CN113697355A

CN113697355A - Automatic bearing structure, fork device, transfer robot and warehouse system

Info

Publication number: CN113697355A
Application number: CN202111139024.1A
Authority: CN
Inventors: 单明明
Original assignee: Hai Robotics Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2021-09-27
Filing date: 2021-09-27
Publication date: 2021-11-26

Abstract

The application provides an automatic bearing structure, fork device, transfer robot and warehouse system, automatic bearing structure includes the support, the elastic support unit, release unit and drive assembly set up on the support, the elastic support unit includes first elastic component and support piece, first elastic component and release unit are connected with support piece, drive assembly and release unit are connected, and drive release unit and support piece break away from the connection, so that support piece removes along the first direction, the first direction is the extension direction of first elastic component. The automatic supporting structure of this application can provide the holding power for the fork device when transfer robot puts the goods, prevents that fork device every single move and transfer robot from rocking.

Description

Automatic bearing structure, fork device, transfer robot and warehouse system

Technical Field

The application relates to the technical field of warehouse logistics, in particular to an automatic supporting structure, a pallet fork device, a carrying robot and a warehousing system.

Background

Intelligent warehousing is an important link in the logistics process. The application of intelligent storage ensures the speed and accuracy of data input in each link of container warehouse management, ensures that enterprises can timely and accurately master real data of inventory, and reasonably keeps and controls the inventory of the enterprises.

The warehousing system may include a transfer robot and a rack on which the transfer robot may pick and place the containers. The transfer robot may include a mast assembly and a fork arrangement on the mast assembly, the fork arrangement being liftable in a height direction of the mast assembly. The fork device comprises a telescopic assembly and a fork body, wherein the telescopic assembly can extend out of the fork body relative to the fork body so as to pick and place the cargo box between the goods shelf and the carrying robot.

When the telescopic assembly puts the container onto the goods shelf from the fork body, the container has acting force opposite to the extending direction on the fork device, so that the fork device is easy to pitch along the telescopic movement direction of the telescopic assembly, and the stability of the transfer robot is influenced.

Disclosure of Invention

The application provides an automatic bearing structure, fork device, transfer robot and warehouse system, automatic bearing structure can provide stable support for the fork device when transfer robot puts the goods, prevents that fork device every single move and transfer robot from rocking.

In a first aspect, the application provides an automatic supporting structure, which comprises a support, an elastic supporting unit, a releasing unit and a driving assembly, wherein the elastic supporting unit, the releasing unit and the driving assembly are arranged on the support, the elastic supporting unit comprises a first elastic piece and a supporting piece, the first elastic piece and the releasing unit are connected with the supporting piece, the driving assembly is connected with the releasing unit and drives the releasing unit to be disconnected with the supporting piece, so that the supporting piece moves along a first direction, and the first direction is the extending direction of the first elastic piece.

In one implementation manner, the present application provides an automatic supporting structure, wherein the driving assembly drives the releasing unit to connect with the supporting member so as to move the supporting member along a second direction, and the second direction is a contraction direction of the first elastic member.

In one implementation, in the automatic supporting structure provided by the present application, the release unit includes a link assembly and a clip, and the support includes a support body and a connecting member connected to the support body;

the clamping piece is connected with the support in a rotating mode, the clamping piece is connected with the connecting rod assembly, and the driving assembly drives the clamping piece to be clamped with the connecting piece or to be separated from the clamping through the connecting rod assembly.

In one implementation mode, the elastic support unit of the automatic support structure further comprises a first moving part, the connecting rod assembly comprises a connecting rod and a second moving part, one end of the connecting rod is hinged or fixedly connected with the clamping piece, and the other end of the connecting rod is fixedly connected with the second moving part;

the driving assembly is connected with the first moving piece to drive the first moving piece to move along a first direction, the first moving piece drives the second moving piece to move along the first direction, and the second moving piece drives the clamping piece to rotate relative to the connecting rod through the connecting rod so that the clamping piece is separated from the connecting piece; and/or the driving assembly drives the first moving piece to move along the second direction, and the first moving piece drives the supporting piece body to move along the second direction so as to clamp the clamping piece and the connecting piece.

In an implementation, this application provides an automatic bearing structure, link assembly still includes the spring, the one end and the joint spare fixed connection of spring, the other end and the support fixed connection of spring, the spring is used for breaking away from the joint back at joint spare and connecting piece, the joint spare resets.

In an implementation, this application provides an automatic bearing structure, connecting piece include connecting piece body, mounting hole and draw-in groove, and mounting hole and draw-in groove are located the connecting piece body, and the support piece body is inserted and is located the mounting hole, draw-in groove and mounting hole intercommunication, joint spare and draw-in groove joint or break away from the joint.

In one implementation, the self-supporting structure provided herein, the connector further comprises a clamping arm, the support body portion being located between the clamping arm and the connector body, the clamping arm and the connector body being connected to clamp the support body to the connector body.

In an implementation, this application provides an automatic bearing structure, drive assembly includes the driving medium, and clockwise or anticlockwise rotation is followed to the driving medium, first moving member and driving medium fixed connection.

In one implementation, in the automatic supporting structure provided by the application, the driving assembly is a belt driving assembly, the belt driving assembly comprises a belt, and the first moving member is fixedly connected with the belt;

or, the drive assembly is chain sprocket drive assembly, and chain sprocket drive assembly includes the chain, first moving member and chain fixed connection.

In one implementation, the present application provides an automatic supporting structure, further comprising a guiding unit, the guiding unit being connected to the supporting member to provide guidance for movement of the supporting member.

In one implementation, the present application provides an automatic supporting structure, wherein the guiding unit includes a guiding rod extending along a first direction, and the first elastic member is sleeved on the guiding rod;

the support piece body is a sleeve, one end of the guide rod is connected with the fixed support, and the other end of the guide rod and at least part of the first elastic piece are inserted into the sleeve.

In an implementation manner, the application provides an automatic supporting structure, one end of a first elastic piece is abutted with a support, and the other end of the first elastic piece is abutted with the inner wall of a sleeve.

In an implementation manner, the automatic supporting structure provided by the application, the guiding unit further comprises a guide rail and at least one sliding block, the guide rail is arranged on the support, the guide rail extends along the first direction, the sliding block slides along the extending direction of the guide rail, and the sliding block is fixedly connected with the connecting piece.

In one implementation manner, in the automatic supporting structure provided by the present application, the first moving member and the second moving member are both slidably connected to the guide rail, and the first moving member and the second moving member move along the extending direction of the guide rail;

the first moving part is located between the sliding block and the second moving part.

In one implementation, the present application provides an automatic supporting structure, further comprising a locking unit, where the locking unit is configured to fix the supporting member on the guide rail when the supporting member moves to a preset position along the first direction and the supporting member receives a reaction force along the second direction.

In one implementation, the automatic supporting structure provided by the application, the locking unit comprises a wedge block and a trigger assembly, and the first moving member drives the connecting member to move along the second direction through the trigger assembly;

the wedge block is fixedly connected with one surface of the connecting piece facing the guide rail, and the inclined surface of the wedge block faces the guide rail;

the supporting piece moves to a preset position along the first direction, and when the supporting piece receives reaction force along the second direction, the triggering assembly is abutted to the wedge block so as to fix the supporting piece on the guide rail.

In one implementation manner, the automatic supporting structure provided by the application comprises a supporting frame, a supporting shaft and at least one second elastic piece, wherein the supporting frame is positioned on a guide rail, the supporting shaft is arranged on the supporting frame, and the supporting shaft is positioned between the guide rail and a wedge block;

the at least one sliding block comprises a first sliding block, and the second elastic piece is abutted between the first sliding block and the supporting frame;

the support shaft abuts between the wedge and the guide rail.

In one implementation, the present application provides an automatic support structure in which an included angle between a wedge and a guide rail is smaller than a friction angle between a support shaft and the wedge.

In an implementation manner, in the automatic supporting structure provided by the application, when the first moving member moves along the second direction, the first moving member is abutted against the supporting frame, and the supporting frame is driven to move along the second direction relative to the connecting member, so that the supporting shaft is separated from the wedge block.

In one implementation, the present application provides an automatic support structure, wherein the at least one slide further comprises a second slide, and the wedge is located between the first slide and the second slide;

the support frame comprises a base and two support arms connected to the base, the support arms are positioned on the sides of the guide rails, the support shaft is connected between the two support arms, and the axis of the support shaft is parallel to the guide rails;

the first sliding block is positioned between the two supporting arms, and the second elastic piece is positioned between the first sliding block and the base.

In a second aspect, the present application further provides a pallet fork device, comprising a pallet fork body, a telescopic assembly and at least one automatic supporting structure of the first aspect, wherein the pallet fork body comprises a supporting seat and a tray, and the tray, the telescopic assembly and the automatic supporting structure are located on the supporting seat;

the telescopic assembly moves relative to the supporting seat to pick and place the container between the fork body and the first goods shelf, and when the telescopic assembly is used for placing the container on the first goods shelf, the supporting piece moves along the first direction and is abutted to the second goods shelf opposite to the first goods shelf.

In one implementation, the application provides a fork device, after the telescopic assembly is put the packing box on first goods shelves, the elastic support unit moves along the second direction to break away from the butt with the second goods shelves.

In one implementation manner, the pallet fork device provided by the application has the advantages that the supporting seat is provided with an accommodating groove for accommodating the pallet, and one end of the accommodating groove is provided with an opening for the material supply box to enter and exit;

the automatic supporting structure is positioned between the bottom of the tray and the inner bottom wall of the containing groove, a support of the automatic supporting structure is fixedly connected with the inner bottom wall of the containing groove, and the support part can be moved out of the support seat.

In an implementation, the application provides a fork device, has the access & exit that supplies support piece discrepancy on the supporting seat.

In a third aspect, the present application further provides a transfer robot comprising a mast assembly and the fork apparatus of the second aspect above positioned on the mast assembly.

In a fourth aspect, the present application also provides a warehousing system including the transfer robot of the third aspect and a plurality of racks, wherein a channel for the transfer robot to move is formed between adjacent racks.

The application provides an automatic bearing structure, fork device, transfer robot and warehouse system, automatic bearing structure includes the support, the elastic support unit, release unit and drive assembly set up on the support, the elastic support unit includes first elastic component and support piece, first elastic component and release unit are connected with support piece, drive assembly and release unit are connected, and drive release unit and support piece break away from the connection, so that support piece removes along first direction, first direction is the extension direction of first elastic component. Through popping out support piece and second goods shelves butt to provide the holding power for the fork device, when preventing that follow-up flexible subassembly from putting the packing box to first goods shelves, fork device every single move, from this, automatic supporting structure can prevent that the fork device from putting goods the time every single move, thereby improves transfer robot's stability.

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 introduced 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 is a schematic structural diagram of a warehousing system provided in an embodiment of the present application;

FIG. 2 is a schematic structural diagram of a fork device provided in an embodiment of the present application;

FIG. 3 is a schematic view of another angle of the fork device according to the present disclosure;

FIG. 4 is a schematic structural diagram of an automated support structure provided in an embodiment of the present application;

FIG. 5 is a schematic structural diagram of an elastic support unit, a support and a driving assembly in an automatic support structure provided by an embodiment of the present application;

FIG. 6 is a schematic diagram illustrating a clamping connection between a clamping member and a connecting member in the automatic supporting structure according to the embodiment of the present disclosure;

FIG. 7 is a schematic structural diagram of a connecting member in an automatic supporting structure according to an embodiment of the present disclosure;

FIG. 8 is a bottom view of FIG. 5;

FIG. 9 is a cross-sectional view taken along line A-A of FIG. 8;

FIG. 10 is an enlarged view of a portion of FIG. 9 at B;

fig. 11 is a schematic structural diagram of a triggering assembly in an automatic supporting structure according to an embodiment of the present disclosure.

Description of reference numerals:

1-a transfer robot;

10-a pallet fork arrangement;

20-a column assembly;

100-a fork body;

110-a support base; 120-a tray; 111-a receiving tank; 112-an entrance;

200-a telescoping assembly;

300-a self-supporting structure;

310-a support;

320-an elastic support unit; 321-a first elastic member; 322-a support; 323-a first moving part; 3221-a support member body; 3222-a connecting member; 3222 a-connector body; 3222 b-mounting holes; 3222 c-card slot; 3222 d-grip arm;

330-a release unit; 331-a connecting-rod assembly; 332-a clip; 3321-hook; 3322-rotating shaft; 3311-connecting rod; 3312-a second moving part; 3313-connecting plate; 3314-spring;

340-a drive assembly; 341 — a transmission member; 342-a drive member;

350-a guiding unit; 351-a guide bar; 352-a guide rail; 353-a sliding block; 3531-first slider; 3532-second slider;

360-a locking unit; 361-wedge block; 362-a trigger component; 3621-a support frame; 3622-supporting shaft; 3623-a second elastic member; 3624-end cap; 3621 a-base; 3621 b-support arm;

400-a first shelf;

500-second shelf.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the accompanying drawings in the preferred embodiments of the present application. In the drawings, the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The described embodiments are a subset of the embodiments in the present application and not all embodiments in the present application. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application. 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. Embodiments of the present application will be described in detail below with reference to the accompanying drawings.

In the description of the present application, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., such that a first connection, a second connection, an indirect connection via an intermediary, a connection between two elements, or an interaction between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientation or positional relationships illustrated in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application.

The terms "first," "second," and "third" (if any) in the description and claims of this application and the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein.

Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or display that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or display.

Because of the fork device is when putting the packing box, flexible subassembly presss from both sides the packing box and embraces and pushes up toward goods shelves, the packing box need overcome the frictional force between packing box and the fork device just can remove to the goods shelves from the fork device, packing box gravity is bigger, it is corresponding, frictional force is also bigger, the packing box has along stretching out opposite direction's effort to the fork device simultaneously, the effort size equals with the frictional force size, this kind of effort can cause the fork body along the concertina movement direction every single move, influence transfer robot's stability, and cause the packing box to place not in place easily.

Based on this, this application embodiment provides an automatic bearing structure, fork device, transfer robot and warehouse system, and automatic bearing structure can provide stable support for the fork device when transfer robot puts the goods, prevents that fork device every single move and transfer robot from rocking.

Fig. 1 is a schematic structural diagram of a warehousing system provided in an embodiment of the present application; FIG. 2 is a schematic structural diagram of a fork device provided in an embodiment of the present application; FIG. 3 is a schematic view of another angle of the fork device according to the present disclosure; FIG. 4 is a schematic structural diagram of an automated support structure provided in an embodiment of the present application; fig. 5 is a schematic structural diagram of an elastic support unit, a support and a driving assembly in an automatic support structure provided by an embodiment of the present application. Referring to fig. 1 to 5, a warehousing system provided by an embodiment of the present application includes a transfer robot 1 and a plurality of racks, and a channel for the transfer robot 1 to move is formed between adjacent racks.

Referring to fig. 2 to 5, a transfer robot 1 according to an embodiment of the present invention includes a mast assembly 20 and a fork device 10 provided on the mast assembly 20.

The transfer robot 1 may further include a moving chassis and a storage rack (not shown in the drawings). Wherein the storage racks, the fork arrangement 10 and the mast assembly 20 are all mounted on a mobile chassis. A plurality of storage units are provided on the storage rack and the mast assembly 20 is used to drive the fork mechanism 10 in an up and down motion to align the fork mechanism 10 with any one of the storage units on the storage rack or with the rack and/or container. The fork mechanism 10 can be rotated about a vertical axis to adjust orientation for alignment to a storage unit or for alignment with a pallet and/or container. The pallet fork arrangement 10 is used to perform loading or unloading of containers for handling of containers between the racks and the storage units.

The fork device 10 includes a fork body 100, a telescopic assembly 200, and at least one automatic supporting structure 300, wherein the fork body 100 includes a supporting seat 110 and a tray 120, and the tray 120, the telescopic assembly 200, and the automatic supporting structure 300 are located on the supporting seat 110. The telescoping assembly 200 moves relative to the support base 110 to access a container between the fork body 100 and the first shelf 400, and the brace 322 moves in a first direction and abuts a second shelf 500 opposite the first shelf 400 before the telescoping assembly 200 accesses a container on the first shelf 400. In the warehousing system, the shelves may be fixed to the warehouse floor so that the shelves are stably placed, and in addition, since the shelves themselves have a large mass and more containers are loaded on the shelves, the shelves are difficult to move, and the shelves may provide stable support for the automatic supporting structure 300, it should be understood that the automatic supporting structure 300 may be abutted to a wall surface or other vertical plane in addition to being abutted to the second shelf 500. Wherein the first direction is the X direction shown in fig. 4 and the second direction is the-X direction shown in fig. 4. It should be understood that for the fork arrangement 10, the first direction coincides with the direction of the cargo container entering the fork body 100 and correspondingly, the second direction coincides with the direction of the cargo container exiting the fork body 100.

Specifically, a container is placed on the pallet 120, and the retractable assembly 200 can extend out of the support base 110 relative to the support base 110 to push the container from the fork body 100 onto the first pallet 400. In order to prevent the fork apparatus 10 from pitching when a container is placed on the first shelf 400, the fork apparatus 10 is provided with the automatic support structure 300, and before the telescopic assembly 200 is ready to place a container on the first shelf 400, the supporting members 322 of the elastic supporting units 320 can move in the first direction and abut against the second shelf 500, so that the second shelf 500 can provide the fork apparatus 10 with a supporting force in the second direction through the automatic support structure 300, and the fork apparatus 10 is prevented from pitching and the transfer robot 1 is prevented from shaking when the container is placed.

And, after the telescopic assembly 200 places the container on the first shelf 400, the elastic support unit 320 moves in the second direction to be out of abutment with the second shelf 500. In this manner, the fork apparatus 10 can be moved up and down along the mast assembly 20 for the next container handling operation.

When the container is carried, the retractable assembly 200 and the pallet 120 are extended out of the fork body 100, the receiving groove 111 for receiving the pallet 120 is formed in the supporting base 110, and an opening for allowing the pallet 120 and the container to go in and out is formed at one end of the receiving groove 111, so that the pallet 120 and the container can smoothly go in and out of the receiving groove 111.

The automatic supporting structure 300 is located between the bottom of the tray 120 and the inner bottom wall of the receiving groove 111, and the seat 310 of the automatic supporting structure 300 is fixedly connected to the inner bottom wall of the receiving groove 111, so that the automatic supporting structure 300 can be connected to the fork body 100, and the supporting member 322 can be partially moved out of the supporting seat 110 to abut against the second shelf 500.

In some embodiments, the support base 110 has an access opening 112 for the support member 322 to enter and exit, such that the support member 322 can move in a first direction and abut the second shelf 500, or such that the support member 322 can move in a second direction and disengage from the second shelf 500.

Referring to fig. 4 and 5, an automatic supporting structure 300 according to an embodiment of the present disclosure includes a support 310, an elastic supporting unit 320, a releasing unit 330, and a driving assembly 340, where the elastic supporting unit 320, the releasing unit 330, and the driving assembly 340 are disposed on the support 310, the elastic supporting unit 320 includes a first elastic member 321 and a supporting member 322, the first elastic member 321 and the releasing unit 330 are connected to the supporting member 322, the driving assembly 340 is connected to the releasing unit 330, and drives the releasing unit 330 to be disconnected from the supporting member 322, so that the supporting member 322 moves along a first direction, where the first direction is an extending direction of the first elastic member 321.

In the present application, the elastic supporting unit 320, the releasing unit 330 and the driving assembly 340 are provided on the holder 310, and the holder 310 is adapted to be coupled with the inner bottom wall of the receiving groove 111, thereby fixing the automatic supporting structure 300 to the fork apparatus 10. The release unit 330 is configured to lock the support 322 at an initial position, and before the retractable assembly 200 is deployed on the first shelf 400 with a container to be placed thereon, the driving assembly 340 provides a driving force to the release unit 330 to disconnect the release unit 330 from the support 322, and the support 322 is unlocked, so that the first elastic member 321 is extended in the first direction under the elastic force to drive the support 322 to move in the first direction, and the support 322 abuts against the second shelf 500, thereby providing a supporting force to the fork assembly 10 and preventing the fork assembly 10 from pitching when a subsequent retractable assembly 200 is deployed on the first shelf 400 with a container to be placed thereon. Thus, the automatic support structure 300 can prevent the fork device 10 from pitching when it is unloaded, and improve the stability of the transfer robot 1.

In some embodiments, the driving assembly 340 drives the releasing unit 330 to connect with the supporting member 322 so as to move the supporting member 322 along a second direction, which is a contraction direction of the first elastic member 321. After the fork apparatus 10 places a container on the first shelf 400, the first elastic member 321 is contracted in the second direction until the supporting member 322 is coupled to the releasing unit 330, at which time the supporting member 322 is locked by the releasing unit 330, the supporting member 322 is restored to the original position, and the fork apparatus 10 can be raised and lowered along the mast assembly 20. The initial position is a position of the support 322 when the support 322 is connected to the releasing unit 330.

FIG. 6 is a block diagram illustrating an exemplary embodiment of a clamp for an automatic supporting structure

And the connecting piece is clamped. As shown in fig. 4 and 6, in a specific implementation, the release unit 330 includes a link assembly 331 and a clip 332, and the support 322 includes a support body 3221 and a connecting member 3222 connected to the support body 3221.

The clamping member 332 is rotatably connected with the support 310, the clamping member 332 is connected with the connecting rod assembly 331, and the driving assembly 340 drives the clamping member 332 to be clamped with or separated from the connecting member 3222 through the connecting rod assembly 331.

When the fork device 10 is ready to place a cargo box, the driving assembly 340 drives the connecting rod assembly 331 to move, the connecting rod assembly 331 drives the clamping member 332 to move, so that the clamping member 332 is disconnected from the connecting member 3222, the supporting member body 3221 is fixedly connected with the connecting member 3222, the first elastic member 321 extends along the first direction, the supporting member 322 is driven to move rapidly along the first direction, and the supporting member body 3221 is abutted to the second cargo rack 500.

After the fork apparatus 10 is loaded with a cargo container, the supporting member 322 is moved in the second direction by the driving assembly 340 until the connecting member 3222 is engaged with the engaging member 332, thereby locking the supporting member 322 in the initial position.

Referring to fig. 4, in some embodiments, the elastic supporting unit 320 further includes a first moving member 323, the connecting rod assembly 331 includes a connecting rod 3311, a second moving member 3312 and a connecting plate 3313, one end of the connecting rod 3311 is hinged or fixedly connected to the clamping member 332, the other end of the connecting rod 3311 is hinged to the connecting plate 3313, and the connecting plate 3313 is fixedly connected to the second moving member 3312, so that the second moving member 3312 drives the connecting rod 3311 to move.

It should be understood that the connecting rod assembly 331 may further include a connecting plate 3313, and the connecting rod 3311 may be directly connected to the second moving member 3312, and the connecting rod 3311 may also be connected to the second moving member 3312 through the connecting plate 3313.

The driving assembly 340 is connected to the first moving member 323 to drive the first moving member 323 to move along the first direction, the first moving member 323 drives the second moving member 3312 to move along the first direction, and the second moving member 3312 drives the engaging member 332 to rotate relative to the connecting rod 3311 through the connecting rod 3311, so that the engaging member 332 is disengaged from the connecting member 3222. Or, the driving assembly 340 drives the first moving member 323 to move along the second direction, and the supporting member body 3221 is driven by the first moving member 323 to move along the second direction, so that the clamping member 332 is clamped with the connecting member 3222.

Specifically, the clamping member 332 has a hook 3321, the clamping member 332 is rotatably connected to the support 310 through a rotating shaft 3322, and when the clamping member 332 is separated from the connecting member 3222, the hook 3321 rotates around the rotating shaft 3322 in a direction away from the connecting member 3222, so that the hook 3321 is separated from the connecting member 3222.

When the fork apparatus 10 is ready to place a cargo box, the driving assembly 340 drives the first moving member 323 to move along the first direction, when the first moving member 323 moves to the position of the second moving member 3312, the first moving member 323 abuts against the second moving member 3312, so as to drive the second moving member 3312 to move along the first direction, the second moving member 3312 drives the connecting rod 3311 to move, so as to drive the clamping member 332 to rotate in the direction away from the connecting member 3222, therefore, the clamping member 332 can be disengaged from the connecting member 3222, the supporting member 322 is unlocked, and the supporting member body 3221 can move along the first direction.

After the fork device 10 is loaded with a cargo box, the supporting member 322 needs to be returned to the initial position, the driving assembly 340 drives the first moving member 323 to move in the second direction, and the first moving member 323 drives the supporting member 322 to move in the second direction, so that the engaging member 332 engages with the connecting member 3222, and the supporting member 322 is locked at the initial position.

Referring to fig. 4 and 6, in some embodiments, the connecting rod assembly 331 further includes a spring 3314, one end of the spring 3314 is fixedly connected to the clip 332, the other end of the spring 3314 is fixedly connected to the support 310, and the spring 3314 is used for resetting the clip 332 after the clip 332 is disengaged from the connecting member 3222. That is, the engaging member 332 can be restored to the engaging position with the connecting member 3222 by the elastic force of the spring 3314.

Fig. 7 is a schematic structural diagram of a connecting piece in an automatic supporting structure provided in an embodiment of the present application, and referring to fig. 1, fig. 4, fig. 6 and fig. 7, in a specific implementation, the connecting piece 3222 includes a connecting piece body 3222a, a mounting hole 3222b and a clamping groove 3222c, the mounting hole 3222b and the clamping groove 3222c are located on the connecting piece body 3222a, the supporting piece body 3221 is inserted into the mounting hole 3222b, the clamping groove 3222c is communicated with the mounting hole 3222b, and the clamping hook 3321 of the clamping piece 332 is clamped with or separated from the clamping groove 3222 c. In this way, the supporting member 322 is locked at the initial position by the engaging member 332 engaging with the engaging groove 3222c, and the supporting member 322 moves under the action of the first elastic member 321 by the engaging member 332 disengaging from the engaging groove 3222c, so as to abut against the second shelf 500.

In addition, the link 3222 further includes a retaining arm 3222d, the support member body 3221 is partially positioned between the retaining arm 3222d and the link body 3222a, and the retaining arm 3222d and the link body 3222a are connected to retain the support member body 3221 on the link body 3222 a.

The supporting member body 3221 is inserted into the mounting hole 3222b, and the holding arm 3222d is connected with the connecting member body 3222a by a screw, whereby the supporting member body 3221 and the connecting member 3222 can be fixedly connected by the holding arm 3222 d.

In further reference to fig. 4 and fig. 5, in a specific implementation, the driving component 340 includes a transmission member 341, the transmission member 341 rotates clockwise or counterclockwise, and the first moving member 323 is fixedly connected to the transmission member 341. In addition, the driving assembly 340 further includes a driving member 342, and the driving member 342 may be a motor or a cylinder, and illustratively, the driving member 342 may be a servo motor, which is light in weight and fast in response.

In some embodiments, the driving assembly 340 is a belt driving assembly 340, the belt driving assembly 340 includes a belt, the first moving member 323 is fixedly connected to the belt, that is, the transmission member 341 is a belt, the first moving member 323 is fixedly connected to the belt, and the belt is driven by the driving member 342 to rotate, so as to drive the first moving member 323 to move along the first direction or the second direction, and the belt transmission operates smoothly.

In other embodiments, the driving assembly 340 is a chain and sprocket driving assembly 340, the chain and sprocket driving assembly 340 includes a chain, the first moving member 323 is fixedly connected to the chain, that is, the transmission member 341 is a chain, the first moving member 323 is fixedly connected to the chain, and the chain is driven by the driving member 342 to rotate, so as to drive the first moving member 323 to move along the first direction or the second direction, and the chain transmission movement is accurate and reliable.

Referring to fig. 4, in some embodiments, the automatic support structure 300 further includes a guide unit 350, and the guide unit 350 is connected to the support 322 to provide a guide for the movement of the support 322.

In order to ensure that the extension and retraction directions of the first elastic member 321 are always consistent when the first elastic member 321 extends and retracts, the guide unit 350 includes a guide rod 351, the guide rod 351 extends along the first direction, and the first elastic member 321 is sleeved on the guide rod 351. Thereby, the first elastic member 321 is always along the axial direction of the guide rod 351 when expanding and contracting.

The supporting member 322 is a sleeve, one end of the guiding rod 351 is fixedly connected with the support 310, and the other end of the guiding rod 351 and at least a part of the first elastic member 321 are inserted into the sleeve. The sleeve can reciprocate along the axis of the guide rod 351 under the driving of the first elastic member 321 to abut against or disengage from the second shelf 500.

Further, the other end of the guide rod 351 has a guide head, and the diameter of the guide head near the end of the guide rod 351 is larger than the diameter of the end far from the end of the guide rod 351, so that the first elastic member 321 can be contracted toward the other end along the end of the guide rod 351 having the guide head, thereby guiding the moving direction of the first elastic member 321.

In a specific implementation, one end of the first elastic element 321 abuts against the support 310, and the other end of the first elastic element 321 abuts against the inner wall of the sleeve.

When the supporting member 322 is located at the initial position, the first elastic member 321 is compressed, the end of the first elastic member 321 in the second direction abuts on the support 310, and the end of the first elastic member 321 in the first direction abuts on the end of the sleeve in the first direction. When the supporting member 322 abuts against the second shelf 500, the first elastic member 321 is extended, the end of the first elastic member 321 in the second direction abuts against the support 310, the end of the first elastic member 321 in the first direction is located in the sleeve, the elastic member 321 abuts against the inner wall of the sleeve, and a distance is formed between the end of the first elastic member 321 in the first direction and the end of the sleeve in the first direction, or the end of the first elastic member 321 in the first direction abuts against the end of the sleeve in the first direction.

Fig. 8 is a bottom view of fig. 5, and referring to fig. 5 and 8, in some embodiments, the guide unit 350 further includes a guide rail 352 and at least one slider 353, the guide rail 352 is disposed on the support 310, the guide rail 352 extends along a first direction, the slider 353 slides along the extension direction of the guide rail 352, and the slider 353 is fixedly connected to the connecting member 3222, so that the slider 353 can drive the connecting member 3222 to move along the extension direction of the guide rail 352.

In order to guide the movement of the first moving member 323 and the second moving member 3312, the first moving member 323 and the second moving member 3312 are both slidably connected to the guide rail 352, and the first moving member 323 and the second moving member 3312 move along the extending direction of the guide rail 352.

The first moving part 323 is located between the sliding block 353 and the second moving part 3312, so that the first moving part 323 can drive the sliding block 353 and the second moving part 3312 to move.

That is, when the first moving member 323 moves to abut against the second moving member 3312 along the first direction, the first moving member 323 can drive the second moving member 3312 to move along the first direction, the second moving member 3312 drives the connecting rod 3311 to move along the first direction, the connecting rod 3311 drives the joint member 332 to rotate, so that the joint member 332 is separated from the clamping groove 3222c, and the supporting member 322 can move rapidly under the driving of the first elastic member 321 to abut against the second shelf 500.

When the first moving member 323 moves along the second direction, the first moving member 323 drives the slider 353 to move along the second direction, and the slider 353 can drive the supporting member 322 to move along the second direction until the engaging member 332 engages with the engaging groove 3222c, so that the supporting member 322 is separated from the second shelf 500 and abuts against the second shelf, and the supporting member 322 can be locked to the initial position.

FIG. 9 is a cross-sectional view taken along line A-A of FIG. 8; fig. 10 is a partial enlarged view of fig. 9 at B. Referring to fig. 1, 4, 9 and 10, when the brace 322 abuts against the second shelf 500 to move the container from the fork body 100 to the first shelf 400, the container applies a reaction force in the second direction to the fork body 100, and the second shelf 500 applies a supporting force in the second direction to the brace 322, and the resultant force of the reaction force and the supporting force tends to move the brace 322 in the second direction, in this case, in order to prevent the brace 322 from moving in the second direction, the automatic support structure 300 further includes a locking unit 360, and the locking unit 360 is configured to fix the brace 322 on the guide rail 352 when the brace 322 moves to a predetermined position in the first direction and the brace 322 receives the reaction force in the second direction. Thus, the brace 322 may remain in contact with the second shelf 500 at all times as the fork apparatus 10 is loaded, thereby providing a continuous, stable support force for the fork apparatus 10. The preset position is a position where the supporting member 322 is located when the supporting member body 3221 abuts against the second shelf 500.

In a specific implementation, the locking unit 360 includes a wedge 361 and a trigger assembly 362, the first moving member 323 drives the connecting member 3222 to move along the second direction through the trigger assembly 362, that is, when the driving assembly 340 drives the first moving member 323 to move along the second direction to abut against the trigger assembly 362, the first moving member 323 drives the trigger assembly 362, the slider 353 and the connecting member 3222 to move along the second direction together until the connecting member 3222 is clamped with the clamping member 332.

The wedge 361 is connected to the side of the connecting member 3222 facing the rail 352, and the inclined surface of the wedge 361 faces the rail 352.

When the supporting member 322 moves to a predetermined position along the first direction and the supporting member 322 receives a reaction force along the second direction, the triggering component 362 abuts against the wedge 361 to fix the supporting member 322 on the guide rail 352. That is, when the supporting member 322 abuts the second shelf 500, the triggering member 362 abuts the wedge 361, and at this time, the wedge 361 and the triggering member 362 cannot move any further, and the connecting member 3222 connected to the wedge 361 cannot move any further in the second direction, thereby fixing the supporting member 322 to the guide rail 352.

Fig. 11 is a schematic structural diagram of a triggering assembly in an automatic supporting structure according to an embodiment of the present disclosure. Referring to fig. 10 and 11, in a specific implementation, the triggering assembly 362 includes a supporting frame 3621, a supporting shaft 3622 and at least one second elastic member 3623, the supporting frame 3621 is located on the guide 352, the supporting shaft 3622 is disposed on the supporting frame 3621, and the supporting shaft 3622 is located between the guide 352 and the wedge 361.

When the support shaft 3622 is self-locking with the wedge 361, the support shaft 3622 abuts between the wedge 361 and the guide rail 352, whereby the support member 322 can be fixed to the guide rail 352.

In some embodiments, the at least one slider 353 includes a first slider 3531, and the second elastic member 3623 is abutted between the first slider 3531 and the supporting frame 3621.

The second elastic member 3623 can keep the contact between the supporting shaft 3622 and the wedge 361, and when the supporting member 322 receives the supporting force of the second shelf 500 and the reaction force of the cargo box, the wedge 361 and the supporting shaft 3622 can be self-locked immediately.

In some embodiments, the included angle between the wedge 361 and the guide rail 352 is less than the friction angle between the support shaft 3622 and the wedge 361.

An included angle is formed between the resultant force borne by the supporting shaft 3622 and the vertical direction, the included angle between the resultant force and the vertical direction is equal to the included angle between the inclined surface of the wedge 361 and the guide rail 352, and when the included angle between the inclined surface of the wedge 361 and the guide rail 352 is smaller than the friction angle between the supporting shaft 3622 and the wedge 361, the wedge 361 and the supporting shaft 3622 are kept static no matter how much force is borne by the supporting shaft 3622 by the wedge 361, so that the supporting member 322 cannot move in the second direction when the supporting member 322 bears the supporting force of the second shelf 500 and the reaction force of the fork body 100 to the cargo box. In a specific implementation, the included angle between the wedge 361 and the guide 352 can be determined according to the friction coefficient between the wedge and the support shaft 3622, as long as the included angle between the wedge 361 and the guide 352 is smaller than the friction angle between the support shaft 3622 and the wedge 361, so that the resultant force acting on the support shaft 3622 is always located in the friction angle, and the support shaft 3622 and the wedge 361 are self-locked.

When the first moving member 323 moves in the second direction, the first moving member 323 abuts against the supporting frame 3621, and drives the supporting frame 3621 to move in the second direction relative to the connecting member 3222, so that the supporting shaft 3622 is separated from the wedge 361, the supporting shaft 3622 and the wedge 361 are unlocked, at this time, the connecting member 3222 can move to a position near the engaging member 332 in the second direction under the driving of the first moving member 323, the engaging member 332 is engaged with the connecting member 3222, and the supporting member 322 can be locked at the initial position.

Referring to fig. 10, in some embodiments, the at least one slider 353 further comprises a second slider 3532, and the wedge 361 is located between the first slider 3531 and the second slider 3532. The first slider 3531 and the second slider 3532 guide the support 322 and the locking unit 360 together to move in the extending direction of the guide rail 352.

The supporting frame 3621 includes a base 3621a and two supporting arms 3621b connected to the base 3621a, the supporting arms 3621b are located at the side of the guide 352, a supporting shaft 3622 is connected between the two supporting arms 3621b, and the supporting shaft 3622 is parallel to the guide 352.

The first slider 3531 is located between the two supporting arms 3621b, and the second elastic member 3623 is located between the first slider 3531 and the base 3621 a.

Specifically, the two support arms 3621b are located at two sides of the guide rail 352, so that the support frame 3621 moves relative to the guide rail 352 along the extending direction of the guide rail 352, the support arms 3621b are provided with mounting holes, the support shaft 3622 is inserted into the mounting holes of the two support arms 3621b, the support arms 3621b are provided with two limiting members, the limiting members may be bolts, threaded holes are formed around the mounting holes, the bolts are inserted into the threaded holes of the support arms 3621b, heads of the bolts abut against the end portions of the support shafts 3622, and therefore the limiting members can limit the movement of the support shafts 3622 along the axial direction of the support shafts 3622.

Referring to fig. 11, in addition, the supporting frame 3621 further includes an end cover 3624, the end cover 3624 is connected with an end surface of the base 3621a away from the supporting arm 3621b through a screw, the base 3621a has a through hole, the second elastic element 3623 is installed in the through hole, and the second elastic element 3623 abuts between the end cover 3624 and the first slider 3531.

Alternatively, the end cover 3624 may not be disposed on the supporting frame 3621, a blind hole is formed in one of the first slider 3531 and the base 3621a, one end of the second elastic element 3623 is located in the blind hole, and the other end of the second elastic element 3623 abuts against the base 3621a or the first slider 3531.

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

1. The utility model provides an automatic supporting structure, its characterized in that includes support, elastic support unit, release unit and drive assembly, elastic support unit release unit with drive assembly sets up on the support, elastic support unit includes first elastic component and support piece, first elastic component with release unit with support piece is connected, drive assembly with release unit connects, is used for the drive release unit with support piece disconnection, so that support piece is along move along first direction under the effect of first elastic component, first direction is the extension direction of first elastic component.

2. The automated supporting structure of claim 1, wherein the driving assembly is further configured to drive the supporting member to move in a second direction to connect the releasing unit with the supporting member, the second direction being a contraction direction of the first elastic member.

3. The automated support structure of claim 2, wherein the release unit comprises a linkage assembly and a snap-in, the support member comprising a support member body and a connecting member connected to the support member body;

the joint spare with the support rotates to be connected, the joint spare with link assembly connects, drive assembly passes through link assembly drive the joint spare with the connecting piece joint or break away from the joint.

4. The automatic supporting structure of claim 3, wherein the elastic supporting unit further comprises a first moving member, the connecting rod assembly comprises a connecting rod and a second moving member, one end of the connecting rod is hinged or fixedly connected with the clamping member, and the other end of the connecting rod is connected with the second moving member;

the driving assembly is connected with the first moving part to drive the first moving part to move along the first direction, the first moving part drives the second moving part to move along the first direction, and the second moving part drives the clamping piece to rotate relative to the connecting rod through the connecting rod so as to enable the clamping piece to be separated from the connecting piece; and/or, the drive assembly drives the first moving member to move along the second direction, and the support member body is driven to move along the second direction by the first moving member so as to enable the clamping member to be clamped with the connecting member.

5. The automatic supporting structure of claim 3, wherein the connecting rod assembly further comprises a spring, one end of the spring is fixedly connected with the clamping piece, the other end of the spring is fixedly connected with the support, and the spring is used for resetting the clamping piece after the clamping piece is separated from the clamping connection with the connecting piece.

6. The automatic supporting structure of claim 3, wherein the connecting piece comprises a connecting piece body, a mounting hole and a clamping groove, the mounting hole and the clamping groove are located on the connecting piece body, the supporting piece body is inserted into the mounting hole, the clamping groove is communicated with the mounting hole, and the clamping piece is clamped with or separated from the clamping groove.

7. The self-supporting structure of claim 6, wherein the connector further comprises a clamping arm, the support body portion being located between the clamping arm and the connector body, the clamping arm and the connector body being connected to clamp the support body to the connector body.

8. The self-supporting structure of claim 4, wherein the drive assembly includes a transmission member that rotates clockwise or counterclockwise, the first moving member being fixedly coupled to the transmission member.

9. The self-supporting structure of claim 8, wherein the drive assembly is a belt drive assembly, the belt drive assembly including a belt, the first moving member being fixedly coupled to the belt;

or, the drive assembly is a chain sprocket drive assembly, the chain sprocket drive assembly comprises a chain, and the first moving member is fixedly connected with the chain.

10. The automated support structure of claim 4, further comprising a guide unit coupled to the support to provide guidance for movement of the support.

11. The self-supporting structure of claim 10, wherein the guide unit includes a guide bar extending in the first direction, the first elastic member being fitted over the guide bar;

the support piece body is a sleeve, one end of the guide rod is fixedly connected with the support, and the other end of the guide rod and at least part of the first elastic piece are inserted into the sleeve.

12. The self-supporting structure of claim 11, wherein one end of the first resilient member abuts the seat and the other end of the first resilient member abuts the sleeve inner wall.

13. The automated support structure of claim 11, wherein the guide unit further comprises a guide rail and at least one slider, the guide rail is disposed on the support, the guide rail extends along the first direction, the slider slides along the extension direction of the guide rail, and the slider is fixedly connected to the connecting member.

14. The automatic support structure of claim 13, wherein the first moving member and the second moving member are each slidably connected to the guide rail, and the first moving member and the second moving member move in an extending direction of the guide rail;

the first moving member is located between the slider and the second moving member.

15. The automated supporting structure of claim 13, further comprising a locking unit for fixing the supporting member on the guide rail when the supporting member is moved to a preset position in a first direction and the supporting member is subjected to a reaction force in a second direction.

16. The automated support structure of claim 15, wherein the locking unit comprises a wedge and a trigger assembly, the first moving member driving the connecting member in a second direction via the trigger assembly;

when the supporting piece moves to a preset position along a first direction and is subjected to a reaction force along a second direction, the trigger assembly is abutted to the wedge block so as to fix the supporting piece on the guide rail.

17. The self-supporting structure of claim 16, wherein the trigger assembly includes a support bracket, a support shaft, and at least one second resilient member, the support bracket being located on the guide rail, the support shaft being disposed on the support bracket, the support shaft being located between the guide rail and the wedge;

the support shaft abuts between the wedge and the guide rail.

18. The self-supporting structure of claim 17, wherein an angle between the wedge and the guide rail is less than a friction angle between the support shaft and the wedge.

19. The automatic support structure of claim 17, wherein when the first moving member moves in the second direction, the first moving member abuts the support bracket and drives the support bracket to move in the second direction relative to the connecting member to move the support shaft out of contact with the wedge.

20. The automated support structure of claim 17, wherein the at least one slide further comprises a second slide, the wedge being located between the first slide and the second slide;

the supporting frame comprises a base and two supporting arms connected to the base, the supporting arms are located on the sides of the guide rails, the supporting shaft is connected between the two supporting arms, and the axis of the supporting shaft is parallel to the guide rails;

21. A pallet fork assembly comprising a pallet fork body, a telescoping assembly, and at least one self-supporting structure as recited in any one of claims 1-20, said pallet fork body comprising a support base and a tray, said telescoping assembly, and said self-supporting structure being positioned on said support base;

the telescopic assembly moves relative to the supporting seat so as to pick and place a container between the fork body and the first goods shelf, and before the telescopic assembly puts the container on the first goods shelf, the support piece moves along the first direction and is abutted to the second goods shelf opposite to the first goods shelf.

22. The fork arrangement of claim 21, wherein the resilient support unit moves in a second direction to disengage from abutment with the second shelf after the retraction assembly places a container on the first shelf.

23. The pallet fork arrangement of claim 21 wherein said support base has a receiving slot therein for receiving said pallet, said receiving slot having an opening at one end for providing access to said magazine;

the automatic supporting structure is located between the bottom of the tray and the inner bottom wall of the containing groove, a support of the automatic supporting structure is fixedly connected with the inner bottom wall of the containing groove, and the supporting piece part can be moved out of the support seat.

24. The pallet fork arrangement of claim 21, wherein said support base includes access openings for access to said support members.

25. A transfer robot comprising a mast assembly and a fork arrangement as claimed in any one of claims 21 to 24 located on the mast assembly.

26. A warehousing system characterized by comprising the transfer robot of claim 25 and a plurality of racks, adjacent racks forming a passage therebetween for movement of the transfer robot.