CN109229232A - Pallet fork, sorting machine people and sorting system - Google Patents
Pallet fork, sorting machine people and sorting system Download PDFInfo
- Publication number
- CN109229232A CN109229232A CN201811368635.1A CN201811368635A CN109229232A CN 109229232 A CN109229232 A CN 109229232A CN 201811368635 A CN201811368635 A CN 201811368635A CN 109229232 A CN109229232 A CN 109229232A
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- fork
- component
- pallet
- interconnecting piece
- prong
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- 239000008188 pellet Substances 0.000 claims description 100
- 230000001681 protective effect Effects 0.000 claims description 15
- 238000003860 storage Methods 0.000 claims description 5
- 238000005516 engineering process Methods 0.000 abstract description 9
- 238000000034 method Methods 0.000 abstract description 9
- 238000009434 installation Methods 0.000 description 19
- 230000033001 locomotion Effects 0.000 description 16
- 230000005540 biological transmission Effects 0.000 description 15
- 239000011295 pitch Substances 0.000 description 9
- 238000005096 rolling process Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 239000003638 chemical reducing agent Substances 0.000 description 6
- 230000001360 synchronised effect Effects 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 238000003780 insertion Methods 0.000 description 3
- 230000037431 insertion Effects 0.000 description 3
- 230000002829 reductive effect Effects 0.000 description 3
- 230000002441 reversible effect Effects 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 210000002421 cell wall Anatomy 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 230000000670 limiting effect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 241000237858 Gastropoda Species 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000036961 partial effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The present invention provides a kind of pallet fork, sorting machine people and sorting system, is related to kinds of goods Sorting Technique field, which includes support component and the first prong component；The interconnecting piece of first prong component and the interconnecting piece of support component are detachably connected.Through the invention, the technical problem that pallet fork structure is single in the related technology is alleviated.
Description
Technical field
The present invention relates to kinds of goods Sorting Technique fields, more particularly, to a kind of pallet fork and sorting machine people.
Background technique
At present be widely applied the fields such as electric business, intelligent plant AGV (automated guided vehicle, full name in English:
Automated Guided Vehicle) mobile robot, be mainly used for picking area and the specified transport place of kinds of goods it
Between carry kinds of goods.Kinds of goods are typically placed in pallet, and AGV mobile robot is forked by pallet fork carries the pallets of kinds of goods to remove
Cargo transport product.Since the form of kinds of goods is multifarious, shape, material of pallet etc. also have biggish difference.Existing goods
The structural style of fork is relatively simple, and when forking different types of pallet, the pallet fork of single pattern is unable to satisfy multiple types goods
The demand that product pallet forks.
Summary of the invention
The purpose of the present invention includes providing a kind of pallet fork, sorting machine people and sorting system, to alleviate goods in some technologies
Fork structural style is single, is unable to satisfy the technical issues of forking demand of multiple types kinds of goods pallet.
To achieve the above object, the present invention the following technical schemes are provided:
First aspect present invention provides a kind of pallet fork, comprising: support component and the first prong component；First prong component
Interconnecting piece and the interconnecting piece of support component are detachably connected.
Further, pallet fork further includes the second prong component, the interconnecting piece of the second prong component and the connection of support component
Portion is adapted, and is detachably connected with the interconnecting piece of the interconnecting piece of the second prong component of realization and support component.
Further, the first prong component and the second prong component include pellet fork device, the pallet fork of the first prong component
The quantity of the pellet fork device of device and the second prong component is different.
Further, the first prong component includes a pellet fork device, and the interconnecting piece of the first prong component is filled set on pallet fork
It sets.
Further, the second prong component includes loading plate and at least two pellet fork devices, and each pellet fork device is respectively mounted
On loading plate, the interconnecting piece of the second prong component is set to loading plate.
Further, support component includes slewing equipment and mounting base；The interconnecting piece of support component is set to slewing equipment, returns
Rotary device can drive the interconnecting piece of support component to rotate relative to mounting base around setting shaft line.
Further, slewing equipment includes turntable, and the interconnecting piece of support component is set to turntable, driven by rotary disc support component
Interconnecting piece is rotated around the axis of turntable.
Further, slewing equipment further includes the first motor connecting with turntable, and first motor rotates for controlling turntable
The axis of disk rotates.
Further, turntable includes first gear disk and the second gear disk engaged with first gear disk, support component
Interconnecting piece is set to first gear disk；First motor and second gear disk are sequentially connected, control of the second gear disk in first motor
Lower drive first gear disk rotation, so that the interconnecting piece of support component is rotated around the axis of first gear disk.
Further, the diameter of first gear disk is greater than the diameter of second gear disk.
Second aspect of the present invention provides a kind of sorting machine people, including mobile robot, moving goods rack, elevator and above-mentioned
Pallet fork, moving goods rack and elevator be set in mobile robot, and pallet fork is connected on elevator, and elevator is for driving goods
Fork lifting.
Further, elevator includes support frame and lifting driving assembly, and wherein support frame includes support rod and crossbeam, branch
Strut is equipped with lifting driving assembly.
Further, moving goods rack includes multiple frame lattice of array setting, and each frame lattice all have access port and interior
Portion has storage space, and the side frame of each frame lattice is equipped with protective device.
Further, protective device is protective net or guard rail.
Third aspect present invention provides a kind of sorting system, including the storing shelf and above-mentioned point for storing cargo
Pick robot, sorting machine people is used for from storing shelf picking or to storing shelf stock；Storing shelf are for placing carrying goods
The pallet of product, pallet have the supporting surface for being used to support kinds of goods.
Further, supporting surface is equipped with anti-skid structure, and/or, bulge-structure is arranged in the edge of supporting surface.
It includes: support component and the first prong that the present invention, which provides a kind of pallet fork, sorting machine people and sorting system, the pallet fork,
Component；The interconnecting piece of first prong component and the interconnecting piece of support component are detachably connected.When the first prong component with need to fork
Tray types when being not correspond to, be corresponding prong component and branch under can dismantling the first prong component from support component
The connection of support component provides space.Through the invention, alleviate in the related technology that pallet fork structure is single, is unable to satisfy multiple types
The problem of forking demand of pallet.
Detailed description of the invention
Technical solution in order to illustrate more clearly of the specific embodiment of the invention or in the related technology, below will be to specific
Attached drawing needed in embodiment or description of Related Art is briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is that there are two the structural schematic diagrams at the first visual angle of the pallet fork of pellet fork device for tool provided in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram at the second visual angle of the pallet fork with a pellet fork device provided in an embodiment of the present invention；
Fig. 3 is the side view of pallet fork shown in Fig. 1 provided in an embodiment of the present invention；
Fig. 4 is the side view of the pellet fork device in pallet fork shown in FIG. 1 provided in an embodiment of the present invention；
Fig. 5 is the front view of the pellet fork device in pallet fork provided in an embodiment of the present invention；
Fig. 6 is the top view of the pellet fork device in pallet fork provided in an embodiment of the present invention；
Fig. 7 is the structural schematic diagram of sorting machine people in the prior art；
Fig. 8 is the structural schematic diagram of the sorting machine people provided in an embodiment of the present invention with moving goods rack；
Fig. 9 is the structural schematic diagram of the pallet fork provided in an embodiment of the present invention being mounted on elevator.
Icon: 100- mounting base；200- slewing equipment；210- first gear disk；220- second gear disk；First turn of 230-
Axis；300- pellet fork device；It is pitched on 310-；It is pitched in 320-；The top 321-；The lower part 322-；330- lower fork；341- first sliding groove；
The first sliding part of 342-；351- second sliding slot；The second sliding part of 352-；The flexible wheel of 361- first；The flexible wheel of 362- second；363-
First flexible element；The first idle pulley of 371-；The first chain of 372-；The second idle pulley of 381-；The second chain of 382-；390- drive sprocket；
400- loading plate；500- mobile robot；600- moving goods rack；610- frame lattice；620- protective net；630- access port；700-
Elevator；710- support frame；711- support rod；712- crossbeam；721- driving wheel；722- flexible drive parts；723- first is driven
Axis.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
The course of work of AGV mobile robot specifically includes that (1) AGV mobile robot loads in picking area equipped with kinds of goods
Shelf；(2) it bears the shelf equipped with kinds of goods and reaches specified transport place；(3) operator will need the kinds of goods carried from this
It is removed on shelf；(3) empty shelf are born go back to picking area again and unloaded by AGV mobile robot.
Kinds of goods are typically placed in pallet, and AGV mobile robot is forked by pallet fork is placed with the pallets of kinds of goods to carry
Cargo.Since the form of kinds of goods is multifarious, shape, material of different pallets etc. have biggish difference.And it is existing
Pallet fork structural style it is single, during forking different types of pallet, the pallet fork of single pattern is unable to satisfy a variety of
Type kinds of goods pallet forks demand.
Inventor develops a kind of pallet fork, passes through the interconnecting piece and branch of the first prong component to alleviate above-mentioned defect
The interconnecting piece of support component is detachably connected, and the first prong component being not correspond to tray types is dismantled from support component
Under, realize that pallet fork has the condition that different prong components is replaced according to tray types.
Firstly, Fig. 1 is that there are two the structural representations at the first visual angle of pallet fork of pellet fork device for tool provided in an embodiment of the present invention
Figure；Fig. 2 is the structural schematic diagram at second visual angle of pallet fork with a pellet fork device provided in an embodiment of the present invention, please refers to figure
1 and Fig. 2, the present embodiment provides a kind of pallet fork, which includes: support component and the first prong component；First prong component
Interconnecting piece and the interconnecting piece of support component are detachably connected.
When needing to fork kinds of goods with pallet fork, when the first prong component and the tray types that need to be forked are not correspond to, by the
Under one prong component is dismantled from support component, the connection for corresponding prong component and support component provides space.Pass through this
Inventive embodiments alleviate the demand that forks that pallet fork structure in the related technology is single, is unable to satisfy multiple types kinds of goods pallets
Problem.
In order to meet the needs that pallet fork forks different type pallet, pallet fork further includes the second prong component, the second prong group
The interconnecting piece of part is adapted with the interconnecting piece of support component, to realize the interconnecting piece of the second prong component and the connection of support component
Portion is detachably connected.When needing to fork kinds of goods with pallet fork, the first prong component can be chosen according to the tray types that need to be forked
Or the second prong component, the interconnecting piece for the prong component chosen and the interconnecting piece of support component are connected.For example, when first
When working under kind sorting operating condition, the type of pallet is the first, by the company of the first prong component corresponding with the first pallet
The connection of the interconnecting piece of socket part and support component, which is mounted in support component, the first prong group is utilized
Part forks kinds of goods；When working under second of sorting operating condition, the type of pallet is second, by the first prong component from support
Under being dismantled on component, and by the connection of the interconnecting piece of the second prong component corresponding with second of tray types and support component
Portion's connection, forks kinds of goods using the second prong component；Realize that the different prong component of at least two groups is applied to different sortings
Operating condition.
Since pallet fork forks kinds of goods by prong component (general designation of the first prong component and the second prong component), because
This, prong component can undertake biggish power under normal circumstances；Moreover, the interconnecting piece of prong component and the interconnecting piece of support component can
Therefore dismantling connection when being installed on prong component in support component, keeps the stability that connect with support component of prong component
With regard to extremely important.Prong component generates shaking during pitching delivery product, facilitates support component and prong component in order to prevent
Quickly disassembly and installation, in the present embodiment, the interconnecting piece of prong component and the interconnecting piece of support component take threaded connection
Mode.Specifically, the interconnecting piece of prong component is equipped with multiple installation through-holes, the interconnecting piece of support component is equipped with and installation through-hole number
Identical installation threaded hole is measured, multiple installation through-holes are arranged in a one-to-one correspondence with multiple installation threaded holes, and one-to-one installation is logical
Hole and installation threaded hole form one group, and every group of installation through-hole and installation threaded hole are respectively connected with bolt.Wherein, bolt initially passes through peace
Dress through-hole then passes through installation threaded hole, and is threadedly coupled with installation threaded hole, so that prong component is installed on support component.
Wherein, one end that bolt is contacted with installation through-hole is equipped with nut.When needing replacing prong component, by bolt from installation threaded hole
In back-out, the coupling part of the interconnecting piece and support component that make prong component from support component from and then tearing prong component open
It unloads.The interconnecting piece of prong component and the interconnecting piece of support component can also be connected using other dismountable connection types
It connects.
The connection type of prong component and support component is described above, introduces the different fork of at least two groups below
The specific structure of tooth assembly.
The kinds of goods for needing to fork are generally positioned on pallet, and pallet fork, which passes through, forks the pallet for being loaded with kinds of goods realization to kinds of goods
It carries.Under normal circumstances, the lower part of pallet is equipped with the gap for the insertion of prong component, the number in the gap of different types of pallet
Amount is different with position, and therefore, different types of pallet needs different pallet forks to meet the needs of of forking.In order to meet same goods
Fork completes to fork different types of pallet to carry the demands of kinds of goods, in the present embodiment, the first prong component and the second prong
Component includes pellet fork device 300, the pellet fork device 300 of the pellet fork device 300 of the first prong component and the second prong component
The distance between quantity and adjacent pellet fork device 300 are different.It therefore, can be according to the number of gaps between different pallets
With the difference of position, corresponding prong component is selected to be installed on support component.
Pallet fork is not limited to above-mentioned two kinds of the first prong component and the second prong component, the company of the support component on pallet fork
Socket part can install more different prong components.
Illustrate the structure of corresponding first prong component and the second prong component below with reference to two kinds of specific sorting operating conditions.
The first sorting operating condition: the pallet for carrying kinds of goods is equipped with a gap, which is located at pallet lower end surface
Middle part.
In order to be adapted with the above-mentioned pallet equipped with a gap, as shown in Fig. 2, the first prong component includes a goods
The interconnecting piece of fork device 300, the first prong component is set to the pellet fork device 300, and the interconnecting piece of pellet fork device 300 is connected to branch
The upper middle side part of support component, so that prong component is applied to the middle part of support component to the active force of support component, raising is forked
The stability of first prong component when kinds of goods.
Second of sorting operating condition: the pallet for carrying kinds of goods is equipped at least two gaps, and at least two gaps are respectively positioned on
The lower end surface of pallet, and the extending direction in gap is parallel to each other.
In order to be adapted with the above-mentioned pallet equipped at least two gaps, as shown in Figure 1, the second prong component includes holding
Support plate 400 and at least two pellet fork devices 300, each pellet fork device 300 are installed on loading plate 400, the second prong component
Interconnecting piece be set to loading plate 400.At this point, the quantity of pellet fork device 300 can be different from the quantity in gap on pallet, as long as energy
Enough insertion pallet gaps fork pallet.But in order to promote the stability during pallet forks, in the present embodiment
In, the quantity of pellet fork device 300 is identical as the quantity in gap on pallet.Please continue to refer to Fig. 1, two pellet fork devices 300 are all provided with
In the upper end of support component, and it is (direction initialization is the direction for forking kinds of goods) arranged in parallel along direction initialization.For convenience
The installation and removal of two pellet fork devices 300 and support component, the second prong component further include loading plate 400, two pallet fork dresses
It sets 300 to be installed on loading plate 400 by modes such as bolts, loading plate 400 forms a whole with two pellet fork devices 300
The second prong component after, then connect with support component.Wherein, loading plate 400 is equipped with the interconnecting piece of the second prong component, the
Interconnecting piece on the interconnecting piece and support component of y-bend tooth assembly is bolted.Two pellet fork devices 300 are along setting side
It to elongation and shrinks, when pitching delivery product, in the corresponding gap of the synchronous insertion tray bottom of two pellet fork devices 300, together will
Pallet forks.
In order to make pellet fork device 300 have biggish flexible stroke, referring to figure 3. and Fig. 4, pellet fork device 300 include upper
Fork 310, middle fork 320 and lower fork 330；Lower fork 330 is fixedly connected on support component；Upper fork 310 is slidably connected with middle fork 320, on
Fork 310 can be slided relative to middle fork 320 along direction initialization；Middle fork 320 and lower fork 330 are slidably connected, and middle fork 320 can drive fork
310 slide relative to lower fork 330 along direction initialization together.Load plane is arranged in the top surface of upper fork 310, with bearing goods pallet or
Person's cargo.
Direction initialization is that upper fork 310 and middle fork 320 move the side that can fork the pallet for being loaded with kinds of goods relative to lower fork 330
To.In the present embodiment, upper fork 310, middle fork 320 and lower fork 330 are set gradually along the vertical direction, specifically, upper fork 310 is most
Above, lower fork 330 is in bottom.
Inventors have found that usually only one layer or at most two layers of general pallet fork, it is such to be arranged it sometimes appear that
Prong is normally extend into the access section of stereo storage rack, in order to alleviate the above problem, inventor designs three prongs, upper fork
310 for forking cargo, and for middle fork 320 for driving fork 310 to stretch out to access section, lower fork 330 is used to support middle fork 320 and upper
Fork 310, also, in order to reduce the volume of pellet fork device 300, upper fork 310, middle fork 320 and lower fork 330 are stacked, thus may be used
Know, the flexible stroke of upper fork 310 is equal to middle fork 320 relative to the shift motion of lower fork 330 and upper fork 310 relative to middle fork 320
The sum of shift motion, increase 310 exsertile length of fork.
Pellet fork device 300 provided in this embodiment includes upper fork 310, middle fork 320 and 330 three-decker of lower fork, wherein goods
Fork device 300 is not limited to three layers, the number of plies can be arranged according to the position of the required access section protruded into.For example, it is required protrude into take
When the position of goods mouth is closer, pellet fork device 300 may be configured as bilayer.For example, the required position for protruding into access section farther out when, pallet fork
Device 300 may be configured as four layers or five layers, so that pellet fork device 300 has bigger flexible stroke.
Slip connection mode between middle fork 320 and lower fork 330 can there are many kinds of, such as sliding rail etc., in improving
The stationarity that fork 320 is slided relative to lower fork 330, lower fork 330 offer first sliding groove 341 along direction initialization, set on middle fork 320
There are the first sliding part 342, the first sliding part 342 and 341 sliding plug of first sliding groove.Lower fork 330 passes through 342 He of the first sliding part
First sliding groove 341 cooperates, and carrys out centering fork 320 and is supported, and fork 320 is flat along direction initialization relative to lower fork 330 in guidance
Surely swimmingly move.
Specifically, the first sliding part 342 includes the first rolling column and the first multi-directional ball.
First rolling column is rotationally connected with middle fork 320 by axis, and axis is horizontally disposed, and first rolls column can be opposite
320 are pitched around own axis in middle；Further, first roll column cylinder outer wall and first sliding groove 341 upper wall and under
Wall contact, to pitch 320 in support, fork 320 moves along the vertical direction relative to lower fork 330 in limitation；In middle fork 320 relative under
During fork 330 is mobile, since the first rolling column rolls between the upper wall and lower wall of first sliding groove 341, first is reduced
341 upper wall of sliding slot and lower wall give the frictional resistance of middle fork 320.
First multi-directional ball is connected to middle fork 320, the spherical surface of the first multi-directional ball and first by the first universal ball mounting seat 100
The slot bottom of sliding slot 341 contacts；It is moved relative to lower fork 330 along perpendicular to direction initialization with fork 320 in limitation, is 320 edges of middle fork
The movement of first sliding groove 341 provides guiding.Also, the first multi-directional ball can be freely rotated around itself centre of sphere, and it is universal to reduce first
Frictional resistance between ball and the cell wall of first sliding groove 341.
The first above-mentioned sliding part 342 can it is single including multiple above-mentioned first roll columns, it is single include multiple above-mentioned
First multi-directional ball includes multiple first rolling columns and multiple first multi-directional balls simultaneously.Column is rolled including multiple first when simultaneously
When with multiple first multi-directional balls, multiple first roll column and multiple first multi-directional balls respectively along the length direction of first sliding groove 341
Interleaved distribution, not only fork 320 moves along the vertical direction relative to lower fork 330 in limitation, and in limiting fork 320 relative to
Lower fork 330 is moved along perpendicular to direction initialization, is conducive to middle fork 320 and is preferably slided along first sliding groove 341.
Lower fork 330 is respectively arranged with first sliding groove 341, the opening phase of two first sliding grooves 341 along the two sides of direction initialization
Deviate from.Each first sliding groove 341 is respectively provided with upper wall and lower wall in the horizontal direction, and side wall along the vertical direction.Middle fork
Two groups of first sliding parts 342 with the cooperation of two first sliding grooves 341 respectively are provided on 320.
Slip connection mode between middle fork 320 and upper fork 310 can there are many kinds of, such as sliding rail etc., in improving
Stationarity of the fork 320 relative to upper 310 sliding of fork, upper fork 310 offer second sliding slot 351 along direction initialization, set on middle fork 320
There are the second sliding part 352, the second sliding part 352 and 351 sliding plug of second sliding slot.Middle fork 320 passes through 352 He of the second sliding part
Second sliding slot 351 cooperates, and to be supported to upper fork 310, and guides fork 310 flat along direction initialization relative to middle fork 320
Surely swimmingly move.
Specifically, the second sliding part 352 includes the second rolling column and the second multi-directional ball.
Second rolling column is rotationally connected with middle fork 320 by axis, and axis is horizontally disposed, and second rolls column can be opposite
320 are pitched around own axis in middle；Further, second roll column cylinder outer wall and second sliding slot 351 upper wall and under
Wall contact, to pitch 310 in support, fork 310 moves along the vertical direction relative to middle fork 320 in limitation；In upper fork 310 relative in
During fork 320 is mobile, since the second rolling column rolls between the upper wall and lower wall of second sliding slot 351, friction is reduced
Resistance.
Second multi-directional ball is connected to middle fork 320 by the second universal ball mounting seat, and the spherical surface of the second multi-directional ball and second are slided
The slot bottom of slot 351 contacts；It is upper fork 310 along the with fork 310 in limitation relative to middle fork 320 along being moved perpendicular to direction initialization
The movement of two sliding slots 351 provides guiding.Also, the second multi-directional ball can be freely rotated around itself centre of sphere, reduce the second multi-directional ball
Frictional resistance between the cell wall of second sliding slot 351.
The second above-mentioned sliding part 352 can it is single including multiple above-mentioned second roll columns, it is single include multiple above-mentioned
Second multi-directional ball includes multiple second rolling columns and multiple second multi-directional balls simultaneously.Column is rolled including multiple second when simultaneously
When with multiple second multi-directional balls, multiple second roll column and multiple second multi-directional balls respectively along the length direction of second sliding slot 351
Interleaved distribution, not only fork 310 320 moves along the vertical direction relative to middle fork in limitation, and limit fork 310 relative to
Middle fork 320 is conducive to upper fork 310 and preferably slides along second sliding slot 351 along moving perpendicular to direction initialization.
Upper fork 310 is respectively arranged with second sliding slot 351, the opening phase of two second sliding slots 351 along the two sides of direction initialization
Deviate from.Each second sliding slot 351 is respectively provided with upper wall and lower wall in the horizontal direction, and side wall along the vertical direction.Middle fork
Two groups of second sliding parts 352 with the cooperation of two second sliding slots 351 respectively are provided on 320.
In order to make pellet fork device 300 not only may be implemented to be fixedly connected with support component, but also sliding slot can be opened up and can
Be formed together more compact and reasonable space layout with power device, transmission device, inventor by lower fork 330, middle fork 320 and on
Fork 310 is disposed as specific shape.Wherein, along direction initialization, lower fork 330 is spill, and the two side walls of the lower fork 330 of spill are equal
It is slidably connected with middle fork 320；The two side walls of the lower fork 330 of spill are equipped with first sliding groove 341, and two first sliding grooves 341 are divided
It is not set to the outside of two side walls and opening is opened up along far from corresponding side wall.It is formed between the two side walls of lower fork 330
Cavity reserves installation space for driving mechanism, to reduce the overall dimensions of pellet fork device 300.Moreover, the lower fork 330 of spill
Two side walls upwardly extend along the vertical direction, be conducive to carry vertical direction active force, can preferably support in pitch
320, upper fork 310 and cargo.
In order to keep the structure of pellet fork device 300 more compact, upper fork 310 along direction initialization is the spill set, is set
The two side walls of the upper fork 310 of spill are slidably connected with middle fork 320.Two second sliding slots 351 are respectively arranged at two side walls
Inside, the opening direction of sliding slot is directed away from the direction of corresponding side wall.Middle fork 320 is set between two side walls, is reduced
The overall dimensions of pellet fork device 300.Moreover, the two side walls of the upper fork 310 of spill extend vertically downwards, be conducive to hold
The pressure of loading object along the vertical direction, to improve the cargo capacity of pallet fork provided in this embodiment.
Along direction initialization, middle fork 320 includes the tops 321 of spill and the lower part 322 of spill that sets, top 321 with it is upper
Fork 310 is slidably connected, and lower part 322 is slidably connected with lower fork 330.The side of the lower part 322 of the side wall and spill on the top 321 of spill
Wall extends along the vertical direction respectively, is conducive to the active force for carrying vertical direction.In one embodiment, the top of middle fork 320
321 and lower part 322 be two separable components, the bottom wall on top 321 is fixedly connected with the roof of lower part 322, such as top
321 bottom wall and the roof of lower part 322 can be achieved a fixed connection by bolt, convenient for the disassembly between top 321 and lower part 322
And installation, it is convenient that device is safeguarded.In another embodiment, the entirety that middle fork 320 is integrally formed.
In one embodiment, middle to pitch under 320 as shown in figure 4, the width of upper fork 310 is greater than the width on 320 tops of middle fork
The width in portion is greater than the width of lower fork 330.In another embodiment, the width of upper fork 310 is less than the width on 320 tops of middle fork,
And the width of 320 lower parts of middle fork is less than the width of lower fork 330.It should be understood that the width of upper fork 310, middle fork 320 and lower fork 330 is also
It can satisfy other relationships, the disclosure not limits this.
Concrete shape and the connection of the upper fork 310, middle fork 320 and lower fork 330 of pellet fork device 300 is described above
Next structure introduces the motion structure and process of pellet fork device 300.
The side view of pellet fork device in Fig. 4 pallet fork shown in FIG. 1 provided in an embodiment of the present invention；Fig. 5 is that the present invention is real
The front view of pellet fork device in the pallet fork of example offer is provided；Referring to figure 4. and Fig. 5, pellet fork device 300 further include the first flexible wheel
361, support is connected to the respectively for the second flexible wheel 362 and the first flexible element 363, the first flexible wheel 361 and the second flexible wheel 362
The both ends of one flexible element 363；Wherein the first flexible wheel 361 and the second motor (not shown) are sequentially connected, the first flexible element
363 are fixedly connected with middle fork 320.First flexible wheel 361 and second 362 pair of first flexible element 363 of flexible wheel play support transmission
Effect, under the drive of the first flexible wheel 361 and the second flexible wheel 362, the first flexible element 363 is rotated along direction initialization, is driven
Middle fork 320 is moved along direction initialization.
Second the first flexible 361 rotation of wheel of motor driven, drives the first flexible element 363 to rotate along direction initialization, thus band
Fork 320 is mobile in dynamic.When the second motor is rotated along positive direction, the first flexible wheel 361 is also rotated along positive direction, the first flexible element
363 also rotate along positive direction, and fork 320 is moved along direction initialization to the direction close to access section in drive；When the second motor is along anti-
When direction rotates, the first flexible wheel 361 also rotates in reverse direction, and the first flexible element 363 also rotates in reverse direction, pitches in drive
320 move along direction initialization to the direction far from access section.
First flexible wheel 361 is installed on lower fork 330 by the second shaft, and the both ends of the second shaft are arranged in spill respectively
The two side walls of lower fork 330；Second flexible wheel 362 is installed on lower fork 330 by third shaft, and the both ends of third shaft are worn respectively
Set on the two side walls of the lower fork 330 of spill.The first flexible wheel 362 of flexible wheel 361, second and the first flexible element 363 are respectively positioned on
In cavity between 330 two side walls of lower fork, keep the structure of device more compact, is conducive to reduce overall dimensions.
Under normal circumstances, the revolving speed of the second motor is higher, if directly the second motor connect with the first flexible wheel 361,
Meeting is so that the revolving speed of the first flexible wheel 361 is excessive, and it is mobile to accurately control middle fork 320, in order to alleviate the above problem, pallet fork dress
Setting 300 further includes speed reducer, the output shaft of speed reducer and the first flexible 361 transmission connection of wheel, is conducive to make the first flexible wheel 361
Biggish rotating torque is obtained, fork 310 and middle fork 320 are moved relative to lower fork 330 together in driving, to improve cargo capacity.
As shown in figure 5, when pellet fork device 300 is two groups, in order to realize the pellet fork device of two groups of same second motor while drive
Fork 320 is mobile simultaneously in two in 300, is connected with drive sprocket between the output shaft of speed reducer and the first flexible wheel 361
390, it is sequentially connected between drive sprocket 390 and the first flexible wheel 361 by transmission belt.The axis of first flexible wheel 361 and another
The flexible wheel 361 of the first of one group of pellet fork device 300 is fixedly and coaxially connected.
In order to transmit bigger power, the first flexible wheel 361 is the first sprocket wheel, and the second flexible wheel 362 is the second sprocket wheel, the
One flexible element 363 is the first closed chain, is carried with the cargo to larger quality, and cargo capacity is improved.Also, due to chain
Wheel and chain are adapted to more dirt etc. and pollute biggish environment, are conducive to pallet fork provided in this embodiment stable operation in warehouse,
Reduce the generation of failure.
First flexible wheel 361 and the second flexible wheel 362 are not limited to using sprocket wheel, and the first flexible element 363 is not limited to using chain
Item.For example, synchronous pulley can be used in the first flexible wheel 361 and the second flexible wheel 362, the first flexible element 363 uses synchronous belt.
Middle fork 320 is not limited to carry out using the structure of the first flexible wheel 362 of flexible wheel 361, second and the first flexible element 363
Driving.For example, it is also possible to pitch 320 in driving by lead screw assembly, lead screw assembly includes lead screw and nut seat, and lead screw passes through axis
It holds and is installed on lower fork 330, and extend along direction initialization；Nut seat is fixed on middle fork 320, and cooperates with lead screw；Motor and silk
Thick stick transmission connection, driving lead screw rotation, so that fork 320 in nut seat drive be made to move along direction initialization.For example, it is also possible to pass through
Cylinder pitches 320 in driving, and the cylinder body of cylinder is fixed on lower fork 330, piston rod is fixedly connected with middle fork 320.
The structure that fork 320 is moved relative to lower fork 330 in driving is described above, is next discussed in detail in driving
Structure and the course of work of the fork 310 relative to middle 320 movement of fork.
Fig. 6 is the top view of the pellet fork device in pallet fork provided in an embodiment of the present invention.It is filled referring to figure 4. with Fig. 6, pallet fork
Setting 300 further includes the first idle pulley 371 and the first chain 372；First idle pulley 371 is fixed on middle fork 320 and the first idle pulley 371 can be around
Own axes are rotated along direction initialization；First chain, 372 elongate support is fixed in the first idle pulley 371, one end of the first chain 372
It is connected to lower fork 330, the other end of the first chain 372 is connected to fork 310.
Specifically, along direction initialization, middle fork 320 has front-end and back-end, and the first idle pulley 371 is located at the front end of middle fork 320,
Tooth engagement outside the front side of first chain 372 and the first idle pulley 371, one end of the first chain 372 are fixed, and lower fork 330 is fixed on, the
The other end of one chain 372 is connect with upper fork 310, is pitched 320 in the middle and is stretched out along direction initialization, the first idle pulley 371 and lower fork 330
Distance is elongated, and for the first idle pulley 371 along rotating forward, the first idle pulley 371 rolls the first chain 372, the first chain along direction initialization
372 other end drives fork 310 to stretch out.First idle pulley 371 is equivalent to movable pulley, pitches 320 in the middle relative to lower fork 330 along setting
When determining direction movement certain distance, upper fork 310 moves 2 times of distance relative to lower fork 330 along direction initialization, increases fork
310 flexible amplitude.
Pellet fork device 300 further includes the second idle pulley 381 and the second chain 382；Second idle pulley 381 is fixed on middle fork 320
Rear end, the second idle pulley 381 can be rotated around own axes along direction initialization；The rear side external tooth of second chain 382 and the second idle pulley 381
Engagement, one end of the second chain 382 are fixedly connected on lower fork 330, and the other end of the second chain 382 is connected to fork 310；In the middle
Fork 320 is retracted along direction initialization, and the second idle pulley 381 furthers at a distance from lower fork 330, and the second idle pulley 381 rotates in reverse direction, the
Two idle pulleys 381 roll the second chain 382, and the other end of the second chain 382 drives fork 310 to retract.
Wherein, the first chain 372 and the second chain 382 are located at different planes, and two planes are parallel to each other, the first chain
The opening of item 372 is opposite with the opening offset of the second chain 382.
In order to keep the structure of pellet fork device 300 more compact, the front end of middle fork 320 is provided with the first through slot, the first idle pulley
371 are set in the first through slot, and the top 321 of the first idle pulley 371 is located at the chamber between middle fork 320 and upper fork 310, lower part
322 are located at the chamber between middle fork 320 and lower fork 330.The rear end of middle fork 320 is provided with the second through slot, the setting of the second idle pulley 381
In the second through slot, the top 321 of the second idle pulley 381 is located at the chamber between middle fork 320 and upper fork 310, during lower part 322 is located at
Chamber between fork 320 and lower fork 330.
Specifically, the first idle pulley 371 and the second idle pulley 381 are respectively sprocket wheel.It is middle fork 320 by sprocket wheel and chain assemblies come
310 movement of fork, conveniently adapts to pollute biggish environment in driving, is conducive to pallet fork provided in this embodiment and stablizes fortune in warehouse
Row.
First idle pulley 371 is not limited to sprocket wheel.For example, the first idle pulley 371 uses belt pulley, the first chain 372 replaces with skin
Band, belt bypass belt pulley, and both ends are individually fixed in fork 310 and lower fork 330.For example, the first idle pulley 371 uses pulley, the
One chain 372 replaces with wirerope, which bypasses the pulley, and both ends are individually fixed in fork 310 and lower fork 330.Second
Idle pulley 381 and the second chain 382 can also replace belt pulley perhaps pulley and the belt or wirerope that match respectively.
It in order to simplify structure, and controls convenient for the stretching motion to two pellet fork devices 300, two pellet fork devices
The first flexible wheel 361 in 300 is rotated synchronously under the driving of a motor by a shaft connection, makes two pallet fork dresses
Set 300 synchronization telescopes.
The structure of multiple groups prong component is described above, introduces prong below by the specific structure for introducing support component
The specific connection type of component and support component.
In some technologies, pallet fork carry to the cargo on shelf specifically including that (1) pallet fork exists there are some defects
It moves under the drive of sorting machine people, to reach the access section on shelf, since the stretching direction of pallet fork is single, is difficult to opening
The different access section in direction carries out fetching and delivering goods.(2) the part sorting machine people in some technologies can integrally move, so that goods
Fork carries out fetching and delivering goods to the access section in different openings direction；But sorting machine people's overall dimensions are larger, it is mobile needed for space compared with
Greatly, shelf in the prior art are that the space that sorting machine people reserves is smaller, cause sorting machine people in partial region
It is difficult to be moved, limits picking range.
Inventor increases the picking range of pallet fork to alleviate above-mentioned defect, and in the present embodiment, support component includes back
Rotary device 200 and mounting base 100；The interconnecting piece of support component is set to slewing equipment 200, and slewing equipment 200 can be around setting shaft line
The interconnecting piece of support component is driven to rotate relative to mounting base 100.When first prong component is installed on slewing equipment 200, return
Rotary device 200 can drive the pellet fork device 300 in the first prong component to rotate around setting shaft line.Second prong component is installed on
When slewing equipment 200, slewing equipment 200 can drive loading plate 400 in the second prong component and pellet fork device 300 around setting shaft
Line rotation.When pallet fork forks cargo, when the position for occurring that the shelf location of the cargo forked is needed to deviate 300 face of pellet fork device
When setting, slewing equipment 200 drives pellet fork device 300 to rotate around setting shaft line, with the goods realized pellet fork device 300 and need to fork
The place shelf face of object, realizes forking for cargo.Setting axis extends along the vertical direction, and the drive of pellet fork device 300 is forked
Pallet rotated in horizontal plane around setting shaft line, improve the stability of tray motion when forking.
Since the volume of pellet fork device 300 is larger, work is forked in order to facilitate pellet fork device 300, needs to fill pallet fork
The installation site for setting 300 is fixed.Pallet fork is movably limited in scope during forking pallet, in order to make pellet fork device 300
Interior slewing area is maximum in a limited space, and slewing equipment 200 includes turntable, and the interconnecting piece of support component is set to turntable, turntable
The interconnecting piece of support component is driven to rotate around the axis of turntable.Specifically, turntable and mounting base 100 are rotatablely connected, the axis of turntable
Line is overlapped with above-mentioned setting axis.The interconnecting piece of support component be set to turntable roof, the interconnecting piece of the first prong component or
The interconnecting piece of second prong component is connect by the interconnecting piece of support component with turntable, and the first prong component or second are accordingly made
Prong component is installed in the roof of turntable, increases turntable to the supporting surface of the first prong component and the second prong component, in turn
The pellet fork device 300 improved in the pellet fork device 300 and the second prong component in the first prong component is steady when forking pallet
It is qualitative.When pallet fork forks cargo, driven by rotary disc pellet fork device 300 is rotated around the axis of turntable, reduces turning for pellet fork device 300
Dynamic radius, to reduce the space occupied during rotation of pellet fork device 300.
Driven by rotary disc pellet fork device 300 is rotated around the axis of turntable, needs power, which can be manual operation,
It can be other power, in the present embodiment, in order to further liberate manpower, promote operating efficiency, slewing equipment 200 is also
Including the first motor (not shown) connecting with turntable, first motor is used to control turntable and rotates around the axis of turntable.
In order to reduce pallet fork in the thickness of the axial direction of turntable, it is therefore desirable to avoid first motor and turntable direct-drive
Connection, inventor design a kind of structure, i.e., turntable include first gear disk 210 and engaged with first gear disk 210 second
The interconnecting piece of toothed disc 220, support component is set to first gear disk 210；First motor and second gear disk 220 are sequentially connected,
Second gear disk 220 drives first gear disk 210 to rotate under the control of first motor, so that the interconnecting piece of support component is around the
The axis of one toothed disc 210 rotates.Specifically, first motor connects the second speed reducer, the second speed reducer passes through bevel gear or snail
The structures such as worm and gear will export axially translated, and the second speed reducer is connect with the gear spindle drive of second gear disk 220, second gear
The external tooth of disk 220 and the external tooth engaged transmission of first gear disk 210.First motor is by gear transmission mode, to drive pallet fork
Device 300 rotates, and is conducive to make pellet fork device 300 according to demand, the axis around first gear disk 210 is carried out according to set angle
Rotation, and rotation is more smooth, and can provide biggish rotating torque.
As shown in figure 3, first gear disk 210 is set in first rotating shaft 230, the lower end of first rotating shaft 230 passes through bearing
It is mounted in mounting base 100.On the one hand, the active force of loading ability of bearing vertical direction makes first gear disk 210 relative to mounting base
100 position along the vertical direction is more stable, is conducive to 210 bearing goods of first gear disk.On the other hand, bearing makes first turn
Axis 230 is more steady relative to the rotation of mounting base 100, is conducive to first gear disk 210 and pellet fork device 300 is driven swimmingly to turn
To the access section in different openings direction.
Since pellet fork device 300 rotates under the rotation of turntable, it is just needed between sorting machine people and stereo storage rack
Certain space is wanted to meet the needs of rotation of pellet fork device 300, it is occupied in 300 rotation process of pellet fork device in order to reduce
Space, the axis of first rotating shaft 230 are set to the middle part of lower fork 330, to reduce the radius of gyration of pellet fork device 300.
In order to provide bigger rotating torque, the diameter of first gear disk 210 is greater than the diameter of second gear disk 220,
(power loss is not considered herein) in the case where essentially identical power, the revolving speed of second gear disk 220 is high, and torque is small；First
The revolving speed of toothed disc 210 is less than second gear disk 220, and the revolving speed of first gear disk 210 is low, and torque is big, this setting improves the
The rotating torque of one toothed disc 210, to drive pellet fork device 300 more preferably to rotate.
In the present embodiment, turntable is not limited to gear, and the mode of driving turntable rotation is not limited to gear transmission mode.Example
Such as, turntable is first pulley, and the loading plate 400 in the pellet fork device 300 or the second prong component in the first prong component is fixed
In the upper surface of first pulley；The second belt wheel of output axis connection of motor, first pulley pass through synchronous band connection with the second belt wheel；
Motor is by belt wheel transmission mode, to drive pellet fork device 300 to rotate.For another example slewing equipment 200 uses rotary table,
Rotary table is fixed on mounting base 100, and turntable is arranged in output end, and rotary table drives turntable to turn around the axis of vertical direction
It is dynamic, so that pellet fork device 300 be driven to rotate.
Pellet fork device 300 is described above and realizes that the axis around turntable rotates under the driving of slewing equipment 200, to alleviate
Pallet fork stretches out the single problem in direction in the prior art.But slewing equipment 200 is not limited to the structure type of turntable, in order to increase
The motion range of big pellet fork device 300, inventor devise the slewing equipment 200 of another embodiment, and slewing equipment 200 wraps
Rotating shaft is included, the axis of rotating shaft is arranged along the vertical direction, and rotating shaft is mounted in mounting base 100 by bearing；Support component
Interconnecting piece be set to rotating shaft circumferential wall, rotating shaft drive the first prong component in pellet fork device 300 or the second prong group
Pellet fork device 300 in part is rotated around the axis of rotating shaft.At this point, the axis of rotating shaft is above-mentioned setting axis.In this way, pallet fork
The pivot center of device 300 deviates from 300 self structure of pellet fork device, increases the movement in 300 rotation process of pellet fork device
Range, convenient for fetching and delivering goods.In order to liberate manpower, operating efficiency is promoted, electric power is taken to connect as power, rotating shaft and motor
It connects, provides power by motor, to control and drive rotating shaft, so that pellet fork device 300 be driven to rotate.
Second aspect of the present invention provides a kind of sorting machine people, including mobile robot 500, moving goods rack 600, elevator
700 and above-mentioned pallet fork, moving goods rack 600 and elevator 700 are set in mobile robot 500, and pallet fork is connected to elevator
On 700, elevator 700 is for driving pallet fork to go up and down.Fig. 8 is please referred to, Fig. 8 provides for the embodiment of the present invention with moving goods rack
The structural schematic diagram of sorting machine people, 600 bottom of moving goods rack and 700 bottom of elevator, which pass through, the side such as welds or is bolted
Formula is connected and fixed with mobile robot 500, and the upper end of moving goods rack 600 and the upper end of elevator 700 pass through welding or bolt etc.
Connection type is connected with each other, to prevent from generating opposite shake between moving goods rack 600 and elevator 700；Mobile robot 500 is used
In driving moving goods rack 600 and pallet fork to be moved to specified station, pallet fork send the kinds of goods fork on specified shelf to moving goods rack 600
Interior, the kinds of goods on moving goods rack 600 are delivered to designated position by mechanically moving people.
The kinds of goods for needing to fork are generally positioned at the different height on shelf, in order to fork pallet fork positioned at different height
The kinds of goods of position, or kinds of goods are placed in the shelf of different height, the present embodiment drives pallet fork along vertical side by elevator 700
To movement.As shown in figure 9, elevator 700 includes support frame 710 and lifting driving assembly, wherein support frame 710 includes support rod
711 and crossbeam 712, support rod 711 is equipped with lifting driving assembly.Specifically, two support rods 711 are arranged along the vertical direction,
The both ends of crossbeam 712 are fixedly connected with the upper end of two support rods 711；Wherein a support rod 711 is equipped with one group of lifting and drives
One group of lifting driving assembly is equipped on dynamic component or every support rod 711.Specifically, being all provided with when on every support rod 711
When having one group of lifting driving assembly, lifting driving assembly includes motor, driving wheel 721 and flexible drive parts 722, driving wheel 721
Quantity be two, be rotationally connected with the upper and lower ends of corresponding support rod 711, flexible drive parts 722 and two driving wheels 721
Cooperation, pallet fork are connect with flexible drive parts 722；Two driving wheels 721 positioned at upper end pass through 723 coaxial transmission of the first transmission shaft
Connection, two driving wheels 721 positioned at lower end are connected by second driving shaft coaxial transmission, and two groups of lifting driving assemblies share one
Platform motor, motor are sequentially connected with a driving wheel 721 for being located at lower end.Motor drives driving wheel 721 around the axis of driving wheel 721
Line rotation, driving wheel 721 drive flexible drive parts 722 to move, and flexible drive member drives pallet fork to rise or fall, to make pallet fork
The height for moving to specified kinds of goods forks the kinds of goods of different height position or places kinds of goods to the position of specified altitude assignment.
In order to preferably realize that motor, driving wheel 721 and the cooperation of flexible drive parts 722 rise or fall prong component,
In the present embodiment, driving wheel 721 is sprocket wheel, and flexible drive parts 722 are chain, and motor-driven drive sprockets drive chain movement, chain
It drives pallet fork to rise or fall, prevents slipping phenomenon, the safety when precision and fork for improving pallet fork stop place are sent.
Above-mentioned driving wheel 721 can also be belt wheel, and flexible drive parts 722 can be transmission belt, and motor is driven by belt wheel
Dynamic conveyor belt motion, transmission belt drive support component and fork mechanism to rise or fall.
Kinds of goods bearing capacity is transported every time in order to increase mobile robot 500, is carried in mobile robot 500 in the present embodiment
There is moving goods rack 600.Fig. 7 is please referred to, 600 height of moving goods rack is higher in some technologies, has frame lattice on moving goods rack 600
610.Moving goods rack 600 is easy to produce shaking to mobile robot 500 during the motion, to make the goods on moving goods rack 600
Product are fallen from frame lattice 610, and risk is larger；In order to improve the safety in 500 moving process of mobile robot, this implementation
In example, moving goods rack 600 includes multiple frame lattice 610 of array setting, and each frame lattice 610 all have access port 630 and interior
Portion has storage space, and the side frame of each frame lattice 610 is equipped with protective device.Specifically, protective device is protective net 620, prevent
Protective net 620 is installed on moving goods rack 600.As shown in figure 8, protective net 620 is installed at each frame lattice 610, mobile goods is prevented
Kinds of goods on frame 600 are fallen from frame lattice 610, improve the safety during conveying kinds of goods.
Other than protective net 620 is arranged at frame lattice 610, protective device can also be guard rail, and guard rail includes
More are parallel to each other and spaced fender rod, more fender rods in the horizontal direction or vertical direction setting, adjacent fender rod
The distance between be less than by the size of conveying kinds of goods, prevent kinds of goods from falling from frame lattice 610.
Additionally it can be equipped with support portion in the bottom of each frame lattice 610, support portion bottom margin is equipped with anti-fall protrusion；Goods
When product are placed on support portion, anti-fall protrusion plays position-limiting action to the lower end of kinds of goods, prevents kinds of goods in moving process from falling
It falls.
Third aspect present invention provides a kind of sorting system, including the storing shelf and above-mentioned point for storing cargo
Pick robot, sorting machine people is used for from storing shelf picking or to storing shelf stock；Storing shelf are for placing carrying goods
The pallet of product, pallet have the supporting surface for being used to support kinds of goods.
It is plane by the lower end surface of fork delivery product, pellet fork device 300 is not easy to be inserted into the bottom of kinds of goods, in order to facilitate pallet fork dress
It sets 300 and forks kinds of goods, sorting system includes the pallet for carrying kinds of goods, and pallet has the supporting surface for carrying kinds of goods, branch
Support face is equipped with anti-skid structure.Specifically, the lower end surface of pallet has the gap being inserted into for pellet fork device 300, facilitate kinds of goods
It forks；Pallet upper surface is supporting surface, and supporting surface is equipped with rubber layer and is prevented with increasing the frictional force between kinds of goods and pallet
Kinds of goods slide from pallet in transmission process, improve safety when conveying.
Other than rubber layer is set on the support surface, also bulge-structure, bulge-structure edge can be set at the edge of supporting surface
The edge of supporting surface extends, and when kinds of goods are placed on supporting surface, kinds of goods are located in the region that bulge-structure surrounds；Pitch delivery product
In the process, bulge-structure prevents kinds of goods from sliding from pallet, the safety when fork of raising is sent.It further, can be in supporting surface
Above while anti-skid structure and bulge-structure are set.
Before sorting kinds of goods using sorting system provided in an embodiment of the present invention, the pallet class that is used according to the kinds of goods sent by fork
Corresponding prong component is installed on support component by type；When sorting kinds of goods, mobile robot 500 drives pallet fork and moving goods rack
600 reach storing shelf kinds of goods storeroom, and mobile robot 500 is stopped；Elevator 700 in sorting machine people passes through support group
Part drive pellet fork device 300 is raised to the height of institute's picking product；Pellet fork device 300 protrudes horizontally up the gap pitched into tray bottom, rises
Drop machine 700, which drives pellet fork device 300 to increase certain altitude, makes pallet be detached from storing shelf, and pellet fork device 300 drives kinds of goods to retract；
Elevator 700 drives pellet fork device 300 to be raised to the vacant position of moving goods rack 600, and slewing equipment 200 drives pellet fork device 300 and goods
Product are rotated to the interior zone aligned position of pellet fork device 300 and moving goods rack 600；Pellet fork device 300 extends, and protrudes into kinds of goods
The interior zone of moving goods rack 600, elevator 700 drive pallet fork decline certain altitude to fall on kinds of goods on moving goods rack 600；Goods
Fork device 300 retracts, and slewing equipment 200 drives the rotation of pellet fork device 300 to initial bit, mobile robot 500 drive pallet fork and
Moving goods rack 600 is moved to next station.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (16)
1. a kind of pallet fork characterized by comprising support component and the first prong component；The connection of the first prong component
Portion and the interconnecting piece of the support component are detachably connected.
2. pallet fork according to claim 1, which is characterized in that the pallet fork further includes the second prong component, and described second
The interconnecting piece of prong component is adapted with the interconnecting piece of the support component, with realize the interconnecting piece of the second prong component with
The interconnecting piece of the support component is detachably connected.
3. pallet fork according to claim 2, which is characterized in that the first prong component and the second prong component are equal
Including pellet fork device, the quantity of the pellet fork device of the pellet fork device of the first prong component and the second prong component is not
Together.
4. pallet fork according to claim 3, which is characterized in that the first prong component includes the pallet fork dress
It sets, the interconnecting piece of the first prong component is set to the pellet fork device.
5. pallet fork according to claim 3, which is characterized in that the second prong component includes loading plate and at least two
The pellet fork device, each pellet fork device are installed on the loading plate, and the interconnecting piece of the second prong component is set
In the loading plate.
6. pallet fork according to claim 1, which is characterized in that the support component includes slewing equipment and mounting base；Institute
The interconnecting piece for stating support component is set to the slewing equipment, and the slewing equipment can drive the support component around setting shaft line
Interconnecting piece is rotated relative to the mounting base.
7. pallet fork according to claim 6, which is characterized in that the slewing equipment includes turntable, the support component
Interconnecting piece is set to the turntable, and the interconnecting piece of support component described in the driven by rotary disc is rotated around the axis of the turntable.
8. pallet fork according to claim 7, which is characterized in that the slewing equipment further includes connect with the turntable
One motor, the first motor are used to control the turntable and rotate around the axis of the turntable.
9. pallet fork according to claim 8, which is characterized in that the turntable include first gear disk and with first tooth
The interconnecting piece of the second gear disk of wheel disc engagement, the support component is set to the first gear disk；
The first motor and the second gear disk are sequentially connected, and the second gear disk is under the control of the first motor
The first gear disk is driven to rotate, so that the interconnecting piece of the support component turns around the axis of the first gear disk
It is dynamic.
10. pallet fork according to claim 9, which is characterized in that the diameter of the first gear disk is greater than second tooth
The diameter of wheel disc.
11. a kind of sorting machine people, which is characterized in that including mobile robot, moving goods rack, elevator and claim 1-10
Described in any item pallet forks, the moving goods rack and the elevator are set in the mobile robot, the pallet fork connection
On the elevator, the elevator is for driving the pallet fork to go up and down.
12. sorting machine people according to claim 11, which is characterized in that the elevator includes that support frame and lifting are driven
Dynamic component, wherein support frame as described above includes support rod and crossbeam, and the support rod is equipped with the lifting driving assembly.
13. sorting machine people according to claim 11, which is characterized in that the moving goods rack includes the more of array setting
A frame lattice, each frame lattice all have access port and inside has storage space, and the side frame of each frame lattice is set
There is protective device.
14. sorting machine people according to claim 13, which is characterized in that the protective device is protective net or protective fence
Bar.
15. a kind of sorting system, which is characterized in that including the storing shelf for storing cargo and such as claim 11-14
Described in any item sorting machine people, the sorting machine people are used to deposit from the storing shelf picking or to the storing shelf
Goods；The storing shelf are used to place the pallet of carrying kinds of goods, and the pallet has the supporting surface for being used to support kinds of goods.
16. sorting system according to claim 15, which is characterized in that the supporting surface is equipped with anti-skid structure, and/or,
Bulge-structure is arranged in the edge of the supporting surface.
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| CN201811368635.1A CN109229232A (en) | 2018-11-16 | 2018-11-16 | Pallet fork, sorting machine people and sorting system |
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| CN201811368635.1A CN109229232A (en) | 2018-11-16 | 2018-11-16 | Pallet fork, sorting machine people and sorting system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110510315A (en) * | 2019-08-30 | 2019-11-29 | 深圳市海柔创新科技有限公司 | Sorting machine people and method for sorting |
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| CN110510315A (en) * | 2019-08-30 | 2019-11-29 | 深圳市海柔创新科技有限公司 | Sorting machine people and method for sorting |
| CN110510315B (en) * | 2019-08-30 | 2021-12-07 | 深圳市海柔创新科技有限公司 | Sorting robot and sorting method |
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Address after: 100000 Beijing Haidian District, Dongbei Wangxi Road, No. 8 Building, No. 2 District 106-1 Applicant after: Beijing Wide-sighted Robot Technology Co., Ltd. Applicant after: MEGVII INC. Address before: 100000 Beijing Haidian District, Dongbei Wangxi Road, No. 8 Building, No. 2 District 106-1 Applicant before: Beijing AI Ruisi Robot Technology Co Ltd Applicant before: MEGVII INC. |
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