CN215946638U

CN215946638U - Clamping type fork mechanism and transfer robot

Info

Publication number: CN215946638U
Application number: CN202120354545.8U
Authority: CN
Inventors: 马子洋; 张弢
Original assignee: Shenzhen Youibot Robotics Technology Co ltd
Current assignee: Shenzhen Youibot Robotics Technology Co ltd
Priority date: 2021-02-08
Filing date: 2021-02-08
Publication date: 2022-03-04
Anticipated expiration: 2031-02-08

Abstract

The embodiment of the utility model discloses a clamping type fork mechanism and a carrying robot. The clamping type pallet fork mechanism comprises a chassis, two telescopic arm assemblies, a shifting fork mechanism and a telescopic arm driving mechanism, wherein the chassis is used for bearing cargoes; the two telescopic arm assemblies are respectively arranged on two opposite sides of the chassis along a first direction and are horizontally and slidably connected with the chassis along a second direction, each telescopic arm assembly comprises at least two telescopic arms which are horizontally and slidably connected along the second direction, and the first direction is vertical to the second direction; the shifting fork mechanism is arranged on the telescopic arm component and moves along with the telescopic arm component to push goods to the chassis; the telescopic arm driving mechanism is arranged on the chassis and connected with the two telescopic arm assemblies, and the telescopic arm driving mechanism is used for driving the two telescopic arm assemblies to synchronously stretch to one side or the other side of the chassis along the second direction.

Description

Clamping type fork mechanism and transfer robot

Technical Field

The utility model relates to the field of carrying machinery, in particular to a clamping type fork mechanism and a carrying robot adopting the clamping type fork mechanism.

Background

A forklift is a common automatic warehouse handling tool, and an AGV (automatic Guided Vehicle) forklift mainly refers to a forklift that stacks goods onto a shelf of a warehouse under the guidance of a computer or takes the goods off the shelf to be handled to a designated position. Because general fork truck structure is huge, heavy, and flexibility and adaptability are relatively poor, can't handle the goods of the deeper department of distance goods shelves, lead to getting goods put the goods efficiency not high.

SUMMERY OF THE UTILITY MODEL

In view of the above, the present invention provides a clamping fork mechanism and a transfer robot, which provide a sectional type telescopic arm capable of bi-directionally extending and retracting by providing at least two telescopic arms horizontally slidably connected along a second direction and capable of synchronously extending and retracting to one side or the other side of a chassis along the second direction.

According to a first aspect of the present application, the present invention provides a clasping type fork mechanism, comprising:

the chassis is used for bearing goods and comprises a bearing part, the bearing part is provided with a placing position and feeding ports arranged on two opposite sides of the placing position, the feeding ports are communicated with the placing position, and openings of the feeding ports extend in a direction deviating from the placing position in a gradually increasing trend;

the two telescopic arm assemblies are respectively arranged on two opposite sides of the chassis along a first direction and are horizontally and slidably connected with the chassis along a second direction, each telescopic arm assembly comprises at least two telescopic arms which are horizontally and slidably connected along the second direction, and the first direction is vertical to the second direction;

the shifting fork mechanism is arranged on the telescopic arm component and moves along with the telescopic arm component to push goods to the chassis;

and the telescopic arm driving mechanism is arranged on the chassis and connected with the two telescopic arm assemblies, and is used for driving the two telescopic arm assemblies to synchronously telescope to one side or the other side of the chassis along the second direction.

According to a second aspect of the present application, there is also provided a transfer robot including:

an automatic guided vehicle; the clamping type fork mechanism is arranged on the bracket;

wherein, press from both sides formula fork mechanism and install in the automated guided vehicle.

According to the technical scheme, the clamping type fork mechanism provided by the utility model has the advantages that the telescopic arms which are horizontally and slidably connected along the second direction are arranged, and the telescopic arms can be synchronously stretched to one side or the other side of the chassis along the second direction, so that the clamping type fork mechanism can meet the goods taking and placing requirements of goods at different depths and different directions of the goods shelf.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic structural view of a transfer robot according to the present invention;

fig. 2 is an exploded schematic view of a transfer robot of fig. 1;

FIG. 3 is a schematic structural view of the fork drive mechanism of FIG. 1;

FIG. 4 is a schematic structural view of the carriage of FIG. 1;

FIG. 5 is a schematic view of the slider of FIG. 1 at another angle;

fig. 6 is a schematic structural diagram of a clasping type fork mechanism provided by the utility model;

FIG. 7 is an exploded view of the pinch type fork mechanism of FIG. 6;

FIG. 8 is a schematic structural view of the telescopic arm drive mechanism of FIG. 6;

FIG. 9 is an exploded view of the telescopic arm assembly of FIG. 1 at an angle;

figure 10 is an exploded view of the telescopic arm assembly of figure 1 from another angle.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. 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 invention.

The schematic diagrams shown in the figures are merely illustrative and do not necessarily include all of the contents and operations/steps, nor do they necessarily have to be performed in the order described. For example, some operations/steps may be decomposed, combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.

Some embodiments of the utility model are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

As shown in fig. 1, the present application provides a transfer robot 1000 including a liftable clamp type fork 100 and an automated guided vehicle 200, wherein the liftable clamp type fork 100 is mounted on the automated guided vehicle 200. The transfer robot 1000 is configured to transfer goods on a rack and transport the goods to a designated location, wherein the liftable clamp type pallet fork 100 is configured to clamp corresponding goods at different heights or depths of the rack and push the goods onto the liftable clamp type pallet fork 100, and the automated guided vehicle 200 is configured to provide driving traction for the transfer robot 1000 to travel. It is understood that the liftable clasping type pallet fork 100 can be assembled on the automatic guided vehicle 200 by any one of welding, bolt fastening, sliding fitting or clamping, and the like, and the application is not limited thereto.

Referring to fig. 2 and 6, in an alternative embodiment, the liftable clasping type fork 100 includes a base 10, a guide rod 20, a clasping type fork mechanism 30 and a fork driving mechanism 40, wherein the guide rod 20 is vertically disposed on the base 10, the clasping type fork mechanism 30 is slidably connected with the guide rod 20, and the fork driving mechanism 40 is configured to drive the clasping type fork mechanism 30 to move up and down along the guide rod 20. Clamping type pallet fork mechanism 30 includes chassis 31, two telescopic arm assemblies 32, fork mechanism 33 and telescopic arm actuating mechanism 34, chassis 31 is used for bearing the weight of the goods, two telescopic arm assemblies 32 are located the relative both sides of chassis 31 respectively along first direction x and are followed second direction y and chassis 31 horizontal sliding connection, every telescopic arm assembly 32 includes two at least telescopic arms along second direction y horizontal sliding connection, first direction x is perpendicular with second direction y, telescopic arm actuating mechanism 34 is installed in chassis 31 and is connected with two telescopic arm assemblies 32, telescopic arm actuating mechanism 34 is used for driving two telescopic arm assemblies 32 and stretches out and draw back to one side or the other side of chassis 31 along second direction y synchronization, fork mechanism 33 is installed in telescopic arm assembly 32, fork mechanism 33 moves along with telescopic arm assembly 32 in order to promote the goods to chassis 31. The fork driving mechanism 40 is installed on the base 10 and connected to the clasping type fork mechanism 30, and the fork driving mechanism 40 is used for driving the clasping type fork mechanism 30 to move up and down along the guide rod 20. The chassis includes bearing part 311, and bearing part 311 has and places position 3111 and locates the pan feeding mouth 3112 of placing the relative both sides in position, pan feeding mouth 3112 with place position 3111 intercommunication, pan feeding mouth 3112's opening with the trend of crescent towards deviating from and place the direction extension of position 3111.

Alternatively, the telescopic arm assembly 32 and the chassis 31 may be slidably connected by means of a sliding rail and a sliding groove.

When the automatic guided vehicle 200 runs to a cargo to be transported, the fork driving mechanism 40 drives the clamping type fork mechanism 30 to ascend or descend to the stacking height of the cargo, the telescopic arm driving mechanism 34 drives the two telescopic arm assemblies 32 to synchronously extend to the cargo until the shifting fork mechanism 33 is located on one side of the cargo, which faces away from the transporting robot 1000, then the telescopic arm driving mechanism 34 drives the two telescopic arm assemblies 32 to synchronously retract, the shifting fork mechanism 33 pushes the cargo onto the chassis 31, and the automatic guided vehicle 200 runs to move the cargo located on the chassis 31 to a specified place.

Through adopting above technical scheme, liftable press from both sides formula fork 100 and can enough make the telescopic arm subassembly 32 that presss from both sides formula fork mechanism 30 along second direction y synchronous telescope to one side or the opposite side of chassis 31, can press from both sides formula fork mechanism 30 through the drive of fork actuating mechanism 40 again and reciprocate along guide arm 20, satisfied the extension of fork at level and vertical direction, be convenient for handle the getting of being in not co-altitude and degree of depth on the goods shelves and put the demand.

Referring to fig. 1 and 2, in an alternative embodiment, the number of the guide rods 20 is at least two, at least two guide rods 20 are respectively disposed on two opposite sides of the base 10, the liftable clasping type pallet fork 100 further includes a slide rail 21 mounted on each guide rod 20 and a slide base 22 connected with the slide rail 21, and the clasping type pallet fork mechanism 30 is mounted on the slide base 22. It is understood that when the liftable clamp type pallet fork 100 is used in the transfer robot 1000, the moving speed of the transfer robot 1000 is not required to be fast, but is stable enough to ensure the bearing capacity of the slide base 22 to the clamp type pallet fork mechanism 30 and the stability of the goods placed on the chassis 31 of the clamp type pallet fork mechanism 30, so that the slide base 22 can bear the clamp type pallet fork mechanism 30 stably by providing two guide rods 20.

Preferably, in the present embodiment, the number of the guide rods 20 is two, the two guide rods 20 are respectively disposed on two opposite sides of the base 10, the liftable clasping type pallet fork 100 further includes a slide rail 21 mounted on each guide rod 20 and a slide seat 22 connected with the slide rail 21, and the clasping type pallet fork mechanism 30 is mounted on the slide seat 22. It is understood that when the liftable clamp type pallet fork 100 is used in the transfer robot 1000, the moving speed of the transfer robot 1000 is not required to be fast, but is stable enough to ensure the bearing capacity of the slide base 22 to the clamp type pallet fork mechanism 30 and the stability of the goods placed on the chassis 31 of the clamp type pallet fork mechanism 30, so that the slide base 22 can bear the clamp type pallet fork mechanism 30 stably by providing two guide rods 20. It should be noted that the guide rod 20 may be one, which depends on the actual design requirement.

Specifically, two ends of the two slide rails 21 are further provided with limiting portions having a damping function, respectively.

Referring to fig. 2 and 3, in an alternative embodiment, the fork driving mechanism 40 includes a lift motor 41 mounted to the base 10 and two conveyor belt assemblies 42 coupled to the lift motor 41, each conveyor belt assembly 42 being mounted to the guide bar 20 along the length of the slide rail 21.

Specifically, the conveyor belt assembly 42 includes an upper conveying wheel 421 and a lower conveying wheel 422 disposed at both ends of the guide rod 20 along the length direction of the guide rod 20, and a conveyor belt 423 surrounding the upper conveying wheel 421 and the lower conveying wheel 422 and in transmission connection with the upper conveying wheel 421 and the lower conveying wheel 422.

Illustratively, in the present application, the conveyor belt assembly 42 is a synchronous belt elevator drive assembly.

With continued reference to fig. 3, in an alternative embodiment, the fork driving mechanism 40 further includes a first rotating shaft 43 and a second rotating shaft 44, one end of the first rotating shaft 43 is connected to the lifting motor 41, and the other end of the first rotating shaft 43 is connected to a belt assembly 42 adjacent to one side of the first rotating shaft 43; one end of the second rotating shaft 44 is drivingly connected to the first rotating shaft 43, and the other end of the second rotating shaft 44 is connected to the other conveyor belt assembly 42 on the side adjacent to the second rotating shaft 44.

Specifically, one end of the first rotating shaft 43 is drivingly connected to the output shaft of the elevator motor 41 through a gear box with a transmission gear, the other end of the first rotating shaft 43 is drivingly connected to the lower transmission wheel of one of the transmission belt assemblies 42 adjacent to one side of the first rotating shaft 43, one end of the second rotating shaft 44 is drivingly connected to the first rotating shaft 43, and the other end of the second rotating shaft 44 is drivingly connected to the lower transmission wheel of the other of the transmission belt assemblies 42 adjacent to one side of the second rotating shaft 44, so that the two transmission belt assemblies 42 can be simultaneously raised or lowered along the slide rail 21. It is understood that the gear box can realize synchronous transmission of the lifting motor 41 and the first rotating shaft 43, and the first rotating shaft 43 and the second rotating shaft 44 through gear transmission, chain transmission or belt transmission, and the application is not limited herein. In this embodiment, two lifting motors may be provided to control the synchronous operation of the two conveyor belt assemblies 42.

Referring to fig. 1, 4 and 5, in an alternative embodiment, the sliding base 22 includes two sliding portions 221 respectively connected to the two conveyor belt assemblies 42 and a supporting portion 222 for supporting the clasping fork mechanism 30, at least one of the sliding portions 221 is connected to the supporting portion 222, and the clasping fork mechanism 30 is mounted on the supporting portion 222.

Specifically, referring to fig. 4, one surface of each of the two sliding portions 221 is slidably connected to the sliding rail 21, the other surface is fixedly connected to two ends of the clip type fork mechanism 30, and a portion of the supporting portion 222 is connected to the sliding portion 221 and supported at the bottom of the clip type fork mechanism 30. It can be understood that the supporting portion 222 may only support the bottom of the partial clasping type fork 30, or may support the bottom of the complete clasping type fork 30, and the supporting function of the clasping type fork 30 may be implemented, which is not limited in this application.

Specifically, referring to fig. 5, a clamping portion 2211 is further disposed on one side of the sliding portion 221, which is slidably connected to the sliding rail 21, and the clamping portion 2211 clamps the conveyor belt 423, when the fork driving mechanism 40 operates, the conveyor belt 423 displaces along the length direction of the sliding rail 21, so that the sliding base 22 displaces through the clamping portion 2211, thereby driving the clip type fork mechanism 30 to ascend or descend.

Referring to fig. 2, in an alternative embodiment, the liftable clamp type pallet fork 100 further includes a lifting control assembly 50 for controlling the pallet fork driving mechanism 40, the guide rod 20 is further provided with a warning light and an emergency stop button connected to the warning light, the emergency stop button is electrically connected to the lifting control assembly 50, the base 10 has an inner cavity 11, and the lifting motor 41, the first rotating shaft 43, the second rotating shaft 44 and the lifting control assembly 50 are enclosed in the inner cavity 11.

Referring to fig. 6 and 7, in an alternative embodiment, the telescopic arm driving mechanism 34 includes a telescopic motor 341, a first transmission assembly 342, and a second transmission assembly 343, the telescopic motor 341 is installed on the chassis 31 and connected to the first transmission assembly 342, the second transmission assembly 343 is installed on the telescopic arm assembly 32, the first transmission assembly 342 is connected to the second transmission assembly 343 in a matching manner, and the telescopic motor 341 drives the second transmission assembly 343 to slide along the second direction y through the first transmission assembly 342 to drive the telescopic arm assembly 32 to slide along the second direction y. In another alternative embodiment, the telescopic arm driving mechanism 34 may further include two telescopic motors 341 respectively connected to the first transmission assembly 342 and the second transmission assembly 343, so as to respectively drive the first transmission assembly 342 and the second transmission assembly 343 to slide along the second direction y, so as to drive the telescopic arm assembly 32 to slide along the second direction y.

Referring to fig. 8, in an alternative embodiment, the first transmission assembly 342 includes a first driving wheel 3421a, a first driven wheel 3422a, a first transmission chain 3423a, a second driving wheel 3421b, a second driven wheel 3422b and a second transmission chain 3423b, the first driving wheel 3421a and the first driven wheel 3422a are rotatably mounted on one side of the chassis 31, the first transmission chain 3423a surrounds the first driving wheel 3421a and the first driven wheel 3422a, the second driving wheel 3421b and the second driven wheel 3422b are rotatably mounted on the other side of the chassis 31, the second transmission chain 3423b surrounds the second driving wheel 3421b and the first driven wheel 3422b, and the telescopic motor 341 is configured to drive the first driving wheel 3421a and/or the second driving wheel 3421b to rotate; the second transmission assembly 343 is two link plates engaged with the first transmission chain 3423a and the second transmission chain 3423b, respectively.

Referring to fig. 8, in an alternative embodiment, the telescopic motor 341 is connected to the first driving wheel 3421a, the telescopic arm driving mechanism 34 further includes a transmission shaft 344, one end of the transmission shaft 344 is connected to the first driving wheel 3421a, and the other end is connected to the second driving wheel 3421b, so that when the telescopic motor 341 drives the first driving wheel 3421a to rotate, the second driving wheel 3421b can be driven to rotate, which reduces the space occupied by the two additional motors and saves energy.

By adopting the above technical scheme, the first transmission assembly 342 is connected with the second transmission assembly 343 in a matching manner, the second transmission assembly 343 is mounted on the telescopic arm assembly 32, when the telescopic motor 341 operates, the output shaft of the telescopic motor 341 is in transmission connection with the first driving wheel 3421a, the first driving wheel 3421a is in transmission connection with the second driving wheel 3421b through the transmission shaft 344, so that the first driving wheel 3421a drives the first transmission chain 3423a to rotate, the second driving wheel 3421b drives the second transmission chain 3423b to rotate, and as the two chain plates of the second transmission assembly 343 are respectively engaged with the first transmission chain 3423a and the second transmission chain 3423b, the telescopic arm assembly 32 can be synchronously telescopic to one side or the other side of the chassis 31 along the second direction y through the second transmission assembly 343.

Referring to fig. 9 and 10, in an alternative embodiment, each telescopic arm assembly 32 includes a first telescopic arm 321 and a second telescopic arm 322, the chassis 31 includes a bearing portion 311 and side plates 312 disposed at two opposite sides of the bearing portion 311, the first telescopic arm 321 is disposed at one side of one side plate 312 facing the other side plate and slidably connected to the side plate 312, and the second telescopic arm 322 is disposed at one side of the first telescopic arm 321 opposite to the side plate 312 and slidably connected to the first telescopic arm 321. Optionally, the first telescopic arm 321 and the second telescopic arm 322 may be slidably connected by a sliding rail and a sliding groove. The side plates have mounting seats 3121, and the mounting seats 3121 are connected to the sliding portions 221 to fix the pinch-grip fork mechanism 30 to the slide 22.

Specifically, the side plate 312 and the first telescopic arm 321, and the side of the first telescopic arm 321 and the second telescopic arm 322, which are slidably connected, are provided with a track, and two ends of the track are further provided with a limit baffle for limiting the moving range of the first telescopic arm 321 and the second telescopic arm 322.

With continued reference to fig. 9 and 10, in an alternative embodiment, the telescopic arm driving mechanism 34 further includes a timing belt transmission mechanism 35 installed between the side plate 312, the first telescopic arm 321 and the second telescopic arm 322, and the timing belt transmission mechanism 35 includes: a first synchronous belt drive assembly 351 and a second synchronous belt drive assembly 352, the first synchronous belt drive assembly 351 including a first synchronous belt pulley 3511, a first synchronous belt clamp 3512a, a second synchronous belt clamp 3512b, and a first synchronous belt 3513; the second synchronous belt driving assembly is spaced apart from the first synchronous belt driving assembly 351 in a vertical direction, and the second synchronous belt driving assembly 352 includes a second synchronous pulley 3521, a third synchronous belt clip 3522a, a fourth synchronous belt clip 3522b, and a second synchronous belt 3523. The first synchronous belt transmission assembly 351 and the second synchronous belt transmission assembly 352 are respectively used for driving the second telescopic arm 322 to synchronously extend and retract to one side or the other side of the chassis 31 along the second direction y.

The first telescopic arm 321 includes a first end 321a and a second end 321b opposite to each other along the second direction y, the first timing belt pulley 3511 is installed at the second end 321b, the second timing belt pulley 3521 is installed at the first end 321a, the first timing belt clamp 3512a is installed at the first end 321a and connected to the side plate 312, the second timing belt clamp 3512b is installed at the first end 321a and connected to the second telescopic arm 322, one end of the first timing belt 3513 is fixed to the first timing belt clamp 3512a, and the other end of the first timing belt 3513 is fixed to the second timing belt clamp 3512b after passing around the first timing belt 3511; a third timing belt clip 3522a is provided at the second end and connected to the side plate 312, a fourth timing belt clip 3522b is provided at the second end 321b and connected to the second telescopic arm 322, and a second timing belt 3523 has one end fixed to the third timing belt clip 3522a and the other end wound around the second timing belt wheel 3521 and fixed to the fourth timing belt clip 3522 b.

Specifically, the second transmission assembly 343 is a link plate disposed at the bottom of the first telescopic arm 321, taking the telescopic arm assembly 32 in transmission connection with the first transmission chain 3423a as an example, when the second transmission assembly 343 drives the first telescopic arm 321 to move toward the first end 321a to the second end 321b of the first telescopic arm 321 under the driving of the first transmission chain 3423a, so that the first telescopic arm 321 and the first synchronous belt pulley 3511 disposed at the second end of the first telescopic arm 321 generate relative displacement with the side plate 312, when the first telescopic arm 321 moves to the position of the limit baffle at the track side of the side plate 312, because one end of the first synchronous belt 3513 is fixed to the first synchronous belt clamp 3512a, and the first synchronous belt 3512a is disposed at the side plate 312, the first synchronous belt 3513 continues to generate displacement along the direction from the first end 321a to the second end 321b of the first telescopic arm 321 and drives the second telescopic arm 322 to move along the direction from the first end 321a to the second end 321b of the first telescopic arm 321 under the action of the first synchronous belt pulley 3511 (ii) a When the second transmission assembly 343 drives the first telescopic arm 321 to move toward the second end 321b to the first end 321a of the first telescopic arm 321 under the driving of the first transmission chain 3423a, the first telescopic arm 321 and the second synchronous pulley 3521 disposed at the first end of the first telescopic arm 321 generate relative displacement with the side plate 312, and when the first telescopic arm 321 moves to the position of the limit stop at one side of the track of the side plate 312, because one end of the second synchronous pulley 3523 is fixed to the third synchronous pulley 3522a, and the third synchronous pulley 3522a is disposed at the side plate 312, the second synchronous pulley 3523 continues to displace along the direction from the second end 321b to the first end 321a of the first telescopic arm 321 and drives the second telescopic arm 322 to move along the direction from the second end 321b to the first end 321a of the first telescopic arm 321 under the action of the second synchronous pulley 3521.

Referring to fig. 9 and 10, in an alternative embodiment, the first telescopic arm 321 has two mounting holes, the two mounting holes are respectively disposed at the first end and the second end of the first telescopic arm 321, and the first synchronous pulley 3511 and the second synchronous pulley 3521 are embedded in the mounting holes.

Referring to fig. 9 and 10, in an alternative embodiment, an accommodating cavity is formed on a side of the second telescopic arm 322 opposite to the side plate 312, the fork mechanism 33 includes a fork 331 and a fork driving mechanism 332, the fork 331 is connected to the fork driving mechanism 332, the fork 331 is rotatably mounted on the second telescopic arm 322, the fork driving mechanism 332 drives the fork 331 to rotate out of the accommodating cavity or to be accommodated in the accommodating cavity, and the fork 331 is used for pushing goods onto the chassis 31.

Specifically, the number of shift forks 331 is two, and two shift forks 331 are located the both ends of second telescopic arm 322 respectively, are convenient for all can promote the goods through shift fork 33 when telescopic arm subassembly 32 stretches to equidirectional.

Referring to fig. 7, in an alternative embodiment, the clasping type fork mechanism 30 further includes a telescopic control component 36 for controlling the telescopic arm driving mechanism 34, the carrying portion 311 has a receiving cavity 313, and the telescopic motor 341, the transmission shaft 344 and the telescopic control component 36 are enclosed in the receiving cavity 313. By packaging the telescopic motor 341, the transmission shaft 344 and the telescopic control assembly 36 in the receiving cavity 313, the overall structure of the clasping type fork mechanism 30 is simple. The accommodating cavity 313 is internally provided with a partition 314 to divide the accommodating cavity 313 into a first sub-cavity 3131 and a second sub-cavity 3132, the telescopic motor 341 and the transmission shaft 344 are packaged in the first sub-cavity 3131, and the telescopic control assembly 36 is packaged in the second sub-cavity 3132.

Claims

1. The utility model provides a press from both sides formula fork mechanism, its characterized in that includes:

the chassis is used for bearing goods and comprises a bearing part, the bearing part is provided with a placing position and feeding ports arranged on two opposite sides of the placing position, the feeding ports are communicated with the placing position, and openings of the feeding ports extend in a direction departing from the placing position in a gradually increasing trend;

the telescopic arm driving mechanism is arranged on the chassis and connected with the two telescopic arm assemblies, and is used for driving the two telescopic arm assemblies to synchronously telescope to one side or the other side of the chassis along the second direction;

and the shifting fork mechanism is arranged on the telescopic arm component and moves along with the telescopic arm component so as to push goods to the chassis.

2. The clip and embrace type fork mechanism of claim 1, wherein the telescopic arm driving mechanism comprises a telescopic motor, a first transmission assembly and a second transmission assembly, the telescopic motor is mounted on the chassis and connected with the first transmission assembly, the second transmission assembly is mounted on the telescopic arm assembly, the first transmission assembly is connected with the second transmission assembly in a matching manner, and the telescopic motor drives the second transmission assembly to slide along the second direction through the first transmission assembly so as to drive the telescopic arm assembly to slide along the second direction.

3. The clip-type pallet fork mechanism as claimed in claim 2, wherein the first transmission assembly comprises a first driving wheel, a first driven wheel, a first transmission chain, a second driving wheel, a second driven wheel and a second transmission chain, the first driving wheel and the first driven wheel are rotatably mounted on one side of the chassis, the first transmission chain surrounds the first driving wheel and the first driven wheel, the second driving wheel and the second driven wheel are rotatably mounted on the other side of the chassis, the second transmission chain surrounds the second driving wheel and the first driven wheel, and the telescopic motor is used for driving the first driving wheel and/or the second driving wheel to rotate;

the second transmission assembly is two chain plates which are respectively meshed with the first transmission chain and the second transmission chain.

4. The clip and bail pallet fork mechanism of claim 3, wherein the telescoping motor is coupled to the first drive wheel, and wherein the telescoping arm drive mechanism further comprises a drive shaft having one end coupled to the first drive wheel and another end coupled to the second drive wheel, such that rotation of the first drive wheel by the telescoping motor causes the second drive wheel to rotate.

5. The clip and bail pallet fork mechanism of claim 1, wherein each of the telescoping arm assemblies includes a first telescoping arm and a second telescoping arm, the chassis further including side plates disposed on opposite sides of the load-carrying portion, the first telescoping arm being disposed on a side of one of the side plates facing the other of the side plates and being slidably connected thereto, the second telescoping arm being disposed on a side of the first telescoping arm facing away from the side plate and being slidably connected thereto; the side plate is provided with a mounting seat.

6. The clip and bail pallet fork mechanism of claim 5, wherein the telescopic boom drive mechanism further comprises a synchronous belt drive mechanism mounted between the side plate, the first telescopic boom and the second telescopic boom, the synchronous belt drive mechanism comprising:

a first synchronous belt transmission assembly including a first synchronous pulley, a first synchronous belt clip, a second synchronous belt clip, and a first synchronous belt;

the second synchronous belt transmission assembly is arranged at intervals in the vertical direction with the first synchronous belt transmission assembly and comprises a second synchronous belt wheel, a third synchronous belt clip, a fourth synchronous belt clip and a second synchronous belt;

the first telescopic arm comprises a first end and a second end which are opposite to each other along the second direction, the first synchronous belt pulley is mounted at the second end, the second synchronous belt pulley is mounted at the first end, the first synchronous belt clamp is arranged at the first end and connected with the side plate, the second synchronous belt clamp is arranged at the first end and connected with the second telescopic arm, one end of the first synchronous belt is fixed to the first synchronous belt clamp, and the other end of the first synchronous belt is fixed to the second synchronous belt clamp after bypassing the first synchronous belt pulley; the third synchronous belt clamp is arranged at the second end and connected with the side plate, the fourth synchronous belt clamp is arranged at the second end and connected with the second telescopic arm, one end of the second synchronous belt is fixed on the third synchronous belt clamp, and the other end of the second synchronous belt is fixed on the fourth synchronous belt clamp after bypassing the second synchronous belt pulley.

7. The clip and bail pallet fork mechanism of claim 6, wherein the first telescoping arm is provided with a mounting hole and the first timing pulley and the second timing pulley are embedded in the mounting hole.

8. The clasping type pallet fork mechanism as claimed in claim 5, wherein a receiving cavity is provided on a side of the second telescopic arm facing away from the side plate, the fork mechanism comprises a fork and a fork driving mechanism, the fork is rotatably mounted on the second telescopic arm, and the fork driving mechanism drives the fork to rotate out of or be received into the receiving cavity.

9. The clamp type pallet fork mechanism of claim 4, further comprising a telescoping control assembly for controlling the telescoping arm drive mechanism, wherein the carrier has a receiving cavity, and the telescoping motor, the drive shaft and the telescoping control assembly are enclosed in the receiving cavity;

it will to accept the intracavity be equipped with the baffle it separates into first sub-chamber and second sub-chamber to accept the chamber, flexible motor the transmission shaft encapsulate in first sub-chamber, flexible control assembly encapsulate in the second sub-chamber.

10. A transfer robot, characterized by comprising:

an automatic guided vehicle; and

the clip-on fork mechanism of any one of claims 1-9;