechanism comprises two side plates which are oppositely arranged, the two side plates are positioned on two sides of the base along the first direction, and a clamping space for accommodating the container is formed between the two side plates and the base; the adjusting assembly comprises a first driving unit and a first transmission mechanism connected with the output end of the first driving unit, the first driving unit is arranged between the two side plates and connected with the base, and the first transmission mechanism is movably connected with the two side plates so as to drive the two side plates to be close to or away from each other. The width of the fork can be automatically adjusted to adapt to containers of various specifications and sizes, and the fork is simple in structure and small in occupied space.

Description

Fork and transfer robot

Technical Field

The application relates to the technical field of intelligent warehousing, in particular to a pallet fork and a carrying robot.

Background

In the field of intelligent warehousing, a carrying robot is generally used for carrying a container to a target position, so that the working efficiency and the accuracy are improved to a certain extent. The transfer robot comprises a fork for bearing a container, but the width of the existing fork is fixed, the existing fork can only be matched with the container with one specification and size, and the existing fork cannot be used for carrying the container with a larger specification and size. For the packing box with smaller specification and size, the width of the pallet fork is unchanged, so that the occupied space of the packing box is the same as that of the packing box with fixed specification and size, and the storage density of the warehouse is reduced. In addition, the container with smaller specification and size is easy to fall off because the container cannot be positioned.

SUMMERY OF THE UTILITY MODEL

In view of the above problem, the embodiment of the application provides a fork and a transfer robot, and the width of the fork can be automatically adjusted to adapt to containers of various specifications and sizes.

In order to achieve the above object, the embodiments of the present application provide the following technical solutions:

a first aspect of an embodiment of the present application provides a fork, including: a base; the operating mechanism comprises two side plates which are oppositely arranged, the two side plates are positioned on two sides of the base along the first direction, and a clamping space for accommodating the container is formed by the two side plates and the base; the adjusting assembly comprises a first driving unit and a first transmission mechanism connected with the output end of the first driving unit, the first driving unit is arranged between the two side plates and connected with the base, and the first transmission mechanism is movably connected with the two side plates so as to drive the two side plates to be close to or away from each other.

In a possible implementation manner, the first transmission mechanism includes a first screw rod and a second screw rod which are coaxially arranged and have opposite thread turning directions, the first screw rod extends along a first direction, the two side plates are respectively provided with a first nut and a second nut, the first screw rod is in threaded connection with the first nut, and the second screw rod is in threaded connection with the second nut.

In one possible implementation manner, the first screw and the second screw are both trapezoidal threads, and a lead angle of each trapezoidal thread is smaller than or equal to a static friction angle.

In a possible implementation manner, the first screw rod and the second screw rod are connected through a coupling.

In a possible implementation manner, the first driving unit includes a first driving motor and a first pulley assembly, the first pulley assembly includes a driving pulley, a driven pulley and a transmission belt connected between the driving pulley and the driven pulley, the driving pulley is coaxially disposed with an output shaft of the first driving motor, and the driven pulley is coaxially disposed with the first screw.

In one possible implementation manner, the base is provided with a groove, the first driving motor and the driving pulley are located in the groove, the driven pulley is located outside the groove, and the driven pulley and the driving pulley are aligned in the vertical direction.

In a possible implementation manner, the fork further comprises a plurality of guide assemblies arranged on two sides of the base along the first direction, each guide assembly comprises a guide pillar and a sliding block in sliding connection with the guide pillar, the guide pillars extend along the first direction, and the sliding blocks are fixedly connected with the side plates.

In a possible implementation manner, the sum of the lengths of the first screw and the second screw is greater than the size of the base along the first direction and is less than the sum of the sizes of the base and the two guide columns along the first direction.

In one possible implementation, the fork further includes a buffer member extending along the first direction, and the buffer member is disposed between the two side plates and away from one side of the base.

In one possible implementation, the buffer is a gas spring with a valve.

In a possible implementation manner, the fork further comprises a loading plate, a plurality of supporting columns for supporting the loading plate are arranged on the base, and in the direction perpendicular to the base, the heights of the supporting columns are greater than the height of the adjusting assembly.

In a possible implementation manner, the pallet fork further comprises a plurality of universal balls arranged between the base and the bearing plate, and the universal balls are located on two sides of the base along the first direction.

In a possible implementation manner, the operating mechanism further includes two operating arms respectively corresponding to the two side plates, the operating arms are retractable relative to the side plates along a second direction, and the second direction is perpendicular to the first direction.

In a possible implementation manner, the operating mechanism further comprises a second driving motor, two second transmission mechanisms connected with output shafts of the second driving motors, and two fixing plates, the second driving motors are arranged on one side of any one side plate away from the base, each second transmission mechanism is arranged on one side of one side plate towards the base, the fixing plates drive the operating arm to be telescopic along the second direction relative to the side plates, and the two second transmission mechanisms are connected through connecting shafts to realize synchronous motion.

In a possible implementation manner, the second transmission mechanism includes a second belt pulley assembly, the second belt pulley assembly includes a driving belt pulley, a driven belt pulley and a conveying belt connected between the driving belt pulley and the driven belt pulley, one end of the fixing plate is fixedly connected with the conveying belt, the other end of the fixing plate is fixedly connected with the operating arm, and the connecting shaft is arranged between the two driving belt pulleys.

In one possible realization, the connecting shaft is a ball spline shaft.

In a possible implementation manner, the operating arm comprises an arm body and a baffle, wherein a plurality of rows of fixing holes are formed in one side of the arm body along the second direction, and the baffle is fixedly connected with the arm body through any row of fixing holes.

A second aspect of the embodiments of the present application provides a transfer robot, including: the goods shelf comprises a plurality of layers of goods shelf plates arranged along the height direction of the goods shelf; the lifting mechanism is connected with the goods shelf; and the fork is connected with the lifting mechanism and driven by the lifting mechanism to reach the pallet board at the preset height to store and take the container.

According to the fork and transfer robot that this application embodiment provided, this fork is through setting up a drive unit between two curb plates that operating device set up relatively to drive two curb plates through a drive mechanism and be close to each other or keep away from each other, thereby can the width of automatically regulated fork, with the multiple specification and dimension's of adaptation packing box, enlarged the application scope of fork, be favorable to improving the handling efficiency of packing box.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 illustrates a schematic structural view of a fork provided in an embodiment of the present application;

FIG. 2 illustrates a schematic top view of the fork of FIG. 1;

FIG. 3 illustrates another exemplary structural schematic of the fork shown in FIG. 2;

FIG. 4 is a schematic view showing a partially enlarged structure of a region A in FIG. 3;

FIG. 5 shows a schematic view of the bottom of the fork of FIG. 1;

fig. 6 is a schematic structural view of a transfer robot according to an embodiment of the present application.

Description of reference numerals:

100. a pallet fork; 200. a shelf; 210. a shelf board; 300. a lifting mechanism; x, a first direction; y, a second direction; z, a third direction;

1. a base; 11. a groove; 12. a support pillar; 13. a universal ball; 131. a spherical shell; 132. a ball bearing; 14. a convex column;

2. an operating mechanism; 21. a side plate; 22. an operating arm; 221. an arm body; 222. a baffle plate; 223. a fixing hole; 23. a second drive motor; 24. a second transmission mechanism; 241. a fixing plate; 242. a connecting shaft; 243a, driving pulley; 243b, driven pulley; 243c, conveyor belt;

3. an adjustment assembly; 31. a first drive unit; 311. a first drive motor; 312. a first pulley assembly; 32. a first transmission mechanism; 321. a first screw; 322. a second screw; 323. a first nut; 324. a second nut; 325. a coupling;

4. a guide assembly; 41. a guide post; 42. a slider;

5. a buffer member;

6. a carrier plate;

7. a swivel assembly; 71. a third drive motor; 72. a third transmission mechanism; 73. a tensioning seat.

Detailed Description

As described in the background, a container is generally transported to a target position by a transfer robot in the related art, and the transfer robot includes a fork for carrying the container, but the width of the existing fork is fixed, and the existing fork can only be adapted to a container with one specification size, and can not transport a container with a larger specification size. For the packing box with smaller specification and size, the width of the pallet fork is unchanged, so that the occupied space of the packing box is the same as that of the packing box with fixed specification and size, and the storage density of the warehouse is reduced. In addition, the container with smaller specification and size is easy to fall off because the container cannot be positioned.

To above-mentioned technical problem, this application embodiment provides a fork and packing box transfer robot, and this fork is through setting up first drive unit between two curb plates that operating device set up relatively to drive two curb plates through first drive mechanism and be close to each other or keep away from each other, thereby can the width of automatically regulated fork, with the multiple specification and size's of adaptation packing box, enlarged the application scope of fork, be favorable to improving the handling efficiency of packing box.

In order to make the aforementioned objects, features and advantages of the embodiments of the present application more comprehensible, embodiments of the present application are described in detail below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Fig. 1 shows a schematic structural diagram of a fork according to an embodiment of the present application.

As shown in fig. 1, the present embodiment provides a pallet fork 100, including: base 1, operating device 2 and adjusting part 3.

The operating mechanism 2 comprises two side plates 21 which are oppositely arranged, wherein the two side plates 21 are positioned on two sides of the base 1 along the first direction X, and form a clamping space for accommodating a cargo box together with the base 1.

The adjusting assembly 3 includes a first driving unit 31 and a first transmission mechanism 32 connected to an output end of the first driving unit 31, the first driving unit 31 is disposed between the two side plates 21 and connected to the base 1, and the first transmission mechanism 32 is movably connected to the two side plates 21 to drive the two side plates 21 to approach to or separate from each other.

In the present application, the distance between the two oppositely disposed side plates 21 is the dimension of the cargo box along the first direction X. Optionally, the container is a rectangular container, and the size of the container along the first direction X may be the size of any one of the three sides, i.e., the long side, the wide side, and the high side of the rectangular container, and may be selected according to an actual application scenario, which is not limited herein.

The first driving unit 31 is disposed between the two oppositely disposed side plates 21 of the operating mechanism 2, and the first transmission mechanism 32 drives the two side plates 21 to approach to each other or separate from each other, so that the width of the fork along the first direction X can be automatically adjusted to adapt to containers with different size requirements, and the application range of the fork is expanded.

In addition, the first driving unit 31 is disposed between the two side plates 21 that are oppositely disposed, and compared with the technical scheme that the first driving unit 31 is disposed on one side of any one of the side plates 21, the space occupied by the fork 100 in the first direction X can be saved, and the structure is more compact. In addition, for the fork 100 that the same regulation width required, first drive mechanism 32 drives two curb plates 21 and moves in order to adjust the fork width jointly, compares with the technical scheme that a mobilizable curb plate 21 moved in order to adjust the fork width for another fixed curb plate 21, and the motion stroke of every curb plate 21 is shorter, can accomplish the wide work of accent of fork more fast, improves work efficiency.

According to the fork 100 that this application embodiment provided, through set up first drive unit 31 between two curb plates 21 at operating device 2 relative settings to drive two curb plates 21 through first drive mechanism 32 and be close to each other or keep away from each other, thereby can the width of automatically regulated fork 100, with the packing box of the multiple specification and dimension of adaptation, enlarged fork 100's application scope, be favorable to improving the handling efficiency of packing box.

The specific structure of the fork provided by the embodiment of the application is further described in detail in the following with reference to the attached drawings.

Fig. 2 shows a schematic top view of the fork of fig. 1.

As shown in fig. 1 and 2, the first transmission mechanism 32 includes a first screw 321 and a second screw 322 that are coaxially disposed and have opposite screw threads, the first screw 321 extends along the first direction X, the two side plates 21 are respectively provided with a first nut 323 and a second nut 324, the first screw 321 is in threaded connection with the first nut 323, and the second screw 322 is in threaded connection with the second nut 324.

Alternatively, the first screw 321 is a right-handed external thread, the first nut 323 is a right-handed internal thread, the second screw 322 is a left-handed external thread, and the second nut 324 is a left-handed internal thread. The first screw 321 and the second screw 322 are coaxially disposed, and driven by the rotation torque output by the first driving unit 31, the first screw 321 and the second screw 322 convert the rotation motion in the same direction into a linear motion opposite to the first direction X, so as to drive the two side plates 21 to approach to each other or separate from each other. For example, when the rotational torque output by the first driving unit 31 is a positive torque, the first screw 321 and the second screw 322 drive the two side plates 21 to approach each other; when the rotation torque output by the first driving unit 31 is a reverse torque, the first screw 321 and the second screw 322 drive the two side plates 21 to move away from each other.

In some embodiments, the first and second screws 321, 322 are both trapezoidal threads, and the lead angle of the trapezoidal threads is less than the static friction angle.

In order to enable the first screw rod 321 and the second screw rod 322 to move synchronously, the thread turning directions of the first screw rod 321 and the second screw rod 322 are opposite, and the shapes and the sizes of the first screw rod and the second screw rod are the same, for example, the first screw rod 321 and the second screw rod 322 are both trapezoidal threads, and the thread lead angle of the trapezoidal threads is smaller than the static friction angle, so that the first screw rod 321 and the second screw rod 322 have a self-locking function, and the container can be prevented from being damaged due to the fact that the side plate 21 is pushed by external force.

The screw transmission between the screw rod with the trapezoidal thread and the nut is sliding friction and the relative sliding work is generated by an oil film between the screw rod and the nut. Assuming that the static friction coefficient of the first screw 321 and the second screw 322 is f, tan α is f × α arctan (f), where α is the static friction angle, and the static friction coefficient f can be obtained from the materials of the screws and the nuts.

Further, the first screw 321 is connected to the second screw 322 by a coupling 325. The coupling 325 is used to fixedly connect the first screw 321 and the second screw 322 to rotate together and transmit motion and torque, thereby achieving synchronous motion.

In some embodiments, the first driving unit 31 includes a first driving motor 311 and a first pulley assembly 312, the first pulley assembly 312 includes a driving pulley, a driven pulley, and a transmission belt connected between the driving pulley and the driven pulley, the driving pulley is disposed coaxially with the output shaft of the first driving motor 311, and the driven pulley is disposed coaxially with the first screw 321.

The first pulley assembly 312 may transmit the rotational torque of the output shaft of the first drive motor 311 to the first transmission mechanism 32, and the first pulley assembly 312 may be a speed reduction mechanism or a constant speed mechanism. In addition, the first pulley assembly 312 may be replaced with a first sprocket assembly, which will not be described in detail.

In some embodiments, the base 1 is provided with a groove 11, the first driving motor 311 and the driving pulley are located in the groove 11, the driven pulley is located outside the groove 11, and the driving pulley and the driven pulley are vertically aligned.

The first pulley assembly 312 is disposed in a vertical plane, and is more compact than a structure disposed in a horizontal plane, so that the occupied space of the fork 100 in the horizontal plane can be further reduced.

In some embodiments, the fork 100 further includes a plurality of guide assemblies 4 disposed on both sides of the base 1 along the first direction X, each guide assembly 4 includes a guide post 41 and a slider 42 slidably connected to the guide post 41, the guide post 41 extends along the first direction X, and the slider 42 is fixedly connected to the side plate 21.

Optionally, a plurality of guide assemblies 4 are symmetrically disposed on two sides of the base 1 along the first direction X and symmetrically disposed on two sides of the first transmission mechanism 32, so as to assist in guiding the two side plates 21 to approach or move away from each other, and prevent the side plates 21 from shifting during the movement.

As shown in fig. 2, 4 guide assemblies 4 are respectively symmetrically disposed on two sides of the base 1 along the first direction X, and 2 guide assemblies 4 on each side are symmetrically disposed on two sides of the first transmission mechanism 32, so as to assist in guiding the two side plates 21 to approach or separate from each other, and prevent the side plates 21 from shifting during the movement process.

Further, the sum of the lengths of the first screw 321 and the second screw 322 is greater than the dimension of the base 1 along the first direction X, and is less than the sum of the dimensions of the base 1 and the two guide posts 41 along the first direction X.

In this embodiment, the dimension of the base 1 along the first direction X determines the minimum dimension of the cargo box, the sum of the dimensions of the base 1 and the two guide posts 41 along the first direction X determines the maximum dimension of the cargo box, and the dimension of the guide posts 41 along the first direction X determines the movement stroke of the first screw 321 or the second screw 322, so as to structurally limit the two side plates 21 from being separated from the first transmission mechanism 32 when being separated from each other, thereby improving the reliability and safety of the fork 100.

In some embodiments, the fork further comprises a buffer 5 extending along the first direction X, the buffer 5 being disposed between the two side plates 21 and on a side remote from the base 1. The buffer member 5 is disposed at a side of the clamping space formed by the two side plates 21 and the base 1, which is far away from the container, so as to prevent interference with the buffer member 5 in the process of storing and taking the container. The buffer 5 can buffer external interference such as vibration and impact received by the two side plates 21 in the moving process, and improve the moving stability of the fork 100.

Optionally, the buffer 5 is a gas spring with a valve. The gas spring is a part which can realize the functions of supporting, buffering, braking, height and angle adjustment and the like. The gas spring comprises a piston rod, a piston, a sealing guide sleeve, filler, a pressure cylinder, a connector and the like. The pressure cylinder is a closed cavity, inert gas or oil-gas mixture is filled in the pressure cylinder, and the pressure in the cavity is several times or dozens of times of atmospheric pressure. When the gas spring acts, the piston rod moves by utilizing the pressure difference existing on the two sides of the piston.

In this embodiment, after the width of the fork 100 is adjusted to a certain position, the side plates 21 are stationary, the valve is closed, and the buffer 5 is rigid, so that the relative rigidity between the two side plates 21 can be enhanced. When the width of fork 100 needs to be adjusted, curb plate 21 moves, and the valve is opened this moment, and bolster 5 is flexible, and its length can change along with the distance change between two curb plates 21 to external interference such as vibration, impact that can cushion two curb plates 21 motion in-process and receive improves the motion stability of fork 100.

Fig. 3 shows another exemplary structural view of the fork shown in fig. 2, and fig. 4 shows a partially enlarged structural view of a region a in fig. 3.

As shown in fig. 3 and 4, in some embodiments, the pallet fork 100 further includes a loading board 6, a plurality of supporting columns 12 for supporting the loading board 6 are disposed on the base 1, and the height of the supporting columns 12 is greater than the height of the adjusting assembly 3 in a direction perpendicular to the base 1.

The material of loading board 6 can be stainless steel etc. has higher intensity and rigidity for bear the weight of the packing box, prevent that the packing box from damaging adjustment assembly 3. A plurality of support columns 12 evenly distributed on base 1 prevents that loading board 6 from taking place local deformation because of the atress is uneven.

Further, the fork still includes a plurality of universal balls 13 that set up between base 1 and loading board 6, and a plurality of universal balls 13 are located base 1 along the both sides of first direction X.

As shown in fig. 4, the universal ball 13 includes a ball housing 131, a ball 132 partially embedded in the ball housing 131, and a spring provided between the ball 132 and the ball housing 131. The spherical shell 131 may be made of carbon steel, zinc plating, stainless steel or reinforced nylon. The balls 132 may be carbon steel balls, carbon steel galvanized balls, bearing steel balls, or plastic steel balls.

The maximum height dimension of the universal ball 13 is larger than the height dimension of the support column 12, the rolling ball 132 of the universal ball 13 rolls flexibly, so that the loading plate 6 running on the universal ball can slide flexibly according to the weight of the cargo box, the height of the loading plate 6 is adjusted in a self-adaptive manner, and the loading plate 6 is prevented from deforming to cause the cargo box to fall off. In addition, the distribution density of the universal balls 13 can be set arbitrarily according to different bearing requirements, and the universal balls 13 with different bearing capacities can be selected according to the placement positions of different containers and according to specific requirements.

In some embodiments, as shown in fig. 3, the operating mechanism 2 further includes two operating arms 22 corresponding to the two side plates 21, respectively, and the operating arms 22 are retractable with respect to the side plates 21 along a second direction Y, which intersects the first direction X.

In the embodiment of the present application, the operation arm 22 may be a dragging type structure, a tray type structure, a clamping type structure, a mechanical arm, and the like, so as to take and place the container. Wherein the drag type structure, for example, can drag the cargo box onto the pallet fork 100; a pallet-type configuration, such as one in which a container is placed on a pallet and placed together on a pallet, with the pallet and container being lifted from the pallet and placed on the forks 100 by the operating arm 22; a clamp-and-hold configuration, such as by gripping the container to lift and clamp the container to the forks 100; the robotic arm may, for example, grasp the container by an arm to place the container onto the forks 100. The embodiment of the present application does not limit the specific structure of the operation arm 22, and those skilled in the art can set the structure according to the actual application.

In some embodiments, the operating mechanism 2 further includes a second driving motor 23, two second transmission mechanisms 24 connected to output shafts of the second driving motor 23, and two fixing plates 241, the second driving motor 23 is disposed on one side of any one of the side plates 21 away from the base 1, each second transmission mechanism 24 is disposed on one side of one of the side plates 21 facing the base 1, and drives the operating arm 22 to be retractable along the second direction Y relative to the side plate 21 through the fixing plate 241, and the two second transmission mechanisms 24 achieve synchronous movement through a connecting shaft 242.

Specifically, as shown in fig. 3, the second transmission mechanism 24 includes a second pulley assembly including a driving pulley 243a, a driven pulley 243b, and a transmission belt 243c connected between the driving pulley 243a and the driven pulley 243b, one end of the fixing plate 241 is fixedly connected to the transmission belt 243c, the other end is fixedly connected to the operating arm 22, and the connecting shaft 242 is disposed between the two driving pulleys 243 a.

The second pulley assembly may be a speed reduction mechanism or a constant speed mechanism. In addition, the second pulley assembly can be replaced by a second sprocket assembly, which is not described in detail.

Alternatively, the connecting shaft 242 is a ball spline shaft. The rolling spline shaft is a linear motion mechanism and comprises a shaft, a spline housing, a ball and a circulating device. When the spline sleeve utilizes the balls therein to do linear motion on the precisely ground shaft, the spline sleeve can transmit torque, has compact structure, can transmit excessive load and power and has longer service life.

Because the ball spline shaft can transmit torque, the two second transmission mechanisms 24 corresponding to the two side plates 21 can be driven to synchronously move through one second driving motor 23, so that the two operating arms 22 are driven to synchronously perform telescopic motion, the integral structure of the pallet fork 100 is simplified, and the manufacturing cost is reduced.

In some embodiments, the operation arm 22 includes an arm body 221 and a blocking plate 222, the arm body 221 is provided with a plurality of rows of fixing holes 223 on one side in the second direction Y, and the blocking plate 222 is fixedly connected to the arm body 221 through any one row of fixing holes 223.

As shown in fig. 3, the side of the operating arm 22 away from the baffle 222 is used for grabbing a cargo box, and the length of the fork 100 along the second direction Y can be adjusted by adjusting the corresponding position relationship between the baffle 222 and each row of fixing holes 223, so that the clamping space of the fork 100 can be adjusted according to the length of the cargo box, the flexibility of the fork 100 is further improved, and the application range of the fork is expanded.

Fig. 5 shows a schematic view of the bottom of the fork of fig. 1.

As shown in fig. 2 and 5, the fork 100 further includes a rotation assembly 7, and the base 1 is mounted on an external lifting mechanism, for example, via the rotation assembly 7, and can move along with the movement of the lifting mechanism and rotate under the driving of the rotation assembly 7.

The pivoting assembly 7 is used to support the pallet fork 100 for rotational movement. Illustratively, when the target container on the fork 100 is to be stored in the target position, the fork 100 can be rotated by any angle, such as 90 °, 180 ° or 270 °, by the swing assembly 7 so that the fork 100 faces the storage entrance of the target container, and the two operating arms 22 are moved telescopically to complete the storage and retrieval of the target container.

Alternatively, the rotating assembly 7 includes a third driving motor 71 and a third transmission mechanism 72 connected to an output shaft of the third driving motor 71, the third driving motor 71 is connected to one side of the base 1, and the third transmission mechanism 72 may be a third pulley assembly or a third sprocket assembly, which is not limited in this embodiment of the present application.

Taking the third transmission mechanism 72 as an example of a third sprocket assembly, the third sprocket assembly includes a driving sprocket, a driven sprocket and a transmission chain connecting the driving sprocket and the driven sprocket. One side of the base 1 facing away from the adjusting component 3 is provided with a convex pillar 14, and optionally, the convex pillar 14 corresponds to the groove 11. The convex column 14 and the driven sprocket are coaxially arranged and fixedly connected, and the driving sprocket and the third driving motor 71 are coaxially arranged, so that the whole pallet fork 100 can be driven to rotate.

In one example, the pallet fork 100 further comprises a tension seat 73, the tension seat 73 is movable relative to the base 1, and the third driving motor 71 is connected with the tension seat 73, so that the length of the transmission chain can be adjusted by adjusting the center distance between the tension seat 73 and the convex pillar 14, the third chain wheel assembly is in a tension state, and the problems of tooth skipping, tooth falling and the like of the transmission chain are prevented.

Fig. 6 is a schematic structural view of a transfer robot according to an embodiment of the present application.

As shown in fig. 6, the present embodiment also provides a transfer robot including any one of the forks 100, the pallet 200, and the lifting mechanism 300 described above.

The shelf 200 comprises a plurality of layers of shelf boards 210 arranged along the height direction Z, the lifting mechanism 300 is connected with the shelf 200, the fork 100 is connected with the lifting mechanism 300, and the container is accessed to the shelf board 210 at the preset height under the driving of the lifting mechanism 300.

It should be noted that references in the specification to "one embodiment," "an example embodiment," "some embodiments," etc., indicate that the embodiment described may include a particular feature, structure, or characteristic, but every embodiment may not necessarily include the particular feature, structure, or characteristic. Moreover, such phrases are not necessarily referring to the same embodiment. Further, when a particular feature, structure, or characteristic is described in connection with an embodiment, it is within the knowledge of one skilled in the art to effect such feature, structure, or characteristic in connection with other embodiments whether or not explicitly described.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims (18)

1. A pallet fork, comprising:

a base;

the operating mechanism comprises two oppositely arranged side plates, the two side plates are positioned on two sides of the base along the first direction, and a clamping space for accommodating a container is formed by the two side plates and the base;

the adjusting assembly comprises a first driving unit and a first transmission mechanism connected with the output end of the first driving unit, the first driving unit is arranged between the two side plates and connected with the base, and the first transmission mechanism is movably connected with the two side plates to drive the two side plates to be close to or far away from each other.

2. The fork of claim 1, wherein the first actuator includes a first screw and a second screw coaxially disposed and having opposite threads, the first screw extending in the first direction, the two side plates each having a first nut and a second nut disposed thereon, the first screw being threadedly coupled to the first nut, and the second screw being threadedly coupled to the second nut.

3. The pallet fork of claim 2, wherein the first and second screws are both trapezoidal threads, and wherein a lead angle of the trapezoidal threads is less than or equal to an angle of static friction.

4. The pallet fork of claim 2, wherein the first screw and the second screw are coupled by a coupling.

5. The pallet fork of claim 2, wherein the first drive unit includes a first drive motor and a first pulley assembly including a drive pulley disposed coaxially with the output shaft of the first drive motor, a driven pulley disposed coaxially with the first screw, and a conveyor belt connected between the drive pulley and the driven pulley.

6. The pallet fork of claim 5, wherein a recess is provided in the base, the first drive motor and the drive pulley are positioned within the recess, the driven pulley is positioned outside the recess, and the drive pulley and the driven pulley are vertically aligned.

7. The fork of claim 2, further comprising a plurality of guide assemblies disposed on each side of the base along the first direction, the guide assemblies including guide posts extending along the first direction and sliders slidably coupled to the guide posts, the sliders being fixedly coupled to the side plates.

8. The pallet fork of claim 7, wherein a sum of lengths of the first and second screws is greater than a dimension of the base in the first direction and less than a sum of dimensions of the base and two of the guide posts in the first direction.

9. The fork of claim 1, further comprising a bumper extending in the first direction, the bumper being disposed between the two side plates and on a side away from the base.

10. The pallet fork of claim 9, wherein the buffer is a gas spring having a valve.

11. The pallet fork of claim 1, further comprising a carrier plate, wherein a plurality of support posts are disposed on the base for supporting the carrier plate, and wherein the height of the support posts is greater than the height of the adjustment assembly in a direction perpendicular to the base.

12. The pallet fork of claim 11, further comprising a plurality of universal balls disposed between the base and the load plate, the plurality of universal balls being located on both sides of the base along the first direction.

13. The fork of claim 1, wherein the operating mechanism further comprises two operating arms corresponding to the two side plates, respectively, the operating arms being retractable relative to the side plates in a second direction disposed transverse to the first direction.

14. The fork of claim 13, wherein the operating mechanism further comprises a second driving motor, two second transmission mechanisms connected to output shafts of the second driving motors, and two fixing plates, the second driving motor is disposed on a side of any one of the side plates away from the base, each of the second transmission mechanisms is disposed on a side of one of the side plates facing the base, and the fixing plates drive the operating arm to be retractable relative to the side plates in the second direction, and the two second transmission mechanisms are connected through a connecting shaft to achieve synchronous movement.

15. The pallet fork of claim 14, wherein the second transmission mechanism comprises a second pulley assembly, the second pulley assembly comprising a driving pulley, a driven pulley, and a conveyor belt connected between the driving pulley and the driven pulley, wherein one end of the fixed plate is fixedly connected to the conveyor belt, the other end of the fixed plate is fixedly connected to the operating arm, and the connecting shaft is disposed between the two driving pulleys.

16. The fork of claim 14 wherein the connecting shaft is a ball spline shaft.

17. The pallet fork of claim 13, wherein the operating arm includes an arm body and a plurality of rows of securing holes disposed along one side of the arm body in the second direction, and wherein the barrier is fixedly attached to the arm body via any one of the rows of securing holes.

18. A transfer robot, characterized by comprising:

the goods shelf comprises a plurality of layers of goods shelf plates arranged along the height direction of the goods shelf;

the lifting mechanism is connected with the goods shelf; and

a fork as claimed in any one of claims 1 to 17, wherein the fork is connected to the lifting mechanism and is driven by the lifting mechanism to reach the shelf at a predetermined height to access a container.

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