CN114514189A - 货叉及搬运机器人 - Google Patents

货叉及搬运机器人 Download PDF

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Publication number
CN114514189A
CN114514189A CN202080064791.8A CN202080064791A CN114514189A CN 114514189 A CN114514189 A CN 114514189A CN 202080064791 A CN202080064791 A CN 202080064791A CN 114514189 A CN114514189 A CN 114514189A
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Prior art keywords
arm
push rod
fork
movable
assembly
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CN114514189B (zh
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詹庆鑫
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Hai Robotics Co Ltd
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Hai Robotics Co Ltd
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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
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • 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
    • B66F9/18—Load gripping or retaining means
    • 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
    • B66F9/141—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements with shuttle-type movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0435—Storage devices mechanical using stacker cranes with pulling or pushing means on either stacking crane or stacking area
    • 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
    • B66F9/063—Automatically guided
    • 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
    • B66F9/122—Platforms; Forks; Other load supporting or gripping members longitudinally movable
    • 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
    • B66F9/147—Whole unit including fork support moves relative to mast
    • B66F9/149—Whole unit including fork support rotates
    • 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
    • B66F9/19—Additional means for facilitating unloading
    • B66F9/195—Additional means for facilitating unloading for pushing the load

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Load-Engaging Elements For Cranes (AREA)

Abstract

一种货叉及搬运机器人，其中，货叉(300)包括伸缩臂、暂存货板(320)和滑动组件(330)，伸缩臂包括固定臂(311)、活动臂(312)、推杆组件(340)和驱动组件，活动臂(312)的一端与固定臂(311)连接，另一端与推杆组件(340)连接，活动臂(312)能够在驱动组件的作用下相对于固定臂(311)进行伸缩运动，推杆组件(340)用于拉取货物或者推出货物；暂存货板(320)安装于固定臂(311)，用于暂时存放货物；滑动组件(330)安装于固定臂(311)与暂存货板(320)之间，并且能够推动暂存货板(320)相对于固定臂(311)进行伸出运动，暂存货板(320)的伸出方向与活动臂(312)的伸出方向一致。货叉及搬运机器人的滑动组件能够推动暂存货板(320)相对于固定臂(311)进行伸出运动，使得货叉在拉取或者推出货物时，货箱能够稳定地从固定货架和暂存货板之间转移。

Description

PCT国内申请，说明书已公开。

Claims (11)

  1. PCT国内申请，权利要求书已公开。
CN202080064791.8A 2019-09-17 2020-09-17 货叉及搬运机器人 Active CN114514189B (zh)

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CN201921546485.9U CN211056639U (zh) 2019-09-17 2019-09-17 货叉及搬运机器人
PCT/CN2020/115764 WO2021052393A1 (zh) 2019-09-17 2020-09-17 货叉及搬运机器人

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CN114514189B CN114514189B (zh) 2023-06-06

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US (1) US11548770B2 (zh)
EP (1) EP4032848A4 (zh)
JP (2) JP7360543B2 (zh)
KR (1) KR20220061141A (zh)
CN (2) CN211056639U (zh)
AU (2) AU2020350944B2 (zh)
CA (1) CA3149595C (zh)
DE (2) DE212020000724U1 (zh)
WO (1) WO2021052393A1 (zh)

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Publication number Priority date Publication date Assignee Title
US11807451B2 (en) 2019-09-17 2023-11-07 Hai Robotics Co., Ltd. Fork and carrying robot
CN211056639U (zh) 2019-09-17 2020-07-21 深圳市海柔创新科技有限公司 货叉及搬运机器人
CN211197466U (zh) * 2019-11-19 2020-08-07 深圳市海柔创新科技有限公司 一种搬运装置及具有此搬运装置的搬运机器人
CN114684516B (zh) * 2020-12-31 2023-05-02 深圳市海柔创新科技有限公司 货叉组件的控制方法、货叉组件及机器人
JP2022124848A (ja) * 2021-02-16 2022-08-26 トヨタ自動車株式会社 搬送システム及び搬送方法
CN115557130A (zh) * 2021-07-01 2023-01-03 深圳市海柔创新科技有限公司 货叉组件、搬运机器人及仓储系统
CN113479822B (zh) * 2021-08-04 2023-02-10 杭州海康机器人股份有限公司 搬运装置
CN113788259B (zh) * 2021-09-18 2023-07-18 深圳市海柔创新科技有限公司 搬运机器人
CN115893271A (zh) * 2021-09-24 2023-04-04 深圳市海柔创新科技有限公司 货叉机构及搬运机器人
CN113895970A (zh) * 2021-11-19 2022-01-07 成都海科机械设备制造有限公司 一种卸垛码垛装置及其使用方法
CN114955423A (zh) * 2022-05-31 2022-08-30 菲尼克斯(南京)智能制造技术工程有限公司 集成于agv小车的箱体搬运系统及箱体搬运方法
CN217626404U (zh) * 2022-06-30 2022-10-21 深圳市海柔创新科技有限公司 货叉机构及码垛机器人

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Publication number Publication date
EP4032848A1 (en) 2022-07-27
CN114514189B (zh) 2023-06-06
US20220204329A1 (en) 2022-06-30
US11548770B2 (en) 2023-01-10
JP2022545523A (ja) 2022-10-27
JP2023164756A (ja) 2023-11-10
AU2020350944A1 (en) 2022-03-24
AU2020350944B2 (en) 2023-11-02
CN211056639U (zh) 2020-07-21
EP4032848A4 (en) 2022-11-30
WO2021052393A1 (zh) 2021-03-25
KR20220061141A (ko) 2022-05-12
DE202020005899U1 (de) 2023-02-06
CA3149595A1 (en) 2021-03-25
DE212020000724U1 (de) 2022-06-29
CA3149595C (en) 2024-05-28
JP7360543B2 (ja) 2023-10-12
AU2024200110A1 (en) 2024-01-25

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