CN114105051A - Transfer robot capable of automatically adjusting fork spacing - Google Patents
Transfer robot capable of automatically adjusting fork spacing Download PDFInfo
- Publication number
- CN114105051A CN114105051A CN202111346950.6A CN202111346950A CN114105051A CN 114105051 A CN114105051 A CN 114105051A CN 202111346950 A CN202111346950 A CN 202111346950A CN 114105051 A CN114105051 A CN 114105051A
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- Prior art keywords
- fork
- robot
- frame
- automatically adjusting
- guide
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- 230000007246 mechanism Effects 0.000 claims abstract description 57
- 239000003638 chemical reducing agent Substances 0.000 claims description 10
- 230000009467 reduction Effects 0.000 claims description 6
- 230000000712 assembly Effects 0.000 claims description 3
- 238000000429 assembly Methods 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims 5
- 239000000463 material Substances 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07504—Accessories, e.g. for towing, charging, locking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07581—Remote controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/08—Masts; Guides; Chains
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
- B66F9/142—Movements of forks either individually or relative to each other
- B66F9/143—Movements of forks relative to each other - symmetric
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention relates to the technical field of robots, in particular to a transfer robot capable of automatically adjusting the distance between forks. The automatic spacing adjusting fork mechanism comprises a walking mechanism, an automatic spacing adjusting fork mechanism, a vertical lifting mechanism and a robot frame, wherein the walking mechanism is arranged at the bottom of the robot frame, the automatic spacing adjusting fork mechanism is connected with the robot frame in a sliding mode along the vertical direction, the vertical lifting mechanism is arranged on two sides of the robot frame, the two vertical lifting mechanisms are connected with the automatic spacing adjusting fork mechanism, and the automatic spacing adjusting fork mechanism is driven to lift. The fork spacing adjusting device is simple in structure, low in cost, capable of automatically adjusting the fork spacing, convenient to adjust, high in adaptability and capable of improving working efficiency.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a transfer robot capable of automatically adjusting the distance between forks.
Background
In the case of inconsistent sizes of plates and bars, trays with different sizes are needed to store the plates, bars or other materials in order to improve the storage efficiency, and accordingly, a transfer robot with a special fork compatible with the trays with different sizes is needed to complete the work. The fork of the transfer robot for the conventional intelligent three-dimensional warehouse can only be compatible with a tray of one size, and under the condition that the tray is only of one size, the space of the tray can be wasted to a certain extent due to different material sizes and specifications.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a transfer robot capable of automatically adjusting fork spacing, so as to be used for picking and placing trays with different length sizes (tray width needs to be consistent), so as to improve application range.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides an automatic adjust fork interval move and carry robot, includes running gear, automatic adjustment interval's fork mechanism, vertical lift mechanism and robot frame, wherein running gear sets up in robot frame's bottom, and automatic adjustment interval's fork mechanism and robot frame are along vertical direction sliding connection, and robot frame's both sides are equipped with vertical lift mechanism, and two vertical lift mechanisms are connected with automatic adjustment interval's fork mechanism for drive automatic adjustment interval's fork mechanism goes up and down.
The fork mechanism capable of automatically adjusting the distance comprises pulling type forks, a tray support, a fork main body frame and a fork driving mechanism, wherein the fork main body frame is slidably provided with two parallel pulling type forks; the tray support is arranged between the two pulling type fork arms; the fork driving mechanism is arranged on the fork main body frame and connected with the two pulling type forks, and the fork driving mechanism is used for driving the two pulling type forks to be close to or far away from each other.
The pallet fork driving mechanism comprises a servo motor, a speed reducer and two adjusting screw rods, wherein an output shaft of the servo motor is connected with an input shaft of the speed reducer, output shafts on two sides of the speed reducer are respectively connected with the two adjusting screw rods, the two adjusting screw rods are rotatably installed on a pallet fork main body frame and are coaxial, and the pulling type pallet fork is respectively in threaded connection with the two adjusting screw rods.
And guide wheel assemblies movably connected with the robot frame are arranged at two ends of the fork main body frame.
The guide wheel assembly comprises a forward guide wheel and lateral guide wheels arranged on two sides of the forward guide wheel;
the robot frame is provided with a forward guide rail and lateral guide rails arranged on two sides of the forward guide rail;
the forward guide wheels positively press the forward guide rails on the robot frame, and the lateral guide wheels press the lateral guide rails on the robot frame along the lateral direction.
The vertical lifting mechanism comprises an upper guide chain wheel, a chain, a lower guide chain wheel, a driving chain wheel and a variable-frequency speed reduction motor, wherein the upper guide chain wheel and the lower guide chain wheel are respectively arranged at the upper end and the lower end of the robot frame, and the chain is supported by the upper guide chain wheel and the lower guide chain wheel; the variable-frequency speed reducing motor is arranged on the fork main body frame, and the driving chain wheel is arranged at the output end of the variable-frequency speed reducing motor and meshed with the chain.
The walking mechanism comprises a ground rail, walking wheels and a variable frequency motor, wherein the ground rail is arranged on the ground, the walking wheels are arranged at the bottom of the robot frame, and the walking wheels walk on the ground rail by being driven by the variable frequency motor arranged on the robot frame.
The invention has the advantages and beneficial effects that: the fork spacing adjusting device is simple in structure, low in cost, capable of automatically adjusting the fork spacing, convenient to adjust, high in adaptability and capable of improving working efficiency.
The servo motor is used for driving the screw rod, and the screw rod drives the pulling type pallet fork to horizontally translate so as to adjust the distance between the two pallet forks. The automatic adjustment of fork interval is that the transfer robot can adapt to the tray that the width is unanimous, but the length is inconsistent.
Drawings
FIG. 1 is a schematic structural view of a transfer robot for automatically adjusting the fork spacing according to the present invention;
FIG. 2 is a schematic view of the structure of the self-spacing adjusting fork of the present invention;
in the figure: 1 is a running mechanism; 2, a fork mechanism capable of automatically adjusting the distance; 201 is a lateral guide wheel; 202 is a forward guide wheel; 203 is a servo motor; 204 is a pulling type pallet fork; 205 is a tray support; 206 is a servo motor; 207 is an adjusting screw rod; 208 is a fork main body frame; 3 is a vertical lifting mechanism; 301 is an upper guide sprocket; 302 is a chain; 303 is a lower guide chain wheel; 304 is a driving sprocket; 305 is a variable frequency speed reducing motor; and 4, a robot frame.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the transfer robot capable of automatically adjusting fork spacing provided by the invention comprises a traveling mechanism 1, a fork mechanism 2 capable of automatically adjusting spacing, a vertical lifting mechanism 3 and a robot frame 4, wherein the traveling mechanism 1 is arranged at the bottom of the robot frame 4, the fork mechanism 2 capable of automatically adjusting spacing is connected with the robot frame 4 in a sliding manner along the vertical direction, the vertical lifting mechanisms 3 are arranged on two sides of the robot frame 4, and the two vertical lifting mechanisms 3 are connected with the fork mechanism 2 capable of automatically adjusting spacing and used for driving the fork mechanism 2 capable of automatically adjusting spacing to lift.
In the embodiment of the invention, the travelling mechanism 1 comprises a ground rail, travelling wheels and a variable frequency motor, wherein the ground rail is arranged on the ground, the travelling wheels are arranged at the bottom of the robot frame 4 through bolts, the travelling wheels are driven by the variable frequency motor arranged on the robot frame 4 to travel on the ground rail, and a closed-loop driving control is formed by the variable frequency motor and the bar code addresser.
As shown in fig. 2, in the embodiment of the present invention, the fork mechanism 2 for automatically adjusting the spacing is a main actuator of a transfer robot for picking and placing a material tray, and includes a pull type fork 204, a tray support 205, a fork main body frame 208 and a fork driving mechanism, wherein the fork main body frame 208 is slidably provided with two parallel pull type forks 204; the pallet support 205 is disposed between the two pull type forks 204; the fork driving mechanism is disposed on the fork main body frame 208 and connected to the two pull type forks 204, and the fork driving mechanism is configured to drive the two pull type forks 204 to move closer to or away from each other.
In this embodiment, the fork driving mechanism includes a servo motor 203, a speed reducer 206 and two adjusting screws 207, wherein an output shaft of the servo motor 203 is connected to an input shaft of the speed reducer 206, output shafts on two sides of the speed reducer 206 are respectively connected to the two adjusting screws 207, the two adjusting screws 207 are rotatably mounted on a fork main body frame 208 and are coaxial, and the two pull-type forks 204 are respectively in threaded connection with the two adjusting screws 207. Two adjusting screw rods 207 of servo motor 203 through the synchronous rotation of speed reducer 206 drive, are equipped with reverse screw thread on two adjusting screw rods 207, and two adjusting screw rods 207 rotate and drive two and draw formula fork 204 reverse motion of dragging to the interval between two formula fork 204 of dragging is so that the regulation.
Further, guide wheel assemblies movably connected with the robot frame 4 are arranged at two ends of the fork main body frame 208. The guide wheel assembly comprises a forward guide wheel 202 and lateral guide wheels 201 arranged on two sides of the forward guide wheel 202; the robot frame 4 is provided with a forward guide rail and lateral guide rails arranged at two sides of the forward guide rail; wherein the forward guide wheels 202 positively press against the forward guide rails on the robot frame 4 and the lateral guide wheels 201 press against the lateral guide rails on the robot frame 4 in a lateral direction.
In this embodiment, the number of the forward guide wheels 202 and the number of the lateral guide wheels 201 are four, and the four lateral guide wheels 201 are symmetrically arranged on two sides of the fork main body frame 208.
As shown in fig. 1-2, in the embodiment of the present invention, the vertical lifting mechanism 3 includes an upper guide sprocket 301, a chain 302, a lower guide sprocket 303, a driving sprocket 304, and a variable frequency reduction motor 305, wherein the upper guide sprocket 301 and the lower guide sprocket 303 are respectively disposed at the upper end and the lower end of the robot frame 4, and the chain 302 is supported by the upper guide sprocket 301 and the lower guide sprocket 303; the variable frequency speed reduction motor 305 is arranged on the fork main body frame 208, and the driving chain wheel 304 is arranged at the output end of the variable frequency speed reduction motor 305 and meshed with the chain 302. The variable frequency speed reduction motor 305 drives the driving sprocket 304 to rotate, and the driving sprocket 304 is engaged with the chain 302, so that the sprocket 304 drives the fork main body frame 208 to ascend and descend. The forward guide wheel 202 and the lateral guide wheel 201 roll on the robot frame 4 to perform a guiding function, so that the lifting operation is performed stably.
In the embodiment of the present invention, the robot frame 4 and the fork main body frame 208 are formed by welding steel plates and then machining. The robot control system mainly comprises a local control cabinet and a remote control center, and can realize the remote control function of the robot.
The servo motor is used for driving the screw rod, and the screw rod drives the pulling type pallet fork to horizontally translate so as to adjust the distance between the two pallet forks. The automatic adjustment of fork interval is that the transfer robot can adapt to the tray that the width is unanimous, but the length is inconsistent.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (7)
1. The utility model provides an automatically regulated fork interval move and carry robot, a serial communication port, including running gear (1), automatically regulated interval's fork mechanism (2), vertical lift mechanism (3) and robot frame (4), wherein running gear (1) sets up in the bottom of robot frame (4), automatically regulated interval's fork mechanism (2) and robot frame (4) are along vertical direction sliding connection, the both sides of robot frame (4) are equipped with vertical lift mechanism (3), two vertical lift mechanism (3) are connected with automatically regulated interval's fork mechanism (2), a fork mechanism (2) for driving automatically regulated interval goes up and down.
2. The transfer robot capable of automatically adjusting fork spacing according to claim 1, wherein the fork mechanism (2) capable of automatically adjusting fork spacing comprises a pulling type fork (204), a pallet support (205), a fork main body frame (208) and a fork driving mechanism, wherein the fork main body frame (208) is slidably provided with two pulling type forks (204) which are parallel to each other; the pallet support (205) is arranged between the two pulling type pallet forks (204); the fork driving mechanism is arranged on the fork main body frame (208) and connected with the two pulling type forks (204), and the fork driving mechanism is used for driving the two pulling type forks (204) to approach or separate from each other.
3. The transfer robot capable of automatically adjusting the fork spacing according to claim 2, wherein the fork driving mechanism comprises a servo motor (203), a speed reducer (206) and two adjusting screws (207), wherein an output shaft of the servo motor (203) is connected with an input shaft of the speed reducer (206), two output shafts on two sides of the speed reducer (206) are respectively connected with the two adjusting screws (207), the two adjusting screws (207) are rotatably mounted on the fork main body frame (208) and are coaxial, and the two pulling type forks (204) are respectively in threaded connection with the two adjusting screws (207).
4. The transfer robot capable of automatically adjusting fork spacing according to claim 2, wherein guide wheel assemblies movably connected with the robot frame (4) are arranged at two ends of the fork main body frame (208).
5. The transfer robot capable of automatically adjusting fork spacing according to claim 4, wherein the guide wheel assembly comprises a forward guide wheel (202) and lateral guide wheels (201) arranged on both sides of the forward guide wheel (202);
the robot frame (4) is provided with a forward guide rail and lateral guide rails arranged on two sides of the forward guide rail;
wherein the forward guide wheels (202) positively press against the forward guide rails on the robot frame (4), and the lateral guide wheels (201) press against the lateral guide rails on the robot frame (4) laterally.
6. The transfer robot capable of automatically adjusting the fork spacing according to claim 2, wherein the vertical lifting mechanism (3) comprises an upper guide sprocket (301), a chain (302), a lower guide sprocket (303), a driving sprocket (304) and a variable frequency speed reduction motor (305), wherein the upper guide sprocket (301) and the lower guide sprocket (303) are respectively arranged at the upper end and the lower end of the robot frame (4), and the chain (302) is supported by the upper guide sprocket (301) and the lower guide sprocket (303); the variable-frequency speed reducing motor (305) is arranged on the pallet fork main body frame (208), and the driving chain wheel (304) is arranged at the output end of the variable-frequency speed reducing motor (305) and meshed with the chain (302).
7. The transfer robot capable of automatically adjusting fork spacing according to claim 1, wherein the traveling mechanism (1) comprises a ground rail, a traveling wheel and a variable frequency motor, wherein the ground rail is arranged on the ground, the traveling wheel is arranged at the bottom of the robot frame (4), and the traveling wheel is driven by the variable frequency motor arranged on the robot frame (4) to travel on the ground rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111346950.6A CN114105051A (en) | 2021-11-15 | 2021-11-15 | Transfer robot capable of automatically adjusting fork spacing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111346950.6A CN114105051A (en) | 2021-11-15 | 2021-11-15 | Transfer robot capable of automatically adjusting fork spacing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114105051A true CN114105051A (en) | 2022-03-01 |
Family
ID=80395336
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111346950.6A Pending CN114105051A (en) | 2021-11-15 | 2021-11-15 | Transfer robot capable of automatically adjusting fork spacing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114105051A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0733563A1 (en) * | 1995-03-22 | 1996-09-25 | Toyokanetsu Kabushiki Kaisha | Merchandise handling equipment and merchandise storage equipment |
| CN106629491A (en) * | 2017-02-24 | 2017-05-10 | 江苏高科物流科技股份有限公司 | Stacking machine and automatic stereoscopic warehouse |
| CN108394669A (en) * | 2018-05-02 | 2018-08-14 | 大连誉洋工业智能有限公司 | A kind of multistation access arrangement |
| CN110054124A (en) * | 2018-01-19 | 2019-07-26 | 沈阳新松机器人自动化股份有限公司 | A kind of agile type refers to formula pallet fork |
| CN110884816A (en) * | 2019-12-10 | 2020-03-17 | 烟台拓伟智能科技股份有限公司 | Intelligent storage automatic storage stacking is got and is put device |
| CN210312542U (en) * | 2019-07-05 | 2020-04-14 | 苏州迈卡格自动化设备有限公司 | Double-ground-rail supporting type stacking machine |
| CN111825024A (en) * | 2020-07-07 | 2020-10-27 | 马敏全 | Forklift transfer safety device |
-
2021
- 2021-11-15 CN CN202111346950.6A patent/CN114105051A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0733563A1 (en) * | 1995-03-22 | 1996-09-25 | Toyokanetsu Kabushiki Kaisha | Merchandise handling equipment and merchandise storage equipment |
| CN106629491A (en) * | 2017-02-24 | 2017-05-10 | 江苏高科物流科技股份有限公司 | Stacking machine and automatic stereoscopic warehouse |
| CN110054124A (en) * | 2018-01-19 | 2019-07-26 | 沈阳新松机器人自动化股份有限公司 | A kind of agile type refers to formula pallet fork |
| CN108394669A (en) * | 2018-05-02 | 2018-08-14 | 大连誉洋工业智能有限公司 | A kind of multistation access arrangement |
| CN210312542U (en) * | 2019-07-05 | 2020-04-14 | 苏州迈卡格自动化设备有限公司 | Double-ground-rail supporting type stacking machine |
| CN110884816A (en) * | 2019-12-10 | 2020-03-17 | 烟台拓伟智能科技股份有限公司 | Intelligent storage automatic storage stacking is got and is put device |
| CN111825024A (en) * | 2020-07-07 | 2020-10-27 | 马敏全 | Forklift transfer safety device |
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Application publication date: 20220301 |
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| RJ01 | Rejection of invention patent application after publication |