CN114684744A - Fork subassembly and transfer robot - Google Patents
Fork subassembly and transfer robot Download PDFInfo
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- CN114684744A CN114684744A CN202011628006.5A CN202011628006A CN114684744A CN 114684744 A CN114684744 A CN 114684744A CN 202011628006 A CN202011628006 A CN 202011628006A CN 114684744 A CN114684744 A CN 114684744A
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- Prior art keywords
- tray
- base
- fork assembly
- assembly
- driving
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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
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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
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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
Abstract
The application provides a fork assembly and a transfer robot, wherein the fork assembly is used for carrying out cargo loading and unloading operation on logistics equipment, the logistics equipment is provided with a storage unit for bearing cargos, and the fork assembly comprises a base, a driving assembly arranged on the base, a mechanical arm arranged on the base and a tray arranged on the base in a sliding mode; the tray cooperates with the mechanical arm to carry out cargo handling operation to the logistics equipment, and the drive assembly is used for making the tray stretch out or retract relative to the base. This application can improve the security and the reliability of fork subassembly in goods handling process.
Description
Technical Field
The application relates to the technical field of intelligent warehousing, in particular to a fork assembly and a transfer robot.
Background
With the rapid development of artificial intelligence technology, automation technology and information technology, the intelligent degree of terminal logistics is continuously improved, an intelligent logistics terminal is the trend of terminal logistics development, a transfer robot is one of main devices capable of achieving automatic transfer operation of the intelligent logistics terminal, heavy physical labor of human can be relieved through the transfer robot, and the efficiency of the transfer operation is improved.
At present, a transfer robot generally includes a movable base for carrying a lifting mechanism and a fork assembly, the lifting mechanism being used for driving the fork assembly to lift, and the fork assembly. The fork subassembly is used for carrying out the loading and unloading operation of goods to logistics equipment, and is specific, the fork subassembly is including the tray that is used for bearing the weight of goods, and transfer robot can be through the fork subassembly with the goods propelling movement on the tray to logistics equipment, or draw the goods to the tray from logistics equipment on. Typically, the fork assembly is generally rectangular in shape in plan view and can be rotated side-to-side relative to the logistics apparatus to align the access ports of the fork assembly with the cargo on the logistics apparatus. Therefore, when the fork assembly carries out goods loading and unloading operation on the logistics equipment, the fork assembly rotates to the goods taking port of the fork assembly to correspond to the storage unit, and the goods loading and unloading operation is carried out on the logistics equipment.
However, during rotation of the fork assembly, since the rotation diameter of the fork assembly is larger than the side length of the fork, after the fork is rotated into position, there is a certain distance, typically around 10 cm, between the access opening of the fork assembly and the storage unit of the logistics apparatus, which may cause the goods to get stuck in or fall out of the gap. Therefore, the safety and the reliability of the existing transfer robot are lower in the process of loading and unloading goods.
Disclosure of Invention
In view of the above problems, embodiments of the present application provide a fork assembly and a transfer robot for improving safety and reliability of the fork assembly during loading and unloading of goods.
In order to achieve the above object, a first aspect of the present application provides a fork assembly for performing a cargo handling operation on a logistics apparatus, the logistics apparatus having a storage unit for carrying cargo, the fork assembly comprising a base, a driving assembly disposed on the base, a mechanical arm disposed on the base, and a tray slidably disposed on the base; the tray cooperates with the mechanical arm to carry out cargo handling operation to the logistics equipment, and the drive assembly is used for making the tray stretch out or retract relative to the base.
In a possible embodiment, the driving assembly comprises a moving member connected with the tray, and the moving member can move towards or away from the storage unit so that the tray can extend or retract relative to the base under the driving of the moving member.
In a possible embodiment, the moving member is moved relative to the base in the loading and unloading direction of the goods.
In one possible embodiment, the drive assembly further comprises: the flexible belt is stretched between the at least two driving wheels so as to enable the driving wheels to be linked, and the moving piece is also connected with the flexible belt; the motor is used for driving one of the transmission wheels to rotate, so that the flexible belt drives the moving piece to move towards or away from the storage unit.
In a possible embodiment, the plane in which the flexible strip lies is parallel to the loading and unloading direction of the goods.
In one possible embodiment, the drive assembly comprises: the flexible belt is stretched between the at least two driving wheels to enable the driving wheels to be linked, and the tray is connected with the flexible belt; the motor is used for driving one of the driving wheels to rotate so as to enable the flexible belt to move towards or away from the storage unit, and part of the structure of the flexible belt forms the moving piece.
In one possible embodiment, the drive assembly comprises: the motor and the lead screw are arranged on the base, and the lead screw nut is connected with the tray;
the motor is used for driving the lead screw to rotate, the lead screw nut is used for driving the tray to move along the loading and unloading direction of goods when the lead screw rotates, and the lead screw nut forms a moving part.
In one possible embodiment, the axial direction of the threaded spindle is in the loading and unloading direction of the load.
In a possible embodiment, at least one set of rail assemblies for limiting the sliding direction of the pallet is provided between the base and the pallet, the extension direction of the rail assemblies being along the loading and unloading direction of the goods.
In one possible embodiment, the rail assembly includes a rail and a slider that cooperate with each other, with the rail being disposed on one of the base and the tray and the slider being disposed on the other.
In a possible embodiment, the tray has a first extreme position projecting to the outermost side of the base, and the guide rail is provided with a first stop for stopping the slider on the side of the storage unit when the tray is in the first extreme position.
In a possible embodiment, the tray has a second limit position retracted to the innermost side of the base, and the guide rail is provided with a second stop member for stopping the slider at a side thereof facing away from the storage unit when the tray is in the second limit position.
In one possible embodiment, the tray has a first surface disposed opposite the base, the base and the first surface defining a gap therebetween that receives the rail assembly, the drive assembly being located in the gap.
In one possible embodiment, the pallet has a projecting end which is the end of the pallet adjacent the storage unit when the fork assembly is engaged in a cargo handling operation;
the pallet fork assembly comprises a distance sensor and a controller, the distance sensor is located at the extending end, the distance sensor and the driving assembly are electrically connected with the controller, and the distance sensor is used for detecting position information of the extending end relative to the storage unit, so that the controller controls the moving state of the pallet relative to the base according to the position information detected by the distance sensor.
In a possible implementation mode, the device further comprises a contact sensor, the contact sensor is located at the extending end and is electrically connected with the controller, and the contact sensor is used for sending out a sensing signal when the extending end is contacted with the storage unit, so that the controller controls the driving assembly to stop driving according to the sensing signal.
In one possible embodiment, the protruding end is further provided with a crash cushion on the outer end face of the protruding end.
In one possible embodiment, the pallet has a projecting end which is the end of the pallet adjacent the storage unit when the fork assembly is engaged in a cargo handling operation;
the tray is provided with a bearing surface for bearing goods, the extending end is provided with an inclined part, the inclined part is provided with an inclined surface which is connected with the bearing surface, and the inclined surface inclines towards the direction departing from the bearing surface relative to the bearing surface.
In one possible embodiment, the device further comprises a rotating assembly and a bracket, wherein the rotating assembly is connected between the bracket and the base, and the rotating assembly is used for enabling the base to rotate relative to the base.
In one possible embodiment, the number of the robot arms is two, two robot arms are respectively arranged at two opposite sides of the base, and the tray is positioned between the two robot arms.
In one possible embodiment, the driving assembly comprises an electromagnetic assembly fixed relative to the base, the electromagnetic assembly being located at a side of the tray, the electromagnetic assembly being capable of applying a magnetic force to the tray towards or away from the base to extend or retract the tray relative to the base.
The present application provides in a second aspect a transfer robot comprising: remove base, elevating system and foretell fork subassembly, remove the base and be used for bearing elevating system and fork subassembly, elevating system is used for driving the fork subassembly and goes up and down.
The application has the following beneficial effects:
this application embodiment is through making the fork subassembly including can stretching out or the tray that returns for transfer robot, when transfer robot and logistics equipment carry out goods handling operation like this, the tray can stretch out and shelter from in the storage unit outside at logistics equipment for the base, in order to reduce the clearance between fork subassembly and the storage unit, prevent that the goods from taking place the condition that the card dies or falls at handling in-process, the fail safe nature of fork subassembly has been improved, and then the security and the handling reliability of transfer robot in handling have been improved.
In addition to the technical problems solved by the embodiments of the present application, the technical features constituting the technical solutions, and the advantages brought by the technical features of the technical solutions, other technical problems solved by the fork assembly and the transfer robot provided by the embodiments of the present application, other technical features included in the technical solutions, and advantages brought by the technical features will be further described in detail in the detailed description.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following descriptions 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 transfer robot used with a logistics apparatus according to an embodiment of the present disclosure;
FIG. 2 is an exploded view of a fork assembly according to an embodiment of the present disclosure;
FIG. 3 is a schematic view of another angle of the pallet in the fork assembly according to an embodiment of the present disclosure;
FIG. 4 is a schematic view of another angle of the fork assembly according to an embodiment of the present disclosure;
FIG. 5 is a schematic structural view of a rail assembly in a fork assembly provided in an embodiment of the present application;
FIG. 6 is a schematic structural diagram of a drive assembly in the fork assembly provided by the embodiments of the present application;
FIG. 7 is a schematic view of an alternative construction of a drive assembly in the fork assembly provided by the embodiments of the present application;
FIG. 8 is a schematic view of a drive assembly of another configuration in a fork assembly provided in an embodiment of the present application.
Reference numerals:
200-a transfer robot; 201-storage shelves; 202-a storage unit; 203-moving the base; 204-a lifting mechanism; 205-a shelf; 206-a separator;
100-a fork assembly; 1-a base; 11-a base body; 12-a side wall; 13-a mechanical arm; 2-a drive assembly; 21-a moving member; 22-a flexible belt; 23-a motor; 24-a transmission wheel; 25-a lead screw; 26-lead screw nut; 3-a tray; 31-a rib; 32-cargo import and export; 33-an extension end; 34-an inclined portion; 35-a carrying surface; 36-inclined plane; 38-clearance; 5-a guide rail assembly; 51-a guide rail; 52-a slide block; 53-a first stop; 54-a second stop; 61-a distance sensor; 62-a contact sensor; 63-crash cushions; 64-limit switch; 65-a buffer; 91-a rotating assembly; 92-bracket.
Detailed Description
In the related art, the transfer robot includes a movable base, a lifting mechanism and a fork assembly, the movable base is used for bearing the lifting mechanism and the fork assembly, the lifting mechanism is used for driving the fork assembly to lift, the fork assembly includes a tray for bearing goods, and the transfer robot can place the goods on the tray onto logistics equipment or take out the goods from the logistics equipment onto the tray through the fork assembly. However, when the fork assembly is used for loading and unloading goods to and from the logistics equipment, a certain gap often exists between the fork assembly and the storage unit of the logistics equipment, and the goods are easily clamped in the gap during loading and unloading, so that the loading and unloading of the goods are failed, and therefore, the carrying robot in the prior art has the technical problems of low safety and low reliability during the loading and unloading of the goods.
In order to solve the technical problem, the embodiment of the application provides a fork assembly and a transfer robot, and the fork assembly comprises a tray which can stretch out and draw back relative to a base, so that when the fork assembly carries out goods loading and unloading operation on logistics equipment, the tray can stretch out towards a storage unit to reduce a gap, and therefore the situation that goods are stuck or fall off in the loading and unloading process is prevented.
In order to make the aforementioned objects, features and advantages of the embodiments of the present application more comprehensible, embodiments of the present application are described in detail below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Fig. 1 is a schematic structural diagram of a transfer robot used in cooperation with logistics equipment according to an embodiment of the present application.
Referring to fig. 1, a transfer robot 200 according to an embodiment of the present invention is used to perform a cargo handling operation on a logistics apparatus, such as a storage rack 201. The logistics apparatus may be, for example, a storage rack 201, a logistics conveyor, other freight robots, an automated sorting machine, etc. In this application, the logistics apparatus is taken as a storage rack for example, and the loading and unloading of goods by other types of logistics apparatuses are similar to this, and are not described herein again.
The storage rack 201 may include at least one storage unit 202 for carrying goods, when the number of the storage units 202 is plural, the plurality of storage units 202 may be stacked in the height direction, and the number of the storage rack 201 may be one or plural. In fig. 1, a case where the storage rack 201 includes only one storage unit 202 is described, and in a case where the storage rack 201 includes a plurality of storage units 202, the goods handling operation performed by the transfer robot 200 is similar to that performed by one storage unit 202, and the description thereof is omitted.
The transfer robot 200 includes a mobile base 203, an elevating mechanism 204, and the fork assembly 100, the mobile base 203 is used for carrying the elevating mechanism 204 and the fork assembly 100, and the elevating mechanism 204 is used for driving the fork assembly 100 to ascend and descend.
Wherein, it is portable to remove base 203 to drive the elevating system 204 and the fork subassembly 100 that bear and remove in the lump, in addition, can also bear on the removal base 203 goods shelves 205, goods shelves 205 can include a plurality of baffles 206, and a plurality of baffles 206 separate into the multilayer with goods shelves 205, forms multilayer goods shelves, and arbitrary one deck of multilayer goods shelves all can be used for the goods of keeping in, and like this, transfer robot 200 can once carry a plurality of goods, thereby improves transfer robot 200's handling efficiency.
The movable base 203 drives the fork assembly 100 to move, so that the fork assembly 100 can convey goods between the multi-layer shelf and the storage shelf 201, and the lifting mechanism 204 is used for driving the fork assembly 100 to lift, so that the fork assembly 100 can load and unload goods on any layer of the multi-layer shelf or any layer of the storage shelf 201.
The lifting mechanism 204 may be powered by a motor or the like, and the power may be transmitted by a transmission mechanism, such as a chain wheel mechanism, and the chain wheel mechanism may be omitted, and the lifting mechanism 204 may be directly driven by the motor, in which case, the motor is a linear motor.
It is to be understood that the pallet fork assembly 100 is not limited to use with the transfer robot 200, and the pallet fork assembly 100 may also be used in the field of shuttles, sorting platforms, and the like.
The structure of the fork assembly 100 of the present application is described in detail below.
Fig. 2 is an exploded view of a fork assembly according to an embodiment of the present disclosure. Referring to fig. 1 and 2, a fork assembly 100 according to an embodiment of the present disclosure is used for a cargo handling operation of a logistics apparatus, and the fork assembly 100 includes a base 1, a driving assembly 2 disposed on the base 1, a robot arm 13 disposed on the base 1, and a tray 3 slidably disposed on the base 1; the tray 3 cooperates with a robot arm 13 to perform a cargo handling operation for the logistics apparatus, and the driving assembly 2 is used to extend or retract the tray 3 with respect to the base 1.
In the above solution, by making the fork assembly 100 include the tray 3 capable of extending out or retracting relative to the transfer robot 200, when the transfer robot and the logistics apparatus perform the cargo handling operation, the tray 3 can extend relative to the base 1 and be shielded outside the storage unit 202 of the logistics apparatus, so as to reduce the gap 38 between the fork assembly 100 and the storage unit 202, prevent the cargo from being stuck or falling off during the handling process, improve the safety and reliability of the fork assembly 100, and further improve the safety and reliability of the transfer robot 200 during the handling process.
As a possible embodiment, the driving assembly 2 includes a moving member 8 (as shown in fig. 5 described later) connected to the tray 3, and the moving member 8 can move towards or away from the storage unit 202, so that the tray 3 can extend or retract relative to the base 1 under the driving of the moving member 8.
Alternatively, in some other examples, the driving assembly 2 may be an electromagnetic assembly. Specifically, drive assembly 2 includes the electromagnetism subassembly of relatively fixed with base 1, and the electromagnetism subassembly is located the side of tray 3, and the electromagnetism subassembly can exert the magnetic force towards or deviate from base 1 to tray 3 to make tray 3 stretch out or withdraw for base 1. Illustratively, the electromagnetic assembly may be an electromagnet, and at least a part of the structure of the tray 3 may be made of a material having magnetism, so that the tray can be controlled to extend and retract by controlling the magnitude and direction of the current and the on/off state of the current supplied to the electromagnetic assembly.
Referring to fig. 1, in general, when the transfer robot 200 performs a cargo handling operation with the logistics apparatus, a gap 38 is formed between the fork assembly 100 and the end surface of the storage unit 202 close to the transfer robot 200, and in the present application, the tray 3 can be extended with respect to the base 1, so that the gap 38 can be blocked.
Referring to fig. 2, the tray 3 may be generally formed as a plate-shaped member, and a rib 31 may be appropriately provided at an edge of the plate-shaped member to prevent the goods on the tray 3 from falling. Of course, the pallet 3 is also provided with a goods entrance 32, and goods on the pallet 3 enter and exit the pallet 3 through the goods entrance 32.
As a possible embodiment, the tray 3 has a protruding end 33, the protruding end 33 being the end of the tray 3 closest to the storage unit 202 when the fork assembly 100 is performing a load handling operation; of course, the cargo access opening 32 is on the same side as the protruding end 33.
Fig. 3 is a schematic structural view of another angle of the pallet 3 in the fork assembly 100 according to the embodiment of the present application, and fig. 4 is a schematic structural view of another angle of the fork assembly according to the embodiment of the present application. Referring to fig. 3, in order to facilitate the loading and unloading of the goods into and out of the pallet 3, the protruding end 33 further has an inclined portion 34, the pallet 3 has a loading surface 35 for loading the goods, the inclined portion 34 has an inclined surface 36 continuous with the loading surface 35, and the inclined surface 36 is inclined with respect to the loading surface 35 in a direction away from the loading surface 35. Thus, the projecting end 33 does not block the transportation path of the cargo during the cargo handling operation, and does not interfere with the transportation of the cargo.
In order to prevent the protruding end 33 from striking the storage unit 202, the fork assembly 100 further comprises a distance sensor 61 and a controller, the distance sensor 61 is located at the protruding end 33, the distance sensor 61 and the driving assembly 2 are electrically connected with the controller, and the distance sensor 61 is used for detecting the position information of the protruding end 33 relative to the storage unit 202, so that the controller controls the moving state of the tray 3 relative to the base 1 according to the position information detected by the distance sensor 61. Here, the distance sensor 61 may be a photoelectric sensor or the like.
Specifically, if the distance sensor 61 detects that the distance from the protruding end 33 to the storage unit 2 is greater than the preset value, the protruding motion of the tray 3 is continued until the tray reaches the preset position. If the distance sensor 61 detects that the distance of the protruding end 33 from the storage unit 2 is equal to the preset value, the protruding motion of the tray 3 is stopped. If the distance sensor 61 detects that the distance from the protruding end 33 to the storage unit 2 is less than the preset value, the tray 3 is retracted until the tray reaches the preset position.
In other examples, the fork assembly 100 further comprises a limit switch 64, the limit switch 64 is located at the extended end 33, the limit switch 64 is electrically connected with the controller, and the limit switch 64 is used for sending out a sensing signal when the extended end 33 is contacted with the storage unit 202, so that the controller controls the driving assembly 2 to stop driving according to the sensing signal. In addition, the protruding end 33 is provided with a crash cushion 63 and/or bumper 65, the crash cushion 63 and/or bumper 65 being located on the outer end face of the protruding end 33. In the event of a collision of the tray 3 with the storage unit 202, the crash cushion 63 and/or the bumper 65 may relieve the impact between the tray 3 and the storage unit 202. Crash cushion 63 and/or bumper 65 can be made of a flexible material.
Referring to fig. 4, the tray 3 is mounted on the base 1. The fork assembly 100 may further include a contact sensor 62, the contact sensor 62 is located at the extended end 33, the contact sensor 62 is electrically connected to the controller, and the contact sensor 62 is configured to send a sensing signal when the extended end 33 contacts the storage unit 202, so that the controller controls the driving assembly 2 to stop driving according to the sensing signal.
Further, with continued reference to fig. 2, the base 1 may include a base body 11 and a side wall 12, the base body 11 serving as a main supporting portion, and the driving assembly 2 and the tray 3 may be disposed on the base body 11. The number of the sidewalls 12 may be two, and the two sidewalls 12 may be connected at the outer edge of the base body 11 at opposite sides. As mentioned above, the fork assembly 100 may further comprise two robot arms 13, two robot arms 13 being respectively disposed at two opposite sides of the base 1, and the tray 3 being located between the two robot arms 13.
Specifically, the fork assembly 100 includes the telescopic robot arms 13, the robot arms 13 may be respectively disposed on the two side walls 12, and the length direction of the robot arms 13 may be along the cargo-handling direction K. Referring to fig. 1, when the tray 3 is placed on the base 1, the robot arms 13 may be respectively located at both sides of the tray 3 with a space between the robot arms 13 and the tray 3, so that interference of the bodies of the robot arms 13 with the movement of the tray 3 may be prevented. That is, the extension and retraction of the robot arm 13 and the extension and retraction of the tray 3 are independent and do not affect each other.
Fig. 5 is a schematic structural diagram of a rail assembly in a fork assembly provided in an embodiment of the present application. Fig. 5 shows a structure in which a part of the side wall of the base 1 is removed and a part of the structure of the tray 3 is removed, and referring to fig. 5, the tray 3 is slidably mounted on the base 1, that is, the tray 3 is slidably mounted on the base 1, for example, at least one set of rail assemblies 5 for restricting the sliding direction of the tray 3 is provided between the base 1 and the tray 3, and the extending direction of the rail assemblies 5 is along the cargo handling direction K.
Illustratively, referring to fig. 1 and 5, the rail assembly 5 includes a rail 51 and a slider 52 that are engaged with each other, and the rail 51 is provided on one of the base 1 and the tray 3, and the slider 52 is provided on the other. So that the tray 3 can slide with respect to the base 1 by cooperation of the guide rail 51 and the slider 52. In fig. 1 and 5, the guide rail 51 is provided on the upper surface of the base 1 and the slider 52 is provided on the lower surface of the tray 3, but it is needless to say that the slider 52 may be provided on the upper surface of the base 1 and the guide rail 51 may be provided on the lower surface of the tray 3. In the figure, an example is shown in which two sets of rail assemblies 5 are provided and the extending directions of the two sets of rail assemblies 5 are parallel to each other, and the number of rail assemblies 5 may be other as necessary.
When the tray 3 slides relative to the base 1, a stopper is further provided to prevent the tray 3 from colliding with the storage unit 202, for example, the tray 3 has a first limit position protruding to the outermost side of the base 1, the guide rail 51 is provided with a first stopper 53, and the first stopper 53 is provided to block the side of the slider 52 close to the storage unit 202 when the tray 3 is located at the first limit position. When the tray 3 moves toward the storage unit 202 in this way, the movement can be stopped until the slider 52 comes into contact with the first stopper 53 and is stopped by the first stopper 53. The first limit position may be a position of the tray 3 when the distance between the protruding end 33 and the storage unit 202 is a preset distance, and the preset distance may be selected according to actual needs.
As described above, the tray 3 has a second limit position retracted to the innermost side of the base 1, and the rail 51 is provided with a second stopper 54, and the second stopper 54 is provided to stop the side of the slider 52 facing away from the storage unit 202 when the tray 3 is located at the second limit position. Thus, when the tray 3 moves backward relative to the base 1 until the slider 52 contacts the second stopper 54 and is stopped by the second stopper 54, the movement can be stopped. The second limit position can be the position of the tray 3 at the end of the tray 3 facing away from the protruding end 33 and at a predetermined position relative to the base 1, where the predetermined position can be selected according to actual needs.
The tray 3 has a first surface opposite to the base 1, i.e., a back surface of the tray 3, and a gap is formed between the base 1 and the first surface to accommodate the rail assembly 5, and the driving assembly 2 may be located in the gap. Therefore, the installation space can be saved, and the structure of the fork assembly is compact. Of course, the present application is not limited thereto, and the driving assembly 2 may be disposed at other positions of the base 1.
The structure of the drive assembly 2 is described in detail below.
Fig. 6 is a schematic structural diagram of a driving assembly in a fork assembly provided in an embodiment of the present application, fig. 7 is a schematic structural diagram of a driving assembly in another structure in a fork assembly provided in an embodiment of the present application, and fig. 8 is a schematic structural diagram of a driving assembly in another structure in a fork assembly provided in an embodiment of the present application.
Referring to fig. 6, which is a view of the base 1 with a side wall of one side removed, the driving assembly 2 includes a moving member 8 connected to the tray 3, and the moving member 8 can move toward or away from the storage unit 202, so that the tray 3 can extend or retract relative to the base 1 under the driving of the moving member 8.
It is to be noted that the moving member 8 is moved in the cargo-handling direction K with respect to the base 1. In this way, the moving member 8 can drive the tray 3 to move along the cargo loading and unloading direction K, so as to ensure that the cargo moves towards the storage unit 202.
Referring to fig. 6, as a possible embodiment, the drive assembly 2 further comprises: the flexible belt 22, the motor 23 and at least two driving wheels 24 arranged at intervals, the motor (not shown) and the at least two driving wheels 24 are arranged on the base 1, the flexible belt 22 is stretched between the at least two driving wheels 24 to enable the driving wheels 24 to be linked, and the moving part 8 is also connected with the flexible belt 22; the motor 23 is used to drive one of the driving wheels 24 to rotate, so that the flexible belt 22 drives the moving member 8 to move towards or away from the storage unit 202.
Specifically, the number of the transmission wheels 24 is two. Two transmission wheels 24 are rotatably arranged on the base 1, the flexible belt 22 can be stretched between the two transmission wheels 24, the motor is fixed relative to the base 1, and the motor shaft is used for driving one of the transmission wheels 24 to rotate. The moving member 8 may be attached to the flexible belt 22, and part of the structure of the moving member 8 is also fixed to the tray 3. Thus, when the motor 23 drives a transmission wheel 24 to rotate, the flexible belt 22 starts to move under the action of the transmission wheel 24, the moving member 8 moves and drives the tray 3 to move. It should be noted that the plane in which the flexible strip 22 lies is parallel to the direction of loading and unloading of the goods. I.e. the direction of movement of the flexible strip 22 is in the direction of loading and unloading of the goods, which can bring the pallet 3 out of the base 1 or back into the base 1.
It will be appreciated that the drive assembly 2 may be power transmitted using a chain drive or a belt drive. In the case of a drive assembly 2 using a chain drive, the drive wheel 24 is a sprocket and the flexible belt 22 is a chain; in the case of a belt drive mechanism utilized by the drive assembly 2, the drive pulley 24 is a pulley and the flexible belt 22 is a belt.
Of course, in other examples, it is also possible to connect the tray 3 to a part of the structure of the flexible band 22; when the motor drives one of the driving wheels 24 to rotate, the flexible belt 22 moves towards or away from the storage unit 202 to drive the tray 3 to move towards or away from the storage unit 202, wherein part of the structure of the flexible belt 22 forms the moving member 8.
Referring to fig. 7, 8, as another possible embodiment, the driving assembly 2 includes: the motor 23, the lead screw 25 and the lead screw nut 26 are sleeved on the lead screw 25, the motor 23 and the lead screw 25 are arranged on the base 1, and the lead screw nut 26 is connected with the tray 3;
the motor 23 is used to drive the screw 25 in rotation, and the screw nut 26 is used to drive the pallet 3 in the loading and unloading direction of the goods when the screw 25 is rotated, wherein the moving member 8 is formed by the screw nut 26. Thus, when the motor 23 drives the screw 25 to rotate, the screw nut 26 moves linearly along the screw nut 26, thereby moving the tray 3 toward or away from the storage unit 202. Furthermore, it should be noted that the axial direction of the screw 25 is along the cargo handling direction K. The direction of movement of the spindle nut 26 will then also be in the cargo handling direction K.
In the embodiment of the present application, referring to fig. 2, the fork assembly 100 further includes a rotating assembly 91 and a bracket 92, the rotating assembly 91 is connected between the bracket 92 and the base 1, and the rotating assembly 91 is used for enabling the base 1 to rotate relative to the bracket 92. The carriage 92 may be coupled to the lifting mechanism 204 described above such that the fork assembly 100 may be raised and lowered.
Next, the loading and unloading process of the transfer robot 200 according to the present invention will be described by taking an example in which the cargo in the logistics apparatus is unloaded to the transfer robot 200. The feeding of the logistics equipment is similar, and the details are not repeated here.
The movable base 203 moves to move the lifting mechanism 204 and the fork assembly 100 carried by the movable base to the side of the logistics apparatus, and at this time, the lifting mechanism 204 drives the fork assembly 100 to lift to a position corresponding to the target storage unit 202. The rotating assembly 91 drives the base 1 until the protruding end 33 of the tray 3 is aligned with the storage unit 202. The tray 3 is extended out of the base 1 by the moving member 8 of the driving means and moved towards the storage unit 202 until the first extreme position, so that the extended end 33 of the tray 3 is almost in contact with the surface of the storage unit 202 towards the transfer robot 200, leaving a suitable distance therebetween to avoid interference with each other. The robot arm 13 moves toward the storage unit 202 and pulls the goods in the storage unit 202 onto the pallet 3, and the pallet 3 is retracted into the base 1, thereby completing the unloading of the goods.
In the embodiment of the application, the fork assembly is used for carrying out cargo loading and unloading operations on logistics equipment, the logistics equipment is provided with a storage unit for bearing cargos, and the fork assembly comprises a base, a driving assembly arranged on the base, a mechanical arm arranged on the base and a tray arranged on the base in a sliding mode; the tray cooperates with the mechanical arm to carry out cargo handling operation to the logistics equipment, and the drive assembly is used for making the tray stretch out or retract relative to the base. Through making the fork subassembly include can stretch out or the tray that returns for transfer robot, when robot and logistics equipment carry out goods handling operation like this, the tray can stretch out and shelter from in the storage unit outside at logistics equipment for the base to reduce the clearance between fork subassembly and the storage unit, prevent that the goods from taking place the circumstances of card death or falling in handling, improved the fail safe nature of fork subassembly, and then improved the fail safe nature of transfer robot in handling.
In the description herein, references to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
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 (10)
1. A fork assembly is used for carrying out cargo loading and unloading operations on logistics equipment, and the logistics equipment is provided with a storage unit for bearing cargos; the tray is matched with the mechanical arm to carry out goods loading and unloading operation on the logistics equipment, and the driving assembly is used for enabling the tray to extend or retract relative to the base.
2. The pallet fork assembly of claim 1, wherein the drive assembly comprises a moving member coupled to the pallet, the moving member being movable toward and away from the storage unit to extend or retract the pallet relative to the base upon actuation of the moving member.
3. The pallet fork assembly of claim 2,
the moving member moves in a loading/unloading direction of the cargo with respect to the base.
4. The pallet fork assembly of claim 3,
the drive assembly further includes: the flexible belt is stretched between the at least two driving wheels so as to enable the driving wheels to be linked, and the moving piece is also connected with the flexible belt; the motor is used for driving one of the transmission wheels to rotate, so that the flexible belt drives the moving member to move towards or away from the storage unit.
5. The pallet fork assembly of claim 4,
the plane of the flexible belt is parallel to the loading and unloading direction of the goods.
6. The pallet fork assembly of claim 3,
the drive assembly includes: the flexible belt is stretched between the at least two driving wheels to enable the driving wheels to be linked, and the tray is connected with the flexible belt; the motor is used for driving one of the transmission wheels to rotate so as to enable the flexible belt to move towards or away from the storage unit, and part of the structure of the flexible belt forms the moving part.
7. The pallet fork assembly of claim 3,
the drive assembly includes: the motor and the lead screw are arranged on the base, and the lead screw nut is connected with the tray;
the motor is used for driving the screw rod to rotate, the screw rod nut is used for driving the tray to move along the loading and unloading direction of the goods when the screw rod rotates, and the screw rod nut forms the moving piece.
8. The pallet fork assembly of claim 7,
the axial direction of the screw rod is along the loading and unloading direction of the goods.
9. The fork assembly of any of claims 1-8,
at least one group of guide rail assemblies used for limiting the sliding direction of the tray are arranged between the base and the tray, and the extending direction of the guide rail assemblies is along the loading and unloading direction of the goods.
10. A transfer robot, characterized by comprising: a mobile base for carrying the lift mechanism and the fork assembly, a lift mechanism for driving the fork assembly up and down, and the fork assembly of any of claims 1-9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011628006.5A CN114684744A (en) | 2020-12-30 | 2020-12-30 | Fork subassembly and transfer robot |
| PCT/CN2021/104580 WO2022142242A1 (en) | 2020-12-30 | 2021-07-05 | Pallet fork assembly and transport robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011628006.5A CN114684744A (en) | 2020-12-30 | 2020-12-30 | Fork subassembly and transfer robot |
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| Publication Number | Publication Date |
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| CN114684744A true CN114684744A (en) | 2022-07-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011628006.5A Pending CN114684744A (en) | 2020-12-30 | 2020-12-30 | Fork subassembly and transfer robot |
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