CN216038490U - Fork mechanism and transfer robot - Google Patents

Fork mechanism and transfer robot Download PDF

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Publication number
CN216038490U
CN216038490U CN202122327396.9U CN202122327396U CN216038490U CN 216038490 U CN216038490 U CN 216038490U CN 202122327396 U CN202122327396 U CN 202122327396U CN 216038490 U CN216038490 U CN 216038490U
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China
Prior art keywords
base
tray
fork mechanism
assembly
carrier
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CN202122327396.9U
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Chinese (zh)
Inventor
杨成龙
詹庆鑫
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Hai Robotics Co Ltd
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Hai Robotics Co Ltd
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Priority to CN202122327396.9U priority Critical patent/CN216038490U/en
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Abstract

The application provides a fork mechanism and transfer robot. The fork mechanism includes: the mechanical arm assembly comprises a base, a base body, a tray capable of bearing goods, two mounting plates and a mechanical arm assembly arranged on the mounting plates, wherein the base body is rotatably connected to the base; the pallet fork mechanism further comprises a first driving assembly and a second driving assembly which are arranged on the base body, the first driving assembly comprises a first power unit and a first transmission unit, the first power unit is used for driving the first transmission unit to drive the mechanical arm assembly to extend out of the edge of the mounting plate towards the first direction or the second direction, the second driving assembly comprises a second power unit and a second transmission unit, and the second power unit is used for driving the second transmission unit to drive the base to rotate relative to the base body; the first power unit and the second power unit are both located between the tray and the base. This application deposit efficiency of goods is higher.

Description

Fork mechanism and transfer robot
Technical Field
The utility model relates to the technical field of intelligent warehousing, in particular to a fork mechanism 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 also continuously improved, and the carrying robot is one of main devices capable of realizing automatic carrying operation of an intelligent logistics terminal, so that heavy physical labor of human can be relieved through the carrying robot, and the efficiency of carrying operation is improved.
An existing transfer robot generally includes a movable base, a lifting mechanism, and a fork mechanism, where the movable base is used to carry the lifting mechanism and the fork mechanism, and the lifting mechanism is used to drive the fork mechanism to lift. The fork mechanism is an important mechanism in the transfer robot and is used for loading and unloading goods to logistics equipment. The fork mechanism comprises a base, a fork body, a mechanical arm assembly, a driving assembly and a rotating assembly, wherein the fork body is rotatably fixed on the base through the rotating assembly, the fork body is provided with a cargo inlet and a cargo outlet, and the mechanical arm assembly is arranged on the fork body and can stretch and retract relative to the fork body to drive the cargo to enter and exit the fork body. In drive assembly and rotating assembly, all be equipped with driving motor in order as the power supply, in addition, still be equipped with the cable on the fork body etc. for these power supply power supplies, transmission control signal etc.. In order to minimize the width of the fork mechanism, the driving motors are arranged on one side of the fork body, which is far away from the goods inlet and outlet, and the fork body cannot rotate 360 degrees relative to the base due to the existence of the cables.
However, in the fork mechanism, the driving motor is arranged on one side of the fork body, which is far away from the goods inlet and outlet, so that the goods can only enter and exit the fork body from the direction of the goods inlet and outlet, and under the condition that the fork body cannot rotate 360 degrees relative to the base, a goods taking blind area is inevitably formed.
SUMMERY OF THE UTILITY MODEL
In view of the above problem, the embodiment of the application provides a fork mechanism and a transfer robot, and the efficiency of taking and placing goods is high.
In order to achieve the above object, a first aspect of the present application provides a fork mechanism comprising: the mechanical arm assembly comprises a base, a base body, a tray capable of bearing goods, two mounting plates and a mechanical arm assembly arranged on the mounting plates, wherein the base body is rotatably connected to the base;
the fork mechanism further comprises a first driving assembly and a second driving assembly which are arranged on the base body, the first driving assembly comprises a first power unit and a first transmission unit, the first power unit is used for driving the first transmission unit to drive the mechanical arm assembly to extend out of the edge of the mounting plate towards the first direction or the second direction, the second driving assembly comprises a second power unit and a second transmission unit, and the second power unit is used for driving the second transmission unit to drive the base body to rotate relative to the base;
the first power unit and the second power unit are both located between the tray and the base.
In a possible embodiment, the top ends of the first transmission unit and the second transmission unit are arranged at a lower position relative to the bottom end of the base than the bottom end of the tray.
In one possible embodiment, the base includes a base plate, and the first power unit and the second power unit are both disposed on the base plate.
In one possible embodiment, the robotic arm assembly comprises at least one robotic arm extending beyond an edge of the mounting plate in a direction of cargo access to the pallet, the robotic arm being located on a side of the pallet facing away from the base.
In one possible embodiment, the number of the mechanical arm assemblies is two, one mechanical arm assembly is connected to each mounting plate, and the first driving assembly and the second driving assembly are located between the two mounting plates.
In one possible embodiment, the second transmission unit comprises a rotary bearing and a gear, the gear is linked with an output shaft of the second power unit, and the inner side wall of an inner ring of the rotary bearing is provided with gear teeth meshed with the gear;
the rotary bearing is positioned between the base and the base, an inner ring of the rotary bearing is connected with the base, an outer ring of the rotary bearing is connected with the base, and the gear is used for rotating under the driving of the second power unit and rotating around the center of the inner ring of the rotary bearing so as to enable the base and the base to rotate relatively.
In a possible embodiment, a mounting groove is arranged on the top end face of the base, the rotary bearing is positioned in the mounting groove, the bottom end face of the inner ring of the rotary bearing is fixed on the groove bottom face of the mounting groove, the top end face of the outer ring of the rotary bearing protrudes out of the top end face of the base, and the base body is supported and fixed on the top end face of the outer ring of the rotary bearing;
an output shaft of the second power unit penetrates through the base body and extends into the inner side of the bearing inner ring.
In one possible embodiment, the base body is provided with a through-opening having an inner diameter which is greater than or equal to the inner diameter of the inner ring of the rotary bearing and is smaller than or equal to the inner diameter of the outer ring of the rotary bearing.
In a possible implementation mode, the mounting plate is further provided with a mounting block, two ends of the mounting block are respectively connected to the base body and the mounting plate, and one end of the mounting block connected with the mounting plate is located at the bottom side of the mechanical arm assembly corresponding to the mounting plate.
In one possible embodiment, the tray comprises a first tray which is slidably arranged on the base body, at least one protruding component is arranged between the first tray and the base body, and the protruding component positioned between the first tray and the base body is used for enabling the first tray to protrude out of the edge of the base body towards the first direction;
wherein, the direction of goods entering and leaving the tray comprises a first direction and a second direction which are opposite.
In one possible embodiment, the fork mechanism comprises a first carrier and a second carrier located on the bottom side and the top side of the same extension module, respectively, the second carrier being slidably disposed on the first carrier;
when the at least one extension assembly is positioned between the base and the first tray, the base forms a first carrier and the tray forms a second carrier.
In a possible embodiment, the tray further comprises a second tray, the second tray is slidably arranged on the first tray, and the second tray is positioned on the side of the first tray, which faces away from the base body; at least one extending component is also arranged between the first tray and the second tray, and the extending component positioned between the first tray and the second tray is used for enabling the second tray to extend out of the edge of the first tray towards the second direction.
In one possible embodiment, the fork mechanism comprises a first carrier and a second carrier located on the bottom side and the top side of the same extension module, respectively, the second carrier being slidably disposed on the first carrier;
when the extending component between the base body and the first tray works, the base body forms a first bearing body, and the tray forms a second bearing body;
when the extending component between the first tray and the second tray works, the first tray forms a first bearing body, and the second tray forms a second bearing body.
In one possible embodiment, the extension assembly comprises:
the elastic force applying assembly is arranged between the first bearing body and the second bearing body and is used for applying an elastic force towards a third direction to the second bearing body;
the locking assembly is arranged on the first bearing body and comprises a locking piece, and the locking piece is arranged on the sliding path of the second bearing body in a blocking mode; and
the unlocking piece, unlocking piece and mechanical arm component linkage, and unlocking piece are used for when the mechanical arm component moves towards the third direction, promote the locking piece and remove to the third direction to make the second supporting body exert the elastic force effect of subassembly down and stretch out towards the third direction at the elastic force, wherein, the third direction is one of them of first direction and second direction.
In one possible embodiment, the spring force exerting assembly comprises a tension spring, a first end of which is arranged on the first carrier and a second end of which is arranged on the second carrier, wherein the first end is the end of the tension spring lying in the third direction and the second end is the end of the tension spring lying in the fourth direction, wherein the fourth direction is opposite to the third direction.
In a possible embodiment, the elastic force applying assembly includes two end plates provided on opposite faces of the first and second carriers, respectively, the two end plates having an overlapping portion in the third direction, and first and second ends of the tension spring are connected to the two end plates, respectively.
In a possible embodiment, the locking assembly further includes a supporting seat, the supporting seat is disposed on the first supporting body, and the locking member is disposed through the supporting seat and can slide relative to the supporting seat along a direction in which the goods enter and exit the tray.
In one possible embodiment, the base body comprises a base plate, a support plate and a support column supported between the base plate and the support plate, the support plate being located on a side of the base plate facing away from the base;
when the first tray and the base body are provided with the extending components, the supporting seat is arranged on the supporting plate.
In a possible embodiment, the second bearing body comprises a sliding block arranged at the bottom, the top of the first bearing body is provided with a sliding rail, the sliding rail extends along the direction of the goods entering and exiting the tray, and the sliding block can slide along the sliding rail so as to limit the sliding direction of the second bearing body relative to the first bearing body;
the locking piece is located between slide rail and the arm subassembly, is equipped with the backstop arm that stretches out towards the slide rail on the locking piece, and backstop arm fender is established in the one side of slider towards the third direction.
In a possible embodiment, the locking element is further provided with a projecting arm projecting towards the robot arm assembly on the side facing away from the stop arm, the projecting arm being arranged in the path of movement of the unlocking element.
In a possible embodiment, the locking assembly further comprises an elastic restoring member, both ends of which are respectively disposed on the projecting arm and the support base, and which is configured to apply a restoring force toward the fourth direction to the locking member when the robot arm assembly moves toward the third direction.
In a possible implementation mode, the mechanical arm assembly comprises a mechanical arm and a connecting rod, the mechanical arm can stretch out of the edge of the mounting plate along the direction of the goods entering and exiting the tray, the first transmission unit comprises a chain wheel assembly, the chain wheel assembly comprises a chain and two chain wheels which are arranged in the direction of the goods entering and exiting the tray at intervals, the two chain wheels are arranged on the mounting plate and located on the bottom side of the mechanical arm assembly on the mounting plate, the chain wheels can rotate under the driving of the first power unit, the chain is arranged on the two chain wheels in an extending mode, the connecting rod is linked with the chain, the connecting rod is used for driving the mechanical arm to move when the chain operates, and the connecting rod forms an unlocking piece.
In one possible embodiment, the end of the connecting rod facing the chain has an engaging tooth which can engage with a chain link of the chain.
In a possible embodiment, the number of the mounting plates is two, the two mounting plates are oppositely arranged and are respectively positioned at two ends of the width direction of the fork mechanism, and the width direction of the fork mechanism is perpendicular to the first direction;
when the number of the extending components arranged between the first bearing body and the second bearing body is two, the two extending components are arranged at intervals in the width direction of the fork mechanism and have the same interval relative to the center of the fork mechanism.
The present application provides in a second aspect a transfer robot comprising: the movable chassis is used for bearing the lifting mechanism, the upright post and the fork mechanism, and the lifting mechanism is fixedly connected with a base in the fork mechanism so as to drive the fork mechanism to lift along the upright post.
The application discloses fork mechanism and transfer robot. The fork mechanism includes: the mechanical arm assembly comprises a base, a base body, a tray capable of bearing goods, two mounting plates and a mechanical arm assembly arranged on the mounting plates, wherein the base body is rotatably connected to the base; the pallet fork mechanism further comprises a first driving assembly and a second driving assembly which are arranged on the base body, the first driving assembly comprises a first power unit and a first transmission unit, the first power unit is used for driving the first transmission unit to drive the mechanical arm assembly to extend out of the edge of the mounting plate towards the first direction or the second direction, the second driving assembly comprises a second power unit and a second transmission unit, and the second power unit is used for driving the second transmission unit to drive the base to rotate relative to the base body; the first power unit and the second power unit are both located between the tray and the base. The two mounting plates are positioned on two opposite sides of the tray, so that the mounting plates and the tray define a containing space for containing goods together and form two goods inlet and outlet. Because first power pack and second power pack all are located between tray and the base, first power pack and second power pack do not keep off and establish on the route of goods business turn over tray like this, and the robotic arm subassembly can stretch out the edge of mounting panel towards first direction or second direction, make the goods can be followed the at least both sides business turn over tray of tray, compared with the goods can only get into the tray from a direction among the prior art, the route of a business turn over tray has been increased, like this under the base has rotated the same angle relative to the base, the angle range of getting goods of the robotic arm subassembly in this application, obviously be twice of the scope of getting goods among the prior art, can reduce the blind area of getting goods of robotic arm subassembly as far as possible, and needn't get goods through rotatory transfer robot, get the efficiency of getting goods is higher.
The construction and other objects and advantages of the present invention will be more apparent from the description of the preferred embodiments taken in conjunction with the accompanying drawings.
Drawings
FIG. 1 is a schematic structural diagram of a fork mechanism provided in an embodiment of the present application;
FIG. 2 is a schematic view of another angle of the fork mechanism provided in the embodiments of the present application;
FIG. 3 is an exploded schematic view of a fork mechanism provided in an embodiment of the present application;
FIG. 4 is a schematic structural diagram of one configuration of a fork mechanism provided in an embodiment of the present application;
FIG. 5 is a schematic structural diagram of another configuration of a fork mechanism provided in an embodiment of the present application;
fig. 6 is a schematic structural view of a first carrier and a second carrier in the fork mechanism provided in the embodiment of the present application;
FIG. 7 is an exploded view of the fork mechanism provided in the embodiments of the present application;
FIG. 8 is a schematic view of another angular exploded view of the fork mechanism provided in the embodiments of the present application;
fig. 9 is a schematic overall structure diagram of a transfer robot according to an embodiment of the present application.
Description of reference numerals:
100-a fork mechanism; 10-a base; 11-mounting grooves; 20-a substrate; 21-a substrate; 211-a through hole; 22-a support plate; 23-a support column; 40-mounting a plate; 41-mounting block; 411 — first connection; 412-a second connection; 50-a robot arm assembly; 51-a robotic arm; 52-a movable member; 53. 54, 55-connecting rod; 60-a first drive assembly; 61-a first power unit; 62-a first transmission unit; 63-a sprocket assembly; 631-a sprocket; 632-a chain; 64-a first reducer; 65-a drive shaft; 70-a second drive assembly; 71-a second power unit; 72-a second reducer; 80-a second transmission unit; 81-gear; 82-a rotational bearing; 821-inner ring; 822-outer ring;
111-a first carrier; 112-a second carrier; 113. 116-a slide; 114. 117, 118-slide rail; 120-a tray; 121-a first tray; 122-a second tray; 130. 131, 132-projecting component; 139-an elastic force applying assembly; 148. 140, 141-tension springs; 142. 143, 144, 145, 146, 147-end plates; 150-a locking assembly; 151. 152, 153-support base; 154. 155, 156-locking member; 157. 158, 159-elastic return member; 1541. 1551, 1561-stop arm; 1542. 1552, 1562-projecting arm; 160. 161, 162-unlocking;
200-a transfer robot; 201-moving the chassis; 202-a lifting mechanism; 203-upright post; 204-partition plate.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but 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 fork mechanism of prior art exists the lower problem of getting of efficiency of putting of goods, exists in current fork mechanism and is used for driving the base and the rotatory driving motor of fork body and be used for driving the flexible driving motor of robotic arm subassembly etc.. These driving motor lie in the fork body and deviate from the goods and import and export one side, and the goods can only be followed this orientation business turn over fork body of goods import and export, and under the unable 360 circumstances of rotating of base relative to the fork body, the increase is got the goods scope, can only realize through rotatory transfer robot body, and consequently get and put the efficiency lower.
And in the fork mechanism of this application, first power pack and second power pack all are located between tray and the base, and first power pack and second power pack do not keep off like this and establish on the route of goods business turn over tray, and the goods can be followed the at least both sides business turn over tray of tray, and it is higher to get to put efficiency.
The fork mechanism 100 and the transfer robot 200 according to the embodiment of the present invention will be described below with reference to the drawings. It should be noted that in the embodiment of the present application, for convenience of description, the first direction F and the second direction S opposite to each other are defined along the direction in which the goods enter and exit the pallet 120, and the direction perpendicular to the direction in which the goods enter and exit the pallet 120, that is, the opposite direction of the two mounting plates 40 is defined as the width direction W of the fork mechanism 100.
In addition, one of the first direction F and the second direction S is defined as a third direction T, and the other of the first direction F and the second direction S is defined as a fourth direction E.
Fig. 1 is a schematic structural view of a fork mechanism provided in an embodiment of the present application, and fig. 2 is a schematic structural view of another angle of the fork mechanism provided in the embodiment of the present application.
Referring to fig. 1 and 2, a fork mechanism 100 provided in an embodiment of the present application includes: the mechanical arm assembly comprises a base 10, a base body 20, a tray 120 capable of bearing goods, two mounting plates 40 and a mechanical arm assembly 50 arranged on the mounting plates 40, wherein the base body 20 is rotatably connected to the base 10, the mounting plates 40 and the tray 120 are both arranged on the base body 20, the two mounting plates 40 are positioned on two opposite sides of the tray 120, and the tray 120 and the base 10 are positioned on the opposite sides of the base body 20;
the fork mechanism 100 further comprises a first driving assembly 60 and a second driving assembly 70 which are arranged on the base body 20, the first driving assembly 60 comprises a first power unit 61 and a first transmission unit 62, the first power unit 61 is used for driving the first transmission unit 62 to drive the mechanical arm assembly 50 to extend out of the edge of the mounting plate 40 in the first direction F or the second direction S, the second driving assembly 70 comprises a second power unit 71 and a second transmission unit 80, and the second power unit 71 is used for driving the second transmission unit 80 to drive the base body 20 to rotate relative to the base 10;
the first power unit 61 and the second power unit 71 are both located between the tray 120 and the base 10.
In the above scheme, the two mounting plates 40 are located at two opposite sides of the tray 120, so that the mounting plates 40 and the tray 120 jointly define a containing space for containing goods, and two goods entrance and exit are formed between the end of the mounting plate 40 along the path K and the tray. Because the first driving assembly 60 and the second driving assembly 70 are both located between the tray 120 and the base 10, the first power unit 61 and the second power unit 71 are not blocked on the path K of the goods entering and exiting the tray 120, and the mechanical arm assembly 50 can extend out of the edge of the mounting plate 40 in the first direction F or the second direction S, so that the goods can enter and exit the tray 120 from at least two sides of the tray 120, compared with the prior art in which the goods can enter the tray 120 from only one direction, one path for entering and exiting the tray 120 is added, so that under the condition that the base 20 rotates relative to the base 10 by the same angle, the goods taking angle range of the mechanical arm assembly 50 in the application is obviously twice that in the prior art, the dead zone of the mechanical arm assembly 50 can be reduced as much as possible, the rotation of the transfer robot is reduced, and the efficiency of taking and placing the goods is high.
The first power unit 61 and the second power unit 71 are both located between the tray 120 and the base 10, and may refer to that the first power unit 61 and the second power unit 71 are located in a region facing between the tray 120 and the base 10, or may refer to that a part of the structure of the first power unit 61 and the second power unit 71 is located outside the region facing between the tray 120 and the base 10, but it must be satisfied that the setting position of the first power unit 61 and the second power unit 71 relative to the bottom end of the base 10 is lower than the setting position of the bottom end of the tray 120 relative to the base 10, so that the first power unit 61 and the second power unit 71 do not affect the motion of the mechanical arm assembly 50 driving the goods to enter and exit from the tray 120.
The specific structure of each part of the fork mechanism 100 is explained below.
Referring to fig. 1, the base 10 as a supporting member of the fork mechanism 100 may be located at the lowermost side of the entire fork mechanism 100, and the base 10 may be connected to a lifting mechanism 202 described below, and the lifting mechanism 202 may be used to drive the fork mechanism 100 to lift. In addition, as previously described, the base 20 is rotatably coupled to the base 10, the mounting plate 40 is disposed on the base 20, and the robot arm assembly 50 is disposed on the mounting plate 40.
Referring to fig. 1, the tray 120 and the base 10 may be located on opposite sides of the base 20, for example, the tray 120 is located on the top side of the drawing of fig. 1, and the tray 120, the base 20, and the base 10 are sequentially arranged in the order from the top side to the bottom side of fig. 1. In the present application, two mounting plates 40 are taken as an example, and the two mounting plates 40 are respectively located at the lateral ends in the width direction (the width direction W of the fork assembly) of the tray 120 and are oppositely arranged, so that a path K for the cargo to enter and exit the tray 120 is defined between the two mounting plates 40.
Illustratively, referring to fig. 1 and 2, the number of the robot arm assemblies 50 is two, and one robot arm assembly 50 is connected to each mounting plate 40, and as mentioned above, the two mounting plates 40 are disposed opposite to each other and are respectively located at two ends of the fork mechanism 100 in the width direction W. The tray 120, the base 20, may be disposed between the two mounting plates 40, with the first drive assembly 60 and the second drive assembly 70 also both being located between the two mounting plates 40.
The mounting plate 40 is further provided with a mounting block 41, two ends of the mounting block 41 are respectively connected to the base body 20 and the mounting plate 40, and one end of the mounting block 41 connected to the mounting plate 40 is located at the bottom side of the robot arm assembly 50 corresponding to the mounting plate 40. This prevents the mounting block 41 from affecting the movement of the robot arm assembly 50. The mounting block 41 has a first connection portion 411 and a second connection portion 412 connected to each other, the first connection portion 411 and the second connection portion 412 may be connected to the mounting plate 40 and the base body 20, respectively, and the first connection portion 411 and the second connection portion 412 may be perpendicular to each other so that the mounting plate 40 is vertically mounted on the base body 20.
The number of the mounting blocks 41 may be set as needed, for example, two mounting blocks 41 may be provided corresponding to each mounting plate 40, and the two mounting blocks 41 are arranged at intervals on the path K.
As previously described, the robot assembly 50 may be disposed on the mounting plates 40, for example on opposing surfaces of two mounting plates 40, respectively. The robot assembly 50 may be located on a side of the tray 120 facing away from the base 10, and in fig. 1, the robot assembly 50 may be located on a top side of the tray 120.
The robot assembly 50 may comprise at least one robot arm 51, the robot arm 51 extending beyond the edge of the mounting plate 40 in the direction of the load entering and exiting the tray 120, and the robot arm 51 being located on the side of the tray 120 facing away from the base 10, i.e. the robot arm 51 is located at a higher elevation relative to the bottom end of the base 10 than the tray 120 is located relative to the bottom end of the base 10. The mechanical arm 51 is used for moving the goods by moving itself, for example, the mechanical arm 51 can move along the path K of the goods entering and exiting the tray 120 under the driving of the first driving assembly 60, it is understood that the mechanical arm 51 moves along the path K beyond the edge of the mounting plate 40, so that the goods can be separated from the tray 120, or the goods outside the tray 120 can be pulled back onto the tray 120.
Illustratively, each robot arm assembly 50 may include two robot arms 51, and the two robot arms 51 may move relative to each other, so that the entire robot arm assembly 50 is a telescopic robot arm assembly.
In some examples, the mechanical arm 51 is provided with at least one movable element 52, and the movable element 52 is movable relative to the mechanical arm 51, for example, the movable element 52 can be unfolded relative to the mechanical arm 51 to block the side of the path K; or moveable member 52 may be retracted relative to mechanical arm 51 to open path K. It will be appreciated that the robot arm assembly 50 may be brought to move in either the first direction F or the second direction S, and therefore, the movable member 52 may be disposed at an end of the robot arm 51 in the first direction F and an end in the second direction S, respectively.
Referring to fig. 1, when the movable element 52 is in the unfolded position, if the robot arm 51 moves toward the first direction F, the goods on the tray 120 can be moved toward the first direction F by the movable element 52, and then be delivered to the shelf or the pack basket of the robot; when the robot arm 51 moves in the second direction S, the goods on the tray 120 can be moved in the second direction S by the movable element 52, and then be delivered to the shelf or the pack basket of the robot.
In the embodiment of the present application, referring to fig. 2 and 3, as mentioned above, the first power unit 61 is configured to drive the first transmission unit 62 to move the robot arm assembly 50 along the path K, and the first power unit 61 includes a first driving motor. The robot arm assembly 50 further includes a connecting rod 53 connected to the robot arm 51, the first transmission unit 62 may include a sprocket assembly 63, the sprocket assembly 63 includes a chain 632 and two sprockets 631 spaced in the direction of the goods entering and exiting the tray 120, the two sprockets 631 are rotatably disposed on the mounting plate 40 and located at the bottom side of the robot arm assembly 50 on the mounting plate 40, the sprockets 631 are driven to rotate by a first driving motor, the chain 632 is stretched over the two sprockets 631, the connecting rod 53 is linked with the chain 632, and the connecting rod 53 is used for driving the robot arm 51 to move when the chain 632 is operated. In this way, the first driving motor can drive one of the sprockets 631 to rotate, and the sprocket 631 rotates the other sprocket 631 via the chain 632, so that the rotation of the first driving motor is converted into linear movement of the chain 632.
It should be noted that when the chain 632 is stretched between the two sprockets 631, the chain 632 is divided into a portion located on the top side of the sprocket 631 and a portion located on the bottom side of the sprocket 631 with a space therebetween, and the above-mentioned mounting block 41 can be located between the space, so that the space can be fully utilized and the height of the fork mechanism 100 can be reduced.
Two ends of the connecting rod 53 are respectively connected with the chain 632 and the mechanical arm 51, and the mechanical arm 51 can move under the driving of the connecting rod 53, so that the loading and unloading of goods are realized.
In addition, as described above, the arm assembly 50 can be extended and contracted toward the first direction F and the second direction S, and thus considering one chain 632 corresponding to the two connection bars 53, the two connection bars 53 can be arranged at intervals on the path K of the goods entering and exiting the pallet 120. For example, referring to fig. 2, on one of the mounting plates 40, the two connecting rods 53 may drive the mechanical arm 51 to move toward the first direction F when the chain 632 rotates counterclockwise, and the two connecting rods 53 may drive the mechanical arm 51 to move toward the second direction S when the chain 632 rotates clockwise.
Illustratively, the end of the connecting rod 53 facing the chain 632 has engaging teeth that engage with the links of the chain 632. Thus, one end of the connecting rod 53 is fixedly connected to the robot arm 51, and the other end is movably connected to the chain 632. Referring to fig. 2, the process of extending and retracting the robot assembly 50 toward the first direction F is as follows: on any one of the mounting plates 40, when the chain 632 rotates counterclockwise, the connecting rod 54 and the connecting rod 55 can drive the mechanical arm 51 to move toward the first direction F, and in the process, when the connecting rod 54 moves to be close to the sprocket 631 located at the end of the first direction, the connecting rod 54 gradually disengages from the chain 632, the mechanical arm 51 is no longer driven to move toward the first direction F, and the connecting rod 55 continues to drive the mechanical arm 51 to continue to move toward the first direction F; when the chain 632 rotates clockwise, the connecting rod 55 first drives the mechanical arm 51 to move towards the second direction S, in the process, the connecting rod 54 gradually re-engages with the chain 632, and at this time, the connecting rod 54 and the connecting rod 55 together drive the mechanical arm 51 to move towards the second direction S until the initial position is reached.
The process of extension and retraction of the robot assembly 50 in the second direction S is as follows: on any one of the mounting plates 40, when the chain 632 rotates clockwise, the connecting rod 54 and the connecting rod 55 can drive the mechanical arm 51 to move towards the second direction S, in the process, when the connecting rod 55 moves to a position close to the sprocket 631 located at the end of the second direction S, the connecting rod 55 gradually disengages from the chain 632, the mechanical arm 51 is no longer driven to move towards the second direction S, and the connecting rod 54 continues to drive the mechanical arm 51 to continue to move towards the second direction S; when the chain 632 rotates counterclockwise, the connecting rod 54 drives the mechanical arm 51 to move toward the first direction F, in the process, the connecting rod 55 gradually re-engages with the chain 632, and the connecting rod 54 and the connecting rod 55 drive the mechanical arm 51 to move toward the first direction S until the initial position is reached.
In addition, the above description takes the sprocket assembly 63 and the arm assembly 50 corresponding to one of the mounting plates 40 as an example, and the movement processes of the sprocket assembly 63 and the arm assembly 50 corresponding to the other mounting plate 40 are similar to this and are performed synchronously, and are not described again here.
In the embodiment of the present application, as described above, the number of the mounting plates 40 and the number of the robot arm assemblies 50 are both two, and in order to drive both the robot arm assemblies 50, the number of the sprocket assemblies 63 may also be two, and the sprocket assemblies correspond to the mounting plates 40 one to one. In other words, each mounting plate 40 has a sprocket assembly 63 mounted thereon, the sprocket assembly 63 being located between the robot assembly 50 and the base 10. Both sprockets 631 in the same sprocket assembly 63 are attached to the same mounting plate 40.
Referring to fig. 3, the first transmission unit 62 further includes a driving shaft 65, the driving shaft 65 extending in opposite directions (the width direction W of the fork assembly) of the two mounting plates 40, and a sprocket 631 in each sprocket assembly 63 is connected to both ends of the driving shaft 65, such that the driving shaft 65 can simultaneously drive the two sprockets 631 to rotate synchronously to drive the chains 632 in the respective sprocket assemblies 63 to operate synchronously. Of course, both ends of the driving shaft 65 are supported between the two mounting plates 40 by sprockets 631 connected thereto.
Referring to fig. 2, the first transmission unit 62 may further include a first decelerator 64, and the first driving motor may be connected to the driving shaft 65 through the first decelerator 64 such that the rotation of the first driving motor is transmitted to the driving shaft 65. The first drive motor and the first reduction gear 64 are both provided on the base body 20.
In the embodiment of the present application, the base 20 is rotatably connected to the base 10, which means that the base 20 can rotate relative to the base 10, and the fork mechanism 100 includes the second driving assembly 70 that can drive the base 10 to rotate relative to the base 20, so as to realize the relative rotation between the base 20 and the base 10.
In the present embodiment, referring to fig. 3, the second driving assembly 70 includes a second power unit 71, and a second transmission unit 80, and the second power unit 71 may be fixed on the base 20.
The second transmission unit 80 comprises a rotary bearing 82 and a gear 81, the gear 81 is linked with an output shaft of the second power unit 71, and gear teeth meshed with the gear 81 are arranged on the inner side wall of an inner ring 821 of the rotary bearing 82;
the rotation bearing 82 is located between the base 10 and the base 20, the inner ring 821 of the rotation bearing 82 is connected with the base 10, the outer ring 822 of the rotation bearing 82 is connected with the base 20, and the gear 81 is driven by the second power unit 71 to rotate and rotates around the center of the inner ring 821 of the rotation bearing 82, so that the base 20 and the base 10 rotate relatively.
In the above solution, the gear 81 is linked with the output shaft of the second power unit 71, that is, the output shaft of the second power unit 71 can drive the gear 81 to rotate. For example, the second power unit 71 includes a second driving motor, the second transmission unit 80 may further include a second reducer 72, an input shaft of the second reducer 72 is linked with the second driving motor, and an output shaft of the second reducer 72 is connected with the gear 81, so that when the second driving motor operates, the gear 81 is driven to rotate after being reduced by the second reducer 72.
It should be noted that the inner ring 821 of the rotary bearing 82 is fixed on the base 10, that is, the inner ring 821 of the rotary bearing 82 is fixed relative to the base 10, the second driving motor and the second reducer 72 can be fixed on the base 20, and the outer ring 822 of the rotary bearing 82 is fixed on the base 20, as described above, when the second driving motor drives the gear 81 to rotate, the gear teeth of the gear 81 are engaged with the gear teeth on the inner ring 821 of the rotary bearing 82, the gear 81 rotates around the center of the inner ring 821 of the rotary bearing 82, and drives the second reducer 72, the second driving motor and the base 20 to rotate, so that the base 20 can rotate relative to the base 10. The tray 120 is now disposed on the base 20, and when the base 20 is rotated relative to the base 10, the tray 120 and the goods carried thereon are also rotated relative to the base 10.
It should be noted that, in the above-described aspect, the radial directions of the inner race 821 and the outer race 822 of the rotary bearing 82 are both parallel to the base 10, and the output shaft of the second speed reducer 72 may extend in the height direction H of the fork mechanism 100. In order to save the space occupied by the second driving assembly 70, and particularly, to reduce the space occupied by the second driving motor, the second decelerator 72 may be a right-angle decelerator, and at the same time, a motor shaft of the second driving motor (an output shaft of the second power unit 71) may be perpendicular to the height direction of the fork mechanism 100. This effectively places the second drive motor laterally between the base 20 and the base 10.
In the embodiment of the present application, a mounting groove 11 may be provided on the top end surface of the base 10, the rotary bearing 82 may be located in the mounting groove 11, and the inner ring 821 of the rotary bearing 82 is fixed in the mounting groove 11 of the base 10, and it should be noted that the inner ring 821 and the outer ring 822 of the rotary bearing 82 are rotatably connected to each other, and thus the outer ring 822 of the rotary bearing 82 is also rotatably supported on the base 10.
It should be noted that the bottom end surface of the inner ring 821 of the rotary bearing 82 is fixed on the groove bottom surface of the mounting groove 11, the top end surface of the outer ring 822 of the rotary bearing 82 protrudes from the top end surface of the base 10, and the base 20 is supported and fixed on the top end surface of the outer ring 822 of the rotary bearing 82, so that when the base 20 is fixed on the outer ring 822, a certain gap can be formed between the base 20 and the base 10 to prevent the base 20 and the base 10 from interfering with each other when they rotate.
Referring to fig. 2, since the output shaft of the second power unit 71 is connected to the gear 81, in order to make the gear 81 project into the inner ring 821 of the rotary bearing 82 and engage with the gear teeth on the inner ring 821, the output shaft of the second power unit 71 must be inserted into the inner ring 821 through the base 20.
For example, a through hole 211 is provided in the base 20, and an inner diameter of the through hole 211 is equal to or larger than an inner diameter of the inner ring 821 of the rotary bearing 82 and equal to or smaller than an inner diameter of the outer ring 822 of the rotary bearing 82. In this way, the through-hole 211 may sufficiently expose the inner race 821 of the rotary bearing 82 to the top side of the base 20, and also facilitate the connection of the base 20 with the bearing outer race 822.
In the embodiment of the present application, as described above, the first power unit 61 (first driving motor) and the second power unit 71 (second driving motor) are both located between the tray 120 and the base 10.
On this basis, the output shaft of the first power unit 61 is perpendicular to the height direction H of the fork mechanism 100, which corresponds to the first power unit 61 being arranged laterally between the pallet 120 and the base 10, and the first power unit 61 can transmit power to the robot arm assembly 50 through the first speed reducer 64, the drive shaft 65, the sprocket assembly 63, and the like.
Referring to fig. 3, if the output shaft of the second power unit 71 is also perpendicular to the height direction H of the fork mechanism 100, both the first power unit 61 and the second power unit 71 are laterally arranged between the pallet 120 and the base 10. For example, the output shaft of the first power unit 61 may be parallel to the width direction W of the base 20, and the output shaft of the second power unit 71 may be perpendicular to the output shaft direction of the first power unit 61, so that the first power unit 61 and the second power unit 71 are arranged perpendicular to each other and form a letter "T" shape. It can be understood that, in the present application, by arranging both the first power unit 61 and the second power unit 71 between the tray 120 and the base 10, the space between the tray 120 and the base 10 can be fully utilized.
Illustratively, the base 20 includes a base plate 21, and the first power unit 61 and the second power unit 71 may be disposed on the base plate 21.
In the embodiment of the present application, referring to fig. 2 and 3, the top ends of the first transmission unit 62 and the second transmission unit 80 may be disposed lower than the bottom end of the tray 120 with respect to the base 10. In other words, the first transmission unit 62 and the second transmission unit 80 are also disposed at a lower height than the tray 120, and do not interfere with the entrance and exit of the goods on the tray 120.
In addition, in the case where the robot arm 51 is located on the side of the tray 120 facing away from the base 10, the installation heights of the first drive assembly 60 and the second drive assembly 70 with respect to the base 10 are both lower than the installation height of the robot arm 51 with respect to the base 10. Thus, the first drive assembly 60 and the second drive assembly 70 are not in the path of extension of the robot assembly 50 nor in the path of the cargo entering and exiting the pallet 120.
Referring to fig. 1, the mechanical arm assembly 50 can extend out in two directions to pick up goods in the first direction F and the second direction S, because the space in the extending direction of the mechanical arm assembly 50 is completely released, the base 20 can rotate 180 degrees relative to the base 10 to realize circumferential full coverage of the goods picking operation, a goods picking blind area does not exist, and the efficiency of picking and placing goods is high.
In the present embodiment, the tray 120 is located on the top side of the base 20 and is used to carry goods, as described above. It is understood that when the transfer robot performs the transfer of the goods near the target logistics apparatus, there may be a case where there is a certain distance between the pallet 120 and the storage unit of the logistics apparatus, which may cause the goods to be stuck in or dropped from the gap. It is contemplated that the tray 120 may be configured to extend toward the logistics apparatus, i.e., the fork mechanism 100 may include at least one extension assembly for extending the tray 120 toward the logistics apparatus.
Fig. 4 is a schematic structural diagram of one structure of a fork mechanism provided in an embodiment of the present application, and fig. 5 is a schematic structural diagram of another structure of the fork mechanism provided in the embodiment of the present application. In fig. 5, a plurality of pallets 120 are stacked on the base 20 in order in the height direction of the fork assembly, and each pallet 120 is slidably disposed on the pallet 120 on its adjacent bottom side.
Specifically, the number of trays 120 may be one in fig. 4 or more in fig. 5. Regardless of whether the number of trays 120 is one or more, the trays 120 include a first tray 121 closest to the base, with the present application providing at least one reach assembly 131 between the first tray 121 and the base 20.
The first tray 121 is slidably disposed on the base 20, and a protrusion member 131 between the first tray 121 and the base 20 is used to protrude the first tray 121 beyond an edge of the base 20 toward the first direction F. The number of the protruding members 131 is two, but the application is not limited thereto, and the number of the protruding members may be set according to actual needs.
When the top side and the bottom side of the load bearing structure are defined by taking the extension module as a reference, the fork mechanism 100 comprises a second load bearing body 112 and a first load bearing body 111 which are respectively positioned at the top side and the bottom side of the same extension module, and the second load bearing body 112 is slidably arranged on the first load bearing body 111;
when the protruding member 131 is located between the base 20 and the first tray 121, the base 20 forms the first carrier 111, and the tray 120 forms the second carrier 112.
Referring to fig. 5, when the number of trays 120 is greater than one, the trays 120 further include a second tray 122 positioned adjacent to and on the top side of the first tray 121.
Similar to the above, the first tray 121 is slidably disposed on the base 20, at least one extending component 131 is disposed between the first tray 121 and the base 20, and the extending component 131 between the first tray 121 and the base 20 is used for enabling the first tray 121 to drive the second tray 122 to extend out of the edge of the base 20 toward the first direction F. Also, with respect to the base 20 and the first tray 121, when the extension module 131 between the base 20 and the first tray 121 is operated, the base 20 forms the first carrier 111 and the tray 120 forms the second carrier 112. It can be understood that the above-mentioned operation of the extension assembly 131 between the base 20 and the first tray 121 means that the extension assembly 131 between the base 20 and the first tray 121 is not in a locked state, and the first tray 121 can bring the second tray 122 to extend out of the edge of the base 20 toward the first direction F.
In addition, the second tray 122 is slidably disposed on the first tray 121, and the second tray 122 is located on a side of the first tray 121 facing away from the base 20; that is, the second tray 122 is stacked on the first tray 121, at least one protrusion member 132 is disposed between the first tray 121 and the second tray 122, and the protrusion member 132 between the first tray 121 and the second tray 122 is used to protrude the second tray 122 beyond the edge of the first tray 121 toward the second direction.
With respect to the first tray 121 and the second tray 122, when the extension assembly 132 between the first tray 121 and the second tray 122 is operated, the first tray 121 forms the first carrier 111, and the second tray 122 forms the second carrier 112. Similarly to the above, the operation of the protrusion member 132 between the first tray 121 and the second tray 122 means that the protrusion member 132 between the first tray 121 and the second tray 122 is not in a locked state, and at this time, the second tray 122 can protrude out of the edge of the first tray 121 toward the second direction S.
In other words, in the present application, the fork mechanism 100 defines the components located at the bottom side and the top side of the same protruding module as the first carrier 111 and the second carrier 112, respectively, and the first carrier 111 and the second carrier 112 may refer to different components according to the components protruding from the top side and the bottom side of the module.
In the case that the trays 120 have a larger number, the protrusion assemblies 130 may be disposed between other trays as needed, or may not be disposed, and the present application is not limited thereto.
The following description will be made by taking an example of the connection between the first carrier 111 and the second carrier 112.
Fig. 6 is a schematic structural diagram of a structure of the first carrier 111 and the second carrier 112 in the fork mechanism provided in the embodiment of the present application. In addition, the type of the first carrier 111 and the second carrier 112 is not limited in fig. 6, and the first carrier 111 and the second carrier 112 may be the base 20 and the first tray 121, respectively, or the first carrier 111 and the second carrier 112 may be the first tray 121 and the second tray 122, respectively.
When the number of the protrusion members 130 provided between the first carrier 111 and the second carrier 112 is two, the two protrusion members 130 are arranged at intervals in the width direction W of the fork mechanism 100 and have the same pitch with respect to the center of the fork mechanism 100.
Referring to fig. 6, the extension assembly 130 includes: a resilient force applying member 139, disposed between the first carrier 111 and the second carrier 112, for applying a resilient force toward the third direction T to the second carrier 112;
the locking assembly 150 is disposed on the first carrier 111, and the locking assembly 150 includes a locking member 154, the locking member 154 is disposed on the sliding path of the second carrier 112; and
the unlocking member 160 is linked with the robot arm assembly 50, and the unlocking member 160 is configured to push the locking member 154 to move towards the third direction T when the robot arm assembly 50 moves towards the third direction T, so that the second carrier 112 extends towards the third direction T under the elastic force of the elastic force applying assembly 139, wherein the third direction T is one of the first direction F and the second direction S.
Illustratively, the resilient force applying assembly 139 may include a tension spring 148, a first end of the tension spring 148 being disposed on the first carrier 111 and a second end of the tension spring 148 being disposed on the second carrier 112.
The elastic force applying assembly 139 further includes two end plates 142, 143, the two end plates 142, 143 are respectively disposed on opposite surfaces of the first carrier 111 and the second carrier 112, the two end plates 142, 143 have an overlapping portion in the third direction T, and a first end and a second end of a tension spring 148 are respectively connected to the two end plates 142, 143.
When the tension spring 148 is fixed to the end plates 142 and 143, the tension spring 148 needs to be in a stretched state, so that the tension spring 148 always applies an elastic force toward the third direction T to the second carrier 112.
Fig. 7 is an exploded view of the fork mechanism 100 according to the embodiment of the present disclosure, and fig. 8 is an exploded view of another angle of the fork mechanism 100 according to the embodiment of the present disclosure. Here, the third direction T is directed toward the first direction F, and the fourth direction E is directed toward the second direction S, as an example, but the third direction T may be the second direction S, and the fourth direction E may be the first direction F, which is not limited herein. The unlocking member 160 may be the aforementioned connecting rod 53.
Referring to fig. 7, when the first and second carriers are corresponded to the first and second trays 121 and 122, a first end of the extension spring 141, which is an end of the extension spring 141 in the fourth direction E, is disposed on the first tray 121, and a second end of the extension spring, which is an end of the extension spring in the third direction T, is disposed on the second tray 122.
On this basis, the elastic force applying assembly 139 further includes two end plates 146, 147, the two end plates 146, 147 are respectively disposed on opposite surfaces of the first tray 121 and the second tray 122, the two end plates 146, 147 have an overlapping portion in the third direction T, and first and second ends of the tension spring 141 are respectively connected to the two end plates 146, 147.
The specific positions of the two end plates 146, 147 are as follows, wherein one end plate 147 is located at the end of the second tray 122 in the third direction T, and the other end plate 146 is located on the side of the first tray 121 close to the fourth direction E. A sufficient distance is provided between the two end plates to keep the tension spring 141 in a stretched state. In addition, the height of the two end plates 146 and 147 protruding from the first tray 121 or the second tray 122 can be selected according to actual needs, and is generally smaller than the gap between the first tray 121 and the second tray 122, so as not to interfere with the first tray 121 and the second tray 122.
When the tension spring 141 is fixed to the end plates 146 and 147, the tension spring 141 needs to be in a tension state, and thus the tension spring 141 always applies an elastic force in the fourth direction to the second tray 122.
With respect to the elastic force applying assembly 139 between the first tray 121 and the base 20, referring to fig. 3 and 8, a first end of a tension spring is provided on the base 20 and a second end of the tension spring is provided on the first tray 121.
On this basis, the elastic force applying assembly 139 further includes two end plates 144, 145, the two end plates 144, 145 are respectively disposed on opposite surfaces of the base 20 and the first tray 121, the two end plates 144, 145 have an overlapping portion in the third direction T, and first and second ends of the tension spring 140 are respectively connected to the two end plates 144, 145.
The specific positions of the two end plates 144, 145 are as follows, one end plate 145 being located at the end of the first tray 121 in the fourth direction E, and the other end plate 144 being located on the side of the base body 20 closer to the third direction S. In addition, it is also necessary to have a sufficient distance between the two end plates 144, 145 to keep the tension spring 140 in a stretched state, so that the tension spring 140 always applies an elastic force toward the third direction T to the first tray 121. In addition, the height of the two end plates 144, 145 protruding from the first tray 121 or the base 20 can be selected according to actual needs, and is generally smaller than the gap between the base 20 and the first tray 121, so as not to interfere with the base 20 and the first tray 121. Here, the distance between the base 20 and the first tray 121 is far, it may be that the height of the end plate 144 is significantly higher than the height of the end plate 145, and there is an overlapping portion between the top end of the end plate 144 and the top end of the end plate 145 in the third direction T to keep the extension spring 140 horizontally connected between the end plate 144 and the end plate 145.
In the embodiment of the present application, referring to fig. 6, as mentioned above, the second carrier 112 is slidably disposed on the first carrier 111, for example, the second carrier 112 may be disposed on the first carrier 111 through a sliding block and sliding rail structure.
Illustratively, the second carrier 112 includes a sliding block 113 disposed at the bottom, the top of the first carrier 111 is provided with a sliding rail 114, the sliding rail 114 extends along the direction of the goods entering and exiting the tray 120, and the sliding block 113 can slide along the sliding rail 114 to limit the sliding direction of the second carrier 112 relative to the first carrier 111. Since the slider 113 must move along the slide rail 114, the sliding of the second carrier 112 relative to the first carrier 111 is limited to the extending direction of the slide rail 114.
Specifically to the first tray 121 and the second tray 122, referring to fig. 7, the second tray 122 includes a sliding block 116 disposed at the bottom, a sliding rail 118 is disposed at the top of the first tray 121, the sliding rail 118 extends along the direction of the goods entering and exiting the tray 120, and the sliding block 116 can slide along the sliding rail 118 to limit the sliding direction of the second tray 122 relative to the first tray 121. Since the slider 116 must move along the slide rail 118, the sliding of the second tray 122 relative to the first tray 121 is limited to the extending direction of the slide rail 118.
Specifically to the first tray 121 and the base 20, referring to fig. 8, the first tray 121 includes a slider (not shown) disposed at the bottom, the top of the base 20 is provided with a slide rail 117, the slide rail 117 extends along the direction of the goods entering and exiting the tray 120, and the slider can slide along the slide rail 117 to limit the sliding direction of the first tray 121 relative to the base 20. Since the slider must move along the slide rail 117, the sliding of the first tray 121 with respect to the base 20 is limited to the extending direction of the slide rail 117.
In the embodiment of the present application, referring to fig. 6, the locking assembly 150 further includes a supporting base 151, the supporting base 151 is disposed on the first supporting body 111, and the locking member 154 is disposed in the supporting base 151 and can slide along the direction of the goods entering and exiting the tray 120 relative to the supporting base 151.
The locking member 154 is located between the slide rail 114 and the robot arm assembly 50, and the locking member 154 is provided with a stop arm 1541 extending toward the slide rail 114, and the stop arm 1541 is blocked on a side of the slider 113 facing the third direction T.
As a possible embodiment, a projecting arm 1542 projecting toward the robot arm assembly 50 is further provided on a side of the locking member 154 facing away from the stopper arm 1541, and the projecting arm 1542 is provided on a moving path of the unlocking member 160.
In addition, the locking assembly 150 may further include an elastic restoring member 157, and both ends of the elastic restoring member 157 respectively abut against the protruding arm 1542 and the supporting seat 151, and are configured to apply a restoring force toward the fourth direction E to the locking member 154 when the robot arm assembly 50 moves toward the third direction T.
Specifically, referring to fig. 7, the locking assembly 150 further includes a supporting seat 153, the supporting seat 153 is disposed on the first tray 121, and the locking member 156 is disposed in the supporting seat 153 and can slide in the direction of the goods entering and exiting the tray 120 relative to the supporting seat 153.
The locking member 156 is located between the slide rail 118 and the robot arm assembly 50, and the locking member 156 is provided with a stop arm 1561 extending toward the slide rail 118, and the stop arm 1561 is stopped on the side of the slide block 116 facing the fourth direction E.
As a possible embodiment, the locking member 156 is further provided with a projecting arm 1562 projecting toward the robot arm assembly 50 on a side thereof facing away from the stopper arm 1561, and the projecting arm 1562 is provided in a moving path of the unlocking member 162.
In addition, the locking assembly 150 may further include an elastic restoring member 159, both ends of the elastic restoring member 159 being respectively disposed on the projecting arm 1562 and the supporting seat 153 and being configured to apply a restoring force toward the third direction T to the locking member 156 when the robot arm assembly 50 moves toward the fourth direction E.
Specifically, referring to fig. 3, the locking assembly 150 further includes a supporting base 152 disposed on the base 20, and a locking member 155 disposed in the supporting base 152 and capable of sliding relative to the supporting base 152 in a direction of the goods entering and exiting the tray 120.
For example, the base 20 may include a base plate 21, a support plate 22 and a support column 23 supported between the base plate 21 and the support plate 22, the support plate 22 is located on a side of the base plate 21 facing away from the base 10, and the support seat 152 is disposed on the support plate 22 when the protruding component 131 is located between the first tray 121 and the base 20.
Illustratively, the locking member 155 may be located between the slide rail 117 and the robot arm assembly 50, and the locking member 155 is provided with a stop arm 1551 extending toward the slide rail 117, and the stop arm 1551 is stopped at a side of the slide block 116 facing the third direction.
As a possible embodiment, a protrusion arm 1552 protruding toward the robot arm assembly 50 is further provided on a side of the locking member 155 facing away from the stopper arm 1551, and the protrusion arm 1552 is provided on a moving path of the unlocking member 161.
In addition, the locking assembly 150 may further include a resilient return member 158, and both ends of the resilient return member 158 are respectively disposed on the projecting arm 1552 and the supporting seat 152, and are configured to apply a restoring force toward the fourth direction E to the locking member 155 when the robot arm assembly 50 moves toward the third direction F.
The principle of the mutual movement of the first carrier 111 and the second carrier 112 will be explained with reference to fig. 6.
In the first carrier 111 and the second carrier 112 shown in fig. 6, the tension spring 148 is installed between the two end plates 142, 143, and always applies a force toward the third direction T to the second carrier 112, at this time, since the slider 113 fixed at the bottom of the second carrier 112 is shielded by the stopper arm 1541, the slider 113 cannot move toward the third direction T, when the chain 632 rotates clockwise, the connecting rod 53, that is, the unlocking member 160 touches the extension arm 1542, the extension arm 1542 drives the stopper arm 1541 to move toward the third direction T, the stopper arm 1541 unlocks the slider 113, and at this time, the first carrier 111 extends toward the third direction T under the elastic force of the tension spring 148.
When the chain 632 rotates counterclockwise, the unlocking member 160 moves toward the fourth direction E, and at this time, the extending arm 1542 moves toward the fourth direction E under the elastic force of the elastic restoring member 157, so as to drive the stopping arm 1541 to move toward the fourth direction E, and the stopping arm 1541 pushes the sliding block 113 to drive the second carrier 112 to return to the initial position.
The principle of the tray 120 protruding in both directions will be explained with reference to fig. 7 and 8.
With respect to the base 20 and the first tray 121, the tension spring 140 is installed between the two end plates 144, 145, and always applies a force toward the third direction T to the first tray 121, at this time, since the slider fixed at the bottom of the first tray 121 is shielded by the stopper arm 1551, it cannot move toward the third direction T, when the chain 632 rotates clockwise, the connecting rod 53, i.e., the unlocking member 161, moves in the third direction and hits the projecting arm 1552, the extension arm 1552 drives the stopping arm 1551 to move towards the third direction T (the first direction F), the stopping arm 1551 unlocks the slider, and at this time, the first tray 121 drives the second tray 122 to extend towards the third direction T under the elastic force of the tension spring 140, and it should be noted that, in the process, the unlocking member 162 is linked with the unlocking member 161 through the chain 632, i.e., toward the third direction T, without contacting the projecting arm 1562, i.e., without affecting the locking of the locking member 156 between the first tray 121 and the second tray 122.
When the chain 632 rotates counterclockwise, the unlocking member 161 moves toward the fourth direction E (the second direction S), and at this time, the extending arm 1552 moves toward the fourth direction E under the elastic force of the elastic restoring member 158, so as to drive the stopping arm 1551 to move toward the fourth direction E, and the stopping arm 1551 pushes the slider to drive the first tray 121 to return to the initial position.
Referring to fig. 7, for the first tray 121 and the second tray 122, the tension spring 141 is installed between the two end plates 146 and 147, and a force toward the fourth direction E is always applied to the second tray 122, at this time, since the slider 116 fixed to the bottom of the second tray 122 is shielded by the stopper arm 1561 and cannot move toward the fourth direction E, when the chain 632 rotates clockwise, the connecting rod, that is, the unlocking member 162 touches the extension arm 1562, the extension arm 1562 drives the stopper arm 1561 to move toward the fourth direction E, the stopper arm 1561 unlocks the slider 116, and at this time, the second tray 122 extends toward the fourth direction E by the elastic force of the tension spring 141. It should be noted that, during the process, the unlocking member 161 will be linked with the unlocking member 162 by the chain 632, i.e. move towards the fourth direction E, and will not contact the protruding arm 1552, i.e. will not affect the locking of the locking member 155 between the first tray 121 and the base 20.
When the chain 632 rotates counterclockwise, the unlocking member 162 moves in the third direction F, and at this time, the extending arm 1562 moves in the third direction T under the elastic force of the elastic restoring member 159, and drives the stopping arm 1561 to move in the third direction F, and the stopping arm 1561 pushes the sliding block 116 to drive the first tray 121 to return to the initial position.
Fig. 9 is a schematic overall structure diagram of a transfer robot according to an embodiment of the present application.
Referring to fig. 9, the present application also provides in another aspect a transfer robot 200 including: the movable chassis 201, the lifting mechanism 202, the upright column 203 and the fork mechanism 100 are arranged in the movable chassis 201, the lifting mechanism 202, the upright column 203 and the fork mechanism 100 are arranged on the movable chassis 201, and the lifting mechanism 202 is fixedly connected with the base 10 in the fork mechanism 100, so that the fork mechanism 100 is driven to lift along the upright column 203.
Wherein, it is portable to remove chassis 201 to drive the elevating system 202 that bears, stand 203 and fork mechanism 100 and remove in the lump, in addition, can also be equipped with a plurality of baffles 204 on removing chassis 201, a plurality of baffles 204 are fixed on stand 203 at intervals each other in transfer robot 200's direction of height, in order to form the multilayer goods shelves, all can be used for keeping in the packing box temporarily on arbitrary one deck baffle 204 in the multilayer goods shelves, like this, transfer robot 200 can once carry a plurality of packing boxes, thereby improve transfer robot 200's handling efficiency.
The movable chassis 201 drives the fork mechanism 100 to move, so that the fork mechanism 100 can transport the containers between the multi-layer shelves and the storage shelves, and the lifting mechanism 202 is used for driving the fork mechanism 100 to lift along the upright posts 203, so that the fork mechanism 100 can load and unload the containers on any layer of partition boards 204 of the shelves or any layer of the storage shelves.
The lifting mechanism 202 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 202 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 mechanism 100 is not limited to the transfer robot 200, and the pallet fork mechanism 100 may be applied to the fields of shuttle cars, sorting platforms, and the like.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the utility model has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled 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; such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention
In the description of the present invention, it should be noted that unless otherwise specifically stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning a fixed connection, an indirect connection through intervening media, a connection between two elements, or an interaction between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the drawings described above, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein.
Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the utility model has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled 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 invention.

Claims (25)

1. A pallet fork mechanism, comprising: the mechanical arm assembly is arranged on the mounting plates, the base body is rotatably connected to the base, the mounting plates and the trays are arranged on the base body, the trays and the base are positioned on opposite sides of the base body, and the two mounting plates are positioned on two opposite sides of the trays;
the fork mechanism further comprises a first driving assembly and a second driving assembly which are arranged on the base body, the first driving assembly comprises a first power unit and a first transmission unit, and the first power unit is used for driving the first transmission unit to drive the mechanical arm assembly to extend out of the edge of the mounting plate towards the first direction or the second direction; the second driving assembly comprises a second power unit and a second transmission unit, and the second power unit is used for driving the second transmission unit to drive the base body to rotate relative to the base;
the first power unit and the second power unit are both positioned between the tray and the base;
the first direction and the second direction are the directions of goods entering and exiting the tray and are opposite to each other.
2. The fork mechanism of claim 1, wherein a top end of the first and second drive units is disposed lower relative to a bottom end of the base than a bottom end of the pallet.
3. The fork mechanism of claim 2 wherein the base includes a base plate, the first power unit and the second power unit each being disposed on the base plate.
4. The fork mechanism of claim 2 wherein the robotic arm assembly comprises at least one robotic arm located on a side of the pallet facing away from the base.
5. The fork mechanism of claim 2 wherein the number of arm assemblies is two, one arm assembly is connected to each mounting plate, and the first drive assembly and the second drive assembly are located between the two mounting plates.
6. The fork mechanism of any of claims 1-5, wherein the second transmission unit includes a rotary bearing and a gear coupled to the output shaft of the second power unit, the inner side wall of the inner race of the rotary bearing being provided with gear teeth that intermesh with the gear;
the rotary bearing is located between the base and the base, an inner ring of the rotary bearing is connected with the base, an outer ring of the rotary bearing is connected with the base, and the gear is used for rotating under the driving of the second power unit and rotating around the center of the inner ring of the rotary bearing, so that the base and the base rotate relatively.
7. The fork mechanism of claim 6, wherein the base has a mounting groove formed on a top surface thereof, the rotary bearing is located in the mounting groove, a bottom surface of the inner race of the rotary bearing is fixed to a bottom surface of the mounting groove, a top surface of the outer race of the rotary bearing protrudes from the top surface of the base, and the base is supported and fixed on the top surface of the outer race of the rotary bearing;
and an output shaft of the second power unit penetrates through the base body and extends into the inner side of the bearing inner ring.
8. The fork mechanism of claim 7 wherein the base has a through-hole therethrough, the through-hole having an inner diameter greater than or equal to an inner diameter of an inner race of the slew bearing and less than or equal to an inner diameter of an outer race of the slew bearing.
9. The fork mechanism of claim 1 wherein the mounting plate further comprises a mounting block, wherein two ends of the mounting block are connected to the base and the mounting plate, respectively, and one end of the mounting block connected to the mounting plate is located on a bottom side of the mechanical arm assembly corresponding to the mounting plate.
10. The fork mechanism of claim 1, further comprising at least one extension assembly, the pallet comprising a first pallet slidably disposed on the base, the at least one extension assembly disposed between the first pallet and the base for extending the first pallet in a first direction beyond an edge of the base;
wherein the directions of the goods entering and exiting the tray include a first direction and a second direction which are opposite.
11. The fork mechanism of claim 10, wherein the fork mechanism comprises a first carrier and a second carrier on a bottom side and a top side of the same extension assembly, respectively, the second carrier slidably disposed on the first carrier;
when at least one of the extension assemblies is positioned between the base and the first tray, the base forms the first carrier and the tray forms the second carrier.
12. The fork mechanism of claim 10, wherein the pallet further comprises a second pallet slidably disposed on the first pallet, the second pallet being located on a side of the first pallet facing away from the base; at least one extending component is also arranged between the first tray and the second tray, and the extending component positioned between the first tray and the second tray is used for enabling the second tray to extend out of the edge of the first tray towards the second direction.
13. The fork mechanism of claim 12, wherein the fork mechanism comprises a first carrier and a second carrier on a bottom side and a top side of the same extension module, respectively, the second carrier slidably disposed on the first carrier;
when the extension assembly between the base body and the first tray works, the base body forms the first bearing body, and the tray forms the second bearing body;
when the extension assembly between the first tray and the second tray works, the first tray forms the first bearing body, and the second tray forms the second bearing body.
14. The fork mechanism of claim 11 or 13 wherein the extension assembly comprises:
the elastic force applying assembly is arranged between the first carrier and the second carrier and is used for applying an elastic force towards a third direction to the second carrier;
the locking assembly is arranged on the first bearing body and comprises a locking piece which is arranged on a sliding path of the second bearing body in a blocking mode; and
the unlocking piece, the unlocking piece with the arm subassembly linkage, just the unlocking piece is used for the arm subassembly orientation when the third direction moves, promote the locking piece to the third direction moves, so that the second supporting body is in the elastic force of subassembly is applyed to the elastic force down the orientation the third direction stretches out, wherein, the third direction is first direction with one of them of second direction.
15. The pallet fork mechanism of claim 14, wherein the spring force applying assembly comprises a tension spring having a first end and a second end disposed on the first carrier and the second carrier, respectively.
16. The fork mechanism of claim 15 wherein the spring force applying assembly includes two end plates disposed on opposite sides of the first carrier and the second carrier, respectively, the two end plates having an overlapping portion in the third direction, the first end and the second end of the extension spring being connected to the two end plates, respectively.
17. The fork mechanism of claim 15 wherein the locking assembly further comprises a support base disposed on the first carrier, the locking member extending through the support base and being slidable relative to the support base in a direction to move the load into and out of the pallet.
18. The fork mechanism of claim 17 wherein the base includes a base plate, a support plate, and a support post supported between the base plate and the support plate, the support plate being located on a side of the base plate facing away from the base; when the extending component is arranged between the first tray and the base body, the supporting seat is arranged on the supporting plate.
19. The fork mechanism of claim 17, wherein the second carrier includes a slider disposed at a bottom, the first carrier having a top with a track extending in a direction of the load into and out of the pallet, the slider being slidable along the track to limit a sliding direction of the second carrier relative to the first carrier;
the locking piece is located between the slide rail and the mechanical arm assembly, a stopping arm extending towards the slide rail is arranged on the locking piece, and the stopping arm is arranged on one side, facing the third direction, of the slide block in a stopping mode.
20. The fork mechanism of claim 19 wherein the side of the locking member facing away from the stop arm is further provided with a projecting arm projecting toward the robot arm assembly, the projecting arm being disposed in the path of movement of the unlocking member.
21. The fork mechanism of claim 20, wherein the latch assembly further comprises a resilient return member having ends disposed on the extendable arm and the support base, respectively, and configured to apply a return force to the latch member in a fourth direction when the robotic arm assembly is moved in the third direction, wherein the fourth direction is opposite the third direction.
22. The fork mechanism of claim 21 wherein the arm assembly includes a mechanical arm and a connecting rod, the mechanical arm is capable of extending beyond an edge of the mounting plate in a direction of the cargo entering and exiting the pallet, the first transmission unit includes a sprocket assembly including a chain and two sprockets spaced apart in a direction of the cargo entering and exiting the pallet, the two sprockets are disposed on the mounting plate and located on a bottom side of the arm assembly on the mounting plate, the sprockets are rotatable under the drive of the first power unit, the chain extends over the two sprockets, the connecting rod is in linkage with the chain, the connecting rod is configured to drive the mechanical arm to move when the chain is in operation, and the connecting rod forms the unlocking member.
23. The fork mechanism of claim 22 wherein the connecting rod has an engagement tooth at an end toward the chain, the engagement tooth engageable with a link of the chain.
24. The fork mechanism of claim 14, wherein when there are two projecting assemblies provided between the first carrier and the second carrier, the two projecting assemblies are spaced apart in the width direction of the fork mechanism and have the same spacing relative to the center of the fork mechanism; wherein the width direction of the fork mechanism is perpendicular to the first direction.
25. A transfer robot, characterized by comprising: a mobile chassis for carrying the lifting mechanism, the mast and the fork mechanism of any of claims 1-24, a lifting mechanism fixedly connected to a base in the fork mechanism for driving the fork mechanism up and down along the mast, a mast and the fork mechanism.
CN202122327396.9U 2021-09-24 2021-09-24 Fork mechanism and transfer robot Active CN216038490U (en)

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Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
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Publications (1)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114715589A (en) * 2022-04-01 2022-07-08 杭州东城科技有限公司 Disk taking mechanism, storage type access equipment applying disk taking mechanism and access method
WO2023045777A1 (en) * 2021-09-24 2023-03-30 深圳市海柔创新科技有限公司 Fork mechanism, and transfer robot

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023045777A1 (en) * 2021-09-24 2023-03-30 深圳市海柔创新科技有限公司 Fork mechanism, and transfer robot
CN114715589A (en) * 2022-04-01 2022-07-08 杭州东城科技有限公司 Disk taking mechanism, storage type access equipment applying disk taking mechanism and access method
CN114715589B (en) * 2022-04-01 2023-12-15 杭州东城科技有限公司 Tray taking mechanism, storage type storage equipment using tray taking mechanism and storage method

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