CN215796182U - Storage robot - Google Patents

Abstract

The storage robot comprises a base, a walking mechanism, a lifting frame, a tray type fork assembly and a fork arm assembly, wherein the walking mechanism is arranged on the base; the traveling mechanism is arranged on the bottom surface of the base and is used for driving the base to move; the lifting frame is vertically arranged on the base, and the tray type fork assembly is slidably arranged on the lifting frame and moves up and down along the height direction relative to the lifting frame; the fork arm assembly is arranged on one side of the base and extends towards the outer side of the base. The storage robot that this disclosure provided can not only get to the goods that are located the co-altitude on the goods shelves and put, but also can get the subaerial pallet and put, therefore the storage robot suitability that this disclosure provided is good, can satisfy different operation demands.

Description

Storage robot

Technical Field

The utility model relates to a storage logistics equipment technical field especially relates to a storage robot.

Background

With the development of the logistics industry, the warehousing robot is gradually applied to the goods handling work, so that the goods handling efficiency can be improved; therefore, the warehousing robot becomes a research hotspot in the logistics industry.

The current storage robot comprises a tray type fork robot, the tray type fork robot comprises a lifting frame and a tray type fork arranged on the lifting frame, the tray type fork can move up and down along the lifting frame and can rotate relative to the lifting frame, and then goods (material boxes) located on the goods shelf and different in height can be picked and placed.

However, due to the limitation of the operation method of the tray type fork robot, the descending height of the tray type fork is limited, and therefore, the pallet on the ground cannot be taken or placed.

SUMMERY OF THE UTILITY MODEL

In view of the above problems, the embodiments of the present disclosure provide a storage robot, which can solve the problem that the existing tray type fork has a limited descending height, and can pick and place a pallet located on the ground.

In order to achieve the above purpose, the embodiments of the present disclosure provide the following technical solutions:

the warehousing robot of the embodiment of the present disclosure includes: the pallet fork assembly comprises a base, a travelling mechanism, a lifting frame, a pallet fork assembly and a fork arm assembly; the walking mechanism is arranged on the bottom surface of the base and is used for driving the base to move; the lifting frame is vertically arranged on the base, and the tray type fork assembly is slidably arranged on the lifting frame and moves up and down along the height direction relative to the lifting frame; the yoke assembly is disposed on one side of the base and extends toward the outside of the base.

In an alternative embodiment, the yoke assembly comprises at least one yoke; the fork arm is arranged on one side of the base and can lift relative to the base.

In an alternative embodiment, the yoke assembly includes two yokes spaced apart and oppositely disposed on the same side of the base. In an alternative embodiment, the fork arm comprises a supporting plate and a folding lifting mechanism; the folding lifting mechanisms are arranged below the supporting plate, and each folding lifting mechanism acts synchronously and drives the supporting plate to lift synchronously.

In an optional embodiment, the folding lifting mechanism comprises a lead screw, a lead screw nut, a mounting plate, a first linkage rod group and a second linkage rod group which are hinged with each other; the first end of the lead screw penetrates through the lead screw nut, and the second end of the lead screw is rotatably connected to the mounting plate;

one end of the first linkage rod group is hinged with the first end of the supporting plate, and the other end of the first linkage rod group is hinged with the mounting plate; one end of the second linkage rod group is hinged to the screw nut, and the other end of the second linkage rod group is hinged to the second end of the supporting plate.

In an alternative embodiment, the first linkage bar set comprises two first linkage bars and the second linkage bar set comprises two second linkage bars;

one ends of the two first linkage rods are respectively hinged to two sides of the mounting plate, and the other ends of the two first linkage rods are respectively hinged to the first ends of the supporting plates;

two ends of the two second linkage rods are respectively hinged to two sides of the screw nut, and the other ends of the two second linkage rods are respectively hinged to the second end of the supporting plate.

In an alternative embodiment, two of the second linkage bars are disposed between two of the first linkage bars; the second linkage rod is hinged with the first linkage rod at the middle position of the second linkage rod.

In an optional embodiment, the folding lifting mechanism further includes two driving motors respectively connected to the lead screws of the folding lifting mechanisms, and the two driving motors act synchronously.

In an optional embodiment, the folding lifting mechanism further comprises a driving motor and a synchronous belt; the driving motor is connected with a lead screw of one of the folding lifting mechanisms, and the synchronous belt is sleeved at the end part of each lead screw and drives each lead screw to synchronously rotate; or,

the driving motor is connected with the synchronous belts, and the synchronous belts are sleeved at the end parts of the lead screws and drive the lead screws to synchronously rotate.

In an alternative embodiment, the base includes a base body and a carrying arm; each fork arm is respectively installed on the bearing arm, and the bearing arms correspond to the fork arms one to one.

In an alternative embodiment, the crane is mounted on the base body; the lifting frame comprises two upright posts which are oppositely arranged and a plurality of goods storage trays, and the goods storage trays are arranged between the two upright posts at intervals along the height direction;

the stand orientation one side of tray formula fork subassembly is provided with the slider, the crane with tray formula fork subassembly passes through the slider is connected.

In an alternative embodiment, the pallet fork assembly includes a carrier, a rotation mechanism, and a bracket; the bearing frame is connected with the sliding block and moves up and down along the lifting frame;

the rotating mechanism is arranged between the bearing frame and the bracket and drives the bracket to rotate relative to the bearing frame;

the bottom of bracket is provided with mobilizable fork tray, and its both sides are provided with telescopic machanism respectively, telescopic machanism is including being used for dragging or pressing from both sides the flexible arm of embracing the goods.

In an optional embodiment, the travelling mechanism comprises at least three travelling wheels, and the three travelling wheels are distributed in a triangular shape; among the three walking wheels, at least one walking wheel is a driving wheel, and the rest walking wheels are driven wheels.

In an alternative embodiment, the traveling mechanism comprises six traveling wheels, wherein two of the traveling wheels are driving wheels, and four of the traveling wheels are driven wheels;

the two driving wheels are arranged on one side of the base body close to the bearing arm, and the two driven wheels are arranged on one side of the base body far away from the bearing arm; the other two driven wheels are respectively arranged at one end of the bearing arm far away from the base body.

Compared with the related art, the warehousing robot provided by the embodiment of the disclosure has the following technical advantages:

the embodiment of the disclosure provides a storage robot, it includes base, crane, tray formula fork subassembly and fork arm subassembly, and wherein tray formula fork subassembly slidable mounting is on the crane, and relative crane is adjustable along direction of height upper and lower, utilizes tray formula fork subassembly can get to be located not co-altitude goods on the goods shelves and puts. The yoke subassembly sets up the one side at the base to extend towards the outside of base, when utilizing the yoke subassembly to get the goods that lie in subaerial, can insert the pallet with the yoke subassembly in, and lift the pallet, thereby realize getting the goods that lie in on the pallet and put.

Compare with tray formula fork robot among the correlation technique, the storage robot in this embodiment can not only get to be located not co-altitude goods on the goods shelves and put, but also can get to subaerial goods and put, consequently, the storage robot suitability that this embodiment provided is good, can satisfy different operation demands.

In addition to the technical problems solved by the embodiments of the present disclosure, the technical features constituting the technical solutions, and the advantages brought by the technical features of the technical solutions, other technical problems that the warehousing robot provided by the embodiments of the present disclosure can solve, 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 disclosure 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 disclosure, and other drawings can be obtained according to the drawings without creative efforts for those skilled in the art.

Fig. 1 is a schematic view illustrating a working state of a warehousing robot provided in an embodiment of the present disclosure;

fig. 2 is an overall structural schematic diagram of a warehousing robot provided by the embodiment of the present disclosure;

FIG. 3 is a schematic structural diagram of a yoke assembly provided by an embodiment of the present disclosure;

fig. 4 is a schematic layout view of a traveling mechanism on a base according to an embodiment of the disclosure;

fig. 5 is a schematic structural view of a tray type fork assembly provided in an embodiment of the present disclosure.

Description of reference numerals:

10-a base;

11-a base body; 12-a carrier arm;

20-a running mechanism;

21-a driving wheel; 22-a driven wheel;

30-a lifting frame;

31-upright post; 32-a storage tray; 33-a slide block;

40-a pallet fork assembly;

41-a carrier; 42-a rotation mechanism; 43-a bracket; 44-pallet fork trays; 45-a telescoping mechanism;

50-yoke arm;

51-a pallet; 52-a folding lifting mechanism; 521-a lead screw; 522-screw nut; 523-mounting plate;

524-a first set of linkage rods; 525-a second set of linkage rods; 526-driving the motor; 527-synchronous belt;

100-a warehousing robot;

200-pallets.

Detailed Description

As described in the background art, the pallet fork robot in the related art includes a pallet fork that slides up and down along a lifting frame, and can adjust the operation height of the pallet fork according to the height of a bin, so that the pallet fork can pick and place bins at different heights on a shelf; however, when the pallet fork is lowered to the lowest point, the bottom of the pallet fork is limited to be away from the bottom surface by the self condition, so that the pallet placed on the ground cannot be taken and placed.

In view of the technical problems, the embodiment of the present disclosure provides a storage robot, which includes a base, a lifting frame, a tray type fork assembly and a fork arm assembly, wherein the tray type fork assembly is slidably mounted on the lifting frame, and is adjustable up and down along a height direction relative to the lifting frame; the yoke assembly is disposed on one side of the base and extends toward an outer side of the base.

When the warehousing robot works, the tray type fork assembly can be utilized to pick and place goods at different heights on the goods shelf; when the fork arm assembly is used for picking and placing the pallet on the ground, the fork arm assembly can be inserted into the pallet and lifts the pallet, so that goods on the pallet can be picked and placed. Therefore, the warehousing robot provided by the embodiment has good applicability and can meet different operation requirements.

In order to make the aforementioned objects, features and advantages of the embodiments of the present disclosure more comprehensible, embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a subset of the disclosed embodiments and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

Fig. 1 is a schematic view illustrating a working state of a warehousing robot provided by an embodiment of the disclosure, wherein a direction a shown in fig. 1 is a sliding direction of a tray type fork assembly along a lifting frame; the direction B shown in fig. 1 is the insertion direction when the fork arm assembly transfers pallets; fig. 2 is an overall structural schematic diagram of the warehousing robot provided by the embodiment of the present disclosure.

As shown in fig. 1, the warehousing robot 100 provided by the embodiment of the present disclosure may be a tray-type fork robot including a base 10, a traveling mechanism 20, a crane 30, a tray-type fork assembly 40, and a fork arm assembly.

The lifting frame 30 is vertically arranged on the base 10, the lifting frame 30 is used for installing the tray type fork assembly 40, and the tray type fork assembly 40 is used for temporarily storing a feed box; for example, a bin on a pallet may be transferred to the pallet fork assembly 40, or a bin on the pallet fork assembly 40 may be transferred to a pallet.

The pallet fork assembly 40 is slidably mounted on one side of the crane 30 in the direction shown as direction a in fig. 1. Illustratively, the tray fork assembly 40 can move up and down along the lifting frame 30 under the lifting force to adjust the working height of the tray fork assembly 40, and can complete the picking and placing of goods (bins) with different heights on the goods shelf.

The fork arm assembly is arranged on one side of the base 10 and extends towards the outer side of the base 10, the fork arm assembly and the tray type fork assembly 40 can be arranged on the same side of the warehousing robot 100, the fork arm assembly is positioned below the tray type fork assembly 40, one end, far away from the base 10, of the fork arm assembly can be inserted into a slot of the pallet 200 positioned on the ground, so that the fork arm assembly can lift or elevate the pallet 200, the pallet 200 is separated from the bottom surface and is transferred along with the fork arm assembly, and therefore goods (material boxes) placed on the pallet 200 can be taken or transferred.

The traveling mechanism 20 is disposed below the base 10 and used for driving the base 10 to move. The traveling mechanism 20 comprises a plurality of traveling wheels and a driving device, the driving device is connected with at least one traveling wheel and provides driving force for the traveling wheels, and the base 10 can move forwards, backwards, turn and the like; the warehousing robot 100 can then move with the base 10 to a shelf or other work location to complete the transfer of goods (bins).

When the warehousing robot 100 provided by the embodiment of the disclosure is utilized to pick and place goods (material boxes), the tray type fork assembly 40 can be utilized to pick and place goods at different heights on the goods shelf, and the fork arm assembly can be utilized to pick and place the pallet 200 on the ground, the fork arm assembly can be inserted into the pallet 200, and the pallet 200 is lifted, so that the goods on the pallet 200 can be picked and placed.

Therefore, the warehousing robot 100 in this embodiment not only can pick and place the goods that are located on the goods shelves and have different heights, but also can pick and place the goods on the ground, and then the warehousing robot 100 that this embodiment provides is good in applicability, can satisfy different operation demands.

The yoke assembly provided in this embodiment includes at least one yoke 50, and the yoke 50 is disposed at one side of the base 10, that is, one end of the yoke 50 is connected to the base 10, and the other end of the yoke 50 extends away from the base 10.

Illustratively, the yoke assembly includes a yoke 50, and the yoke 50 may be a lifter plate having a width. Along the advancing direction of the warehousing robot 100, one end of the yoke 50 can be connected to the end surface at the front end of the base 10 in the middle, the other end of the yoke 50 extends horizontally, and the extending direction can be perpendicular to the end surface at the front end of the base 10, so that the inserting direction of the yoke 50 is consistent with the advancing direction of the warehousing robot 100; when lifting the pallet 200, the fork 50 of the warehousing robot 100 may be aligned with the slot of the pallet 200 and the warehousing robot 100 may be moved in its advancing direction to insert the fork 50 into the slot of the pallet 200.

Further, the fork arm 50 provided by the present embodiment can be lifted relative to the base 10, that is, the height of the fork arm 50 from the ground is adjustable, when the fork arm 50 is inserted into the slot of the pallet 200, the height of the fork arm 50 from the ground is adjusted, so that the upper surface of the fork arm 50 is attached to the bottom of the pallet 200, and the height of the fork arm 50 from the ground is continuously adjusted, so that the pallet 200 can be detached from the bottom surface, and the pallet 200 and the ground maintain a certain height, so as to facilitate the transfer of the pallet 200 and the goods placed on the pallet 200.

It should be noted that the yoke assembly provided in this embodiment is not limited to include only one yoke 50, and may include two yokes 50 or more than two yokes 50. The present embodiment is illustrated with the yoke assembly including two yokes 50.

As shown in fig. 2, the fork arm assembly in this embodiment includes two fork arms 50, the two fork arms 50 may be disposed in parallel and opposite on the same side of the base 10, and a space is maintained between the two fork arms 50, and the space may be configured to match a distance between two adjacent slots on the pallet 200, so that the two fork arms 50 may be inserted into the slots of the pallet 200, respectively.

For example, when the warehousing robot transfers the pallet 200 on the ground by using the fork arm assembly, the base 10 of the warehousing robot is adjusted to be positioned so that the two fork arms 50 are respectively aligned with the two slots on the pallet 200; after the adjustment is completed, the warehousing robot is advanced along the direction B, and the fork arms 50 are respectively inserted into the slots of the pallet 200, so that the pallet 200 is inserted and lifted, and the pallet 200 is further transferred.

FIG. 3 is a schematic structural diagram of a yoke assembly provided by an embodiment of the present disclosure; the direction C shown in fig. 3 is the direction of the telescopic change of the folding lifting mechanism.

As shown in fig. 3 and fig. 2, each of the fork arms 50 provided in this embodiment includes a supporting plate 51 and a folding lifting mechanism 52 located below the supporting plate 51, the folding lifting mechanism 52 can be retracted along the direction C, when the folding lifting mechanism 52 is extended, the supporting plate 51 can be lifted to a certain height, and when the folding lifting mechanism 52 is retracted, the supporting plate 51 can be lowered to an initial height.

It should be noted that the folding lifting mechanisms 52 disposed in the fork arms 50 need to synchronously operate to drive the supporting plates 51 to synchronously lift, so that the supporting plates 51 are at the same height; therefore, the pallet 200 can be stably lifted by the fork arms 50, the phenomenon that the pallet 200 inclines on the fork arms 50 due to the fact that the height of the pallet 51 on one side is higher than that of the pallet 51 on the other side is prevented, the phenomenon that goods on the pallet 200 fall off due to the fact that the pallet 200 inclines in the process of lifting the pallet 200 can be avoided, and the risk that the goods fall off is reduced.

With continued reference to fig. 3, the folding lifting mechanism 52 provided in this embodiment includes a lead screw 521, a lead screw nut 522, a mounting plate 523, and a first linkage rod group 524 and a second linkage rod group 525 that are hinged to each other. The lead screw 521 is a spiral lead screw, the arrangement direction of the lead screw is consistent with the extension direction of the yoke 50, the lead screw nut 522 is sleeved on the lead screw 521, the lead screw 521 is rotated, and the lead screw nut 522 can move along the axial direction of the lead screw 521.

The mounting plate 523 is disposed at one end of the screw 521, the end of the screw 521 is rotatably connected to the mounting plate 523, and the mounting plate 523 can be regarded as a "mounting seat" of the screw 521 and is used for supporting the screw 521. The first linkage rod group 524 and the second linkage rod group 525 respectively comprise at least one linkage rod, and the first linkage rod group 524 and the second linkage rod group 525 are arranged in a crossed manner, are hinged and can rotate mutually.

One end of the first linkage group 524 is hinged to the first end of the supporting plate 51 and can rotate relative to the supporting plate 51, and the other end of the first linkage group 524 is hinged to the mounting plate 523 and can rotate relative to the mounting plate 523. One end of the second linkage rod set 525 is hinged to the second end of the supporting plate 51 and can rotate relative to the supporting plate 51, and the other end of the second linkage rod set 525 is hinged to the screw nut 522.

When the screw 521 is rotated, the screw nut 522 moves on the screw 521, and the position of one end of the second link group 525 on the screw 521 can be changed, thereby changing the height of the other end of the second link group 525, and since the first link group 524 and the second link group 525 are rotatably connected, the two groups can be synchronously operated, that is, both ends of the pallet 51 can be simultaneously lowered or simultaneously raised.

Exemplarily, the first linkage rod group 524 in this embodiment includes two first linkage rods, the two first linkage rods are arranged in parallel and at an interval, and one ends of the two first linkage rods are respectively hinged to two sides of the mounting plate 523 and can rotate relative to the mounting plate 523; the other ends of the two first linkage rods are hinged with the first end of the supporting plate 51 and can rotate relative to the first end of the supporting plate 51.

The second linkage rod group 525 comprises two second linkage rods which are arranged in parallel and at intervals, and one ends of the two second linkage rods are respectively hinged with the second end of the supporting plate 51 and can rotate relative to the second end of the supporting plate 51; the other ends of the two second linkage rods are respectively hinged to two sides of the screw nut 522 and can rotate relative to the screw nut 522, that is, the screw nut 522 is clamped between the two second linkage rods, and the second linkage rods can rotate relative to the screw nut 522.

Further, the first linkage rod group 524 is disposed outside the second linkage rod group 525, that is, the two second linkage rods are disposed inside the two first linkage rods respectively, and are hinged to the first linkage rods respectively, and can rotate with each other. The hinged positions of the first linkage rod and the second linkage rod can be the middle position of the first linkage rod and the middle position of the second linkage rod respectively, so that the first linkage rod and the second linkage rod can synchronously act and can be completely contracted. It should be noted that, the lengths of the first linkage rod and the second linkage rod are the same, and the two first linkage rods may also be disposed between the two second linkage rods, which is not limited in this embodiment.

On the basis of the above embodiment, the folding lifting mechanism 52 in this embodiment further includes a driving mechanism, and the driving mechanism is configured to drive the lead screws 521 to synchronously rotate, so that the fork arms 50 can synchronously lift.

In a possible embodiment, the driving mechanism may include two driving motors 526, the two driving motors 526 act synchronously, the driving motors 526 may be disposed at an end of the base 10 close to the lead screw nut 522, and the two driving motors 526 are respectively connected to the two lead screws 521, and can drive the two lead screws 521 to rotate synchronously.

In another possible embodiment, the driving mechanism includes a driving motor 526 and a timing belt 527, the timing belt 527 is respectively sleeved at one end of the two lead screws 521 close to the lead screw nut 522, and when the timing belt 527 rotates, the two lead screws 521 can be driven to synchronously rotate.

The driving motor 526 can be connected with one lead screw 521 and drives the lead screw 521 to rotate; or, the driving motor 526 is connected with the synchronous belt 527, and drives the synchronous belt 527 to rotate, so as to improve the synchronism of the rotation of the two lead screws 521. The present embodiment is not limited to this, and the driving motor 526 may select a connection scheme according to the arrangement position thereof.

Fig. 4 is a schematic layout view of a traveling mechanism on a base according to an embodiment of the present disclosure.

As shown in fig. 4, on the basis of the above embodiment, in order to facilitate the fork arm 50 and the lifting frame 30 to be installed on the base 10, the base 10 includes a base body 11 and at least one carrying arm 12, and the carrying arms 12 are disposed in a one-to-one correspondence with and in cooperation with the fork arms 50. For example, the yoke assembly includes two spaced apart yokes 50, the base 10 is correspondingly provided with two carrying arms 12, the two carrying arms 12 are spaced apart from each other and disposed on one side of the base body 11, one end of each carrying arm 12 is connected to the base body 11, the other end of each carrying arm 12 extends toward the outside, and the extending direction of each carrying arm 12 is the same as the extending direction of the yoke 50.

Each fork arm 50 is mounted on the upper surface of the carrying arm 12, for example, the mounting plate 523 of each fork arm 50 is fixed on one end of the carrying arm 12 far away from the base body 11, and the driving motor 526 for driving each lead screw 521 to rotate can be arranged on the base body 11. It should be noted that the base body 11 and the carrying arm 12 may be an integral structure, so that the connection strength between the carrying arm 12 and the base body 11 can be enhanced, and the reliability of the yoke 50 can be improved.

Referring to fig. 2, the base body 11 is used for fixing the lifting frame 30, the lifting frame 30 comprises two upright posts 31 and a plurality of goods storage trays 32, the two upright posts 31 are vertically arranged on the base body 11 at intervals, the goods storage trays 32 are arranged on the upright posts 31 at intervals along the height direction of the upright posts 31, and the front ends of the goods storage trays 32 are arranged opposite to the tray type fork assemblies 40 so as to transfer the material box between the tray type fork assemblies 40 and the goods storage trays 32.

Further, in order to enable the warehousing robot 100 to operate on the bins located at different heights of the shelf, one side of the upright column 31 is provided with a facing slide block 33 and a lifting mechanism, and the slide block 33 can move up and down along the length direction of the upright column 31 under the driving of the lifting mechanism to adjust the height of the slide block 33; one side of the sliding block 33 is connected with the upright column 31 in a sliding manner, and the other side of the sliding block 33 is connected with the tray type fork assembly 40, namely, the tray type fork assembly 40 is installed on the lifting frame 30 through the sliding block 33 in a sliding manner and has adjustable height.

The traveling mechanism 20 in this embodiment is installed on the bottom surface of the base body 11, and the traveling mechanism 20 includes a plurality of traveling wheels and a driving device, and the driving device is connected with at least one of the traveling wheels.

In particular, the base body 11 is provided with an installation compartment, in which the drive means can be arranged. A plurality of walking wheels can be arranged on the bottom surface of the base body 11, for example, the walking mechanism 20 includes at least three walking wheels, the three walking wheels are distributed on the bottom surface of the base body 11 in a triangular shape, one walking wheel is connected with the driving device among the three walking wheels, the walking wheel is a driving wheel 21, the remaining two walking wheels are driven wheels 22, and the driving wheel 21 drives the base 10 to advance and/or turn under the driving of the driving device.

In another embodiment, some of the road wheels are disposed on the bottom surface of the base body 11 and some of the road wheels are disposed on the carrier arm 12 connected to the base body 11. For example, the traveling mechanism 20 includes six traveling wheels, two of which are respectively connected to the driving device, the two traveling wheels are driving wheels 21, and the two driving wheels 21 are disposed on one side of the base body 11 close to the carrying arm 12; the remaining four traveling wheels are driven wheels 22, wherein two driven wheels 22 are respectively arranged on one side of the base body 11 away from the bearing arm 12; two further driven wheels 22 are arranged at one end of the carrying arm 12 remote from the base body 11. So set up, can promote the stability that base 10 moved on the ground.

Fig. 5 is a schematic structural view of a pallet fork assembly provided by an embodiment of the present disclosure; the direction D shown in fig. 5 is the telescopic direction of the telescopic mechanism, and the direction E shown in fig. 5 is the rotational direction of the rotating mechanism.

As shown in fig. 5, the pallet fork assembly 40 in the present embodiment includes a carriage 41, a rotating mechanism 42, a bracket 43, a fork pallet 44, and a telescoping mechanism 45; the telescopic mechanism 45 and the fork tray 44 are mounted in the bracket 43, and the bracket 43 can be regarded as a "pack basket" of the warehousing robot 100, and is used for temporarily storing the bin on the warehousing robot 100 and transferring the location of the bin along with the movement of the warehousing robot 100.

The pallet fork tray 44 is slidably mounted at the bottom of the bracket 43, and the telescopic mechanism 45 comprises two telescopic arms which are oppositely arranged, arranged in the bracket 43 and respectively positioned on the inner side wall of the bracket 43; the telescopic arm can stretch out and draw back along the D direction to drag or clamp the goods.

For example, when a bin in the pallet fork assembly 40 is picked and placed onto a pallet, the fork pallet 44 moves toward the front end of the bracket 43 and abuts the pallet; the telescopic arm is extended toward the front end of the bracket 43, and holds the work material box, and transfers the work material box from the fork tray 44 to the rack.

The carrier 41 is arranged below the bracket 43 and carries the bracket 43, the rotating mechanism 42 is arranged between the bracket 43 and the carrier 41, and the rotating direction of the rotating mechanism 42 is shown as the direction E in the figure; the rotating mechanism 42 is used to rotate the bracket 43 relative to the carriage 41, so that the front end of the bracket 43 can be rotated to transfer the bin between the shelf and the storage tray 32 of the warehousing robot 100.

Further, the carriage 41 may be a frame structure, one end of which is slidably connected to the upright 31 of the crane 30, and the slider 33 is fixed on one side of the carriage 41, i.e. the carriage 41 is slidably mounted on the crane 30 through the slider 33. So set up, not only can make tray formula fork subassembly 40 rotatory to crane 30 relatively, moreover according to the operation demand, tray formula fork subassembly 40 can also adjust its operation height adjustable, promotes its operating efficiency.

The embodiments or implementation modes in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other.

It should be noted that references in the specification to "one embodiment," "an example embodiment," "some embodiments," etc., indicate that the embodiment described may include a particular feature, structure, or characteristic, but every embodiment may not necessarily include the particular feature, structure, or characteristic. Moreover, such phrases are not necessarily referring to the same embodiment. Further, when a particular feature, structure, or characteristic is described in connection with an embodiment, it is within the knowledge of one skilled in the art to effect such feature, structure, or characteristic in connection with other embodiments whether or not explicitly described.

In general, terms should be understood at least in part by their use in context. For example, the term "one or more" as used herein may be used to describe any feature, structure, or characteristic in the singular or may be used to describe a combination of features, structures, or characteristics in the plural, depending, at least in part, on the context. Similarly, terms such as "a" or "the" may also be understood to convey a singular use or to convey a plural use, depending at least in part on the context.

It should be readily understood that "on … …", "above … …" and "above … …" in this disclosure should be interpreted in its broadest sense such that "on … …" means not only "directly on something", but also includes the meaning of "on something" with intervening features or layers therebetween, and "above … …" or "above … …" includes not only the meaning of "above something" or "above" but also includes the meaning of "above something" or "above" with no intervening features or layers therebetween (i.e., directly on something).

Furthermore, spatially relative terms, such as "below," "lower," "above," "upper," and the like, may be used herein for ease of description to describe one element or feature's illustrated relationship to another element or feature. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. The device may have other orientations (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly as well.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present disclosure, and not for limiting the same; while the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand 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 such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present disclosure.

Claims (14)

1. A storage robot is characterized by comprising a base, a traveling mechanism, a lifting frame, a tray type fork assembly and a fork arm assembly;

the walking mechanism is arranged on the bottom surface of the base and is used for driving the base to move;

the lifting frame is vertically arranged on the base, and the tray type fork assembly is slidably arranged on the lifting frame and moves up and down along the height direction relative to the lifting frame;

the yoke assembly is disposed on one side of the base and extends toward the outside of the base.

2. The warehousing robot of claim 1, wherein the yoke assembly includes at least one yoke;

the fork arm is arranged on one side of the base and can lift relative to the base.

3. The warehousing robot of claim 2, wherein the yoke assembly comprises two yokes;

the two fork arms are arranged on the same side of the base at intervals and oppositely.

4. The warehousing robot of claim 3, wherein the fork arm includes a pallet and a folding lift mechanism;

the folding lifting mechanisms are arranged below the supporting plate, and each folding lifting mechanism acts synchronously and drives the supporting plate to lift synchronously.

5. The warehousing robot of claim 4, wherein the folding lifting mechanism comprises a lead screw, a lead screw nut, a mounting plate, and a first linkage rod set and a second linkage rod set hinged to each other;

the first end of the lead screw penetrates through the lead screw nut, and the second end of the lead screw is rotatably connected to the mounting plate;

one end of the first linkage rod group is hinged with the first end of the supporting plate, and the other end of the first linkage rod group is hinged with the mounting plate;

one end of the second linkage rod group is hinged to the screw nut, and the other end of the second linkage rod group is hinged to the second end of the supporting plate.

6. The warehousing robot of claim 5, wherein the first linkage bar set comprises two first linkage bars and the second linkage bar set comprises two second linkage bars;

one ends of the two first linkage rods are respectively hinged to two sides of the mounting plate, and the other ends of the two first linkage rods are respectively hinged to the first ends of the supporting plates;

two ends of the two second linkage rods are respectively hinged to two sides of the screw nut, and the other ends of the two second linkage rods are respectively hinged to the second end of the supporting plate.

7. The warehousing robot of claim 6 wherein two of said second linkage bars are disposed between two of said first linkage bars;

the second linkage rod is hinged with the first linkage rod at the middle position of the second linkage rod.

8. The warehousing robot of claim 5, wherein the folding lifting mechanism further comprises two driving motors respectively connected to the lead screws of each folding lifting mechanism, and the two driving motors act synchronously.

9. The warehousing robot of claim 5, wherein the folding lifting mechanism further comprises a drive motor and a synchronous belt;

the driving motor is connected with a lead screw of one of the folding lifting mechanisms, and the synchronous belt is sleeved at the end part of each lead screw and drives each lead screw to synchronously rotate; or,

the driving motor is connected with the synchronous belts, and the synchronous belts are sleeved at the end parts of the lead screws and drive the lead screws to synchronously rotate.

10. The warehousing robot of any of claims 2-9, wherein the base comprises a base body and a carrying arm;

each fork arm is respectively installed on the bearing arm, and the bearing arms correspond to the fork arms one to one.

11. The warehousing robot of claim 10, wherein the crane is mounted on the base body;

the lifting frame comprises two upright posts which are oppositely arranged and a plurality of goods storage trays, and the goods storage trays are arranged between the two upright posts at intervals along the height direction;

the stand orientation one side of tray formula fork subassembly is provided with the slider, the crane with tray formula fork subassembly passes through the slider is connected.

12. The warehousing robot of claim 11, wherein the tray fork assembly includes a carriage, a rotating mechanism, and a carriage;

the bearing frame is connected with the sliding block and moves up and down along the lifting frame;

the rotating mechanism is arranged between the bearing frame and the bracket and drives the bracket to rotate relative to the bearing frame;

the bottom of bracket is provided with mobilizable fork tray, and its both sides are provided with telescopic machanism respectively, telescopic machanism is including being used for dragging or pressing from both sides the flexible arm of embracing the goods.

13. The warehousing robot of claim 10, wherein the traveling mechanism comprises at least three traveling wheels, and the three traveling wheels are triangularly distributed;

among the three walking wheels, at least one walking wheel is a driving wheel, and the rest walking wheels are driven wheels.

14. The warehousing robot of claim 13, wherein the travel mechanism comprises six of the travel wheels, two of which are driven wheels and four of which are driven wheels;

the two driving wheels are arranged on one side of the base body close to the bearing arm, and the two driven wheels are arranged on one side of the base body far away from the bearing arm;

the other two driven wheels are respectively arranged at one end of the bearing arm far away from the base body.

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