CN216637858U - Carrying device and robot - Google Patents

Abstract

The application provides a carrying device and a robot, wherein the carrying device comprises a supporting frame, a fork assembly, a controller and a detection assembly, the fork assembly and the detection assembly are arranged on the supporting frame, and the detection assembly and the fork assembly are electrically connected with the controller; the detection assembly comprises a first detection piece and a second detection piece, the fork assembly comprises two fork arms, the fork arms stretch out and draw back relative to the support frame to pick and place the goods, the first detection piece is used for detecting the position of the goods to be picked, the second detection piece is used for detecting the width of the goods to be picked, and the controller controls the fork arms to stop picking the goods when the width of the goods detected by the second detection piece is larger than the maximum safe picking distance between the two fork arms. The application provides a handling device can detect the width of goods to make handling device can carry the packing box smoothly.

Description

Carrying device and robot

Technical Field

The application relates to the technical field of robots, in particular to a carrying device and a robot.

Background

The carrying robot can replace manual work to carry out carrying work such as packing boxes, greatly lightens heavy manual labor of human beings, improves production efficiency, and realizes quality and efficiency improvement.

The carrying robot comprises a robot body and a carrying device, wherein the carrying device is connected with the robot body and can lift and rotate relative to the robot body, the carrying device comprises a carrying device body, a goods fork arm and a detection piece (such as a camera or a camera), the goods fork arm and the detection piece are arranged on the carrying device body, the position of a to-be-taken box on a goods shelf is detected through the detection piece, and the relative position of the goods fork arm and the to-be-taken box is adjusted, so that a container on the goods shelf is carried to the carrying device body.

However, when the periphery of the container is deformed and expanded, if the expansion amount exceeds the maximum width of the container that can be conveyed by the conveying device, the conveying device cannot smoothly convey the container.

SUMMERY OF THE UTILITY MODEL

Accordingly, the utility model provides a conveying device and a robot, wherein the conveying device can detect the width of goods so that the conveying device can smoothly convey the goods box.

In a first aspect, the utility model provides a carrying device, which comprises a supporting frame, a fork assembly, a controller and a detection assembly, wherein the fork assembly and the detection assembly are arranged on the supporting frame, and the detection assembly and the fork assembly are electrically connected with the controller;

the detection assembly comprises a first detection piece and a second detection piece, the fork assembly comprises two fork arms, the fork arms stretch out and draw back relative to the support frame to pick and place the goods, the first detection piece is used for detecting the position of the goods to be picked up, the second detection piece is used for detecting the width of the goods to be picked up, and when the width of the goods detected by the second detection piece is larger than the maximum safe goods picking distance between the two fork arms, the controller controls the fork arms to stop picking up the goods, wherein the width direction of the goods is consistent with the distance direction between the two fork arms.

In one possible implementation mode, the conveying device provided by the utility model has the advantages that the distance between the two fork arms is adjustable, the distance between the two fork arms has the maximum distance and the minimum distance, and the controller controls the at least one fork arm to move when the width of the goods is larger than the minimum distance and smaller than the maximum distance, so that the distance between the two fork arms is matched with the width of the goods;

and when the width of the goods is larger than or equal to the maximum distance, the controller controls the goods fork arm to stop taking the goods.

In a possible implementation manner, the conveying device provided by the utility model is provided with two second detection pieces, the two second detection pieces are arranged in one-to-one correspondence with the fork arms, the detection ends of the second detection pieces face the extension sides of the fork arms, and the two second detection pieces are respectively used for detecting the width of the goods, so that the conveying device can smoothly convey two sides in the direction of the container.

In one possible implementation manner, the conveying device provided by the utility model is characterized in that the detection end of the second detection piece is provided with a detection part, and the extension surface of the inner side surface of the fork arm is positioned in the middle area of the detection part corresponding to the fork arm.

In one possible implementation manner, the conveying device provided by the utility model is characterized in that the inner side surface of the cargo fork arm and the middle surface of the detection part corresponding to the cargo fork arm are positioned in the same plane.

In a possible implementation manner, the supporting frame includes two outer side plates, the cargo forks and the second detecting members are respectively disposed in one-to-one correspondence with the outer side plates, the second detecting members are disposed on the outer side plates, the second detecting members are located below the cargo forks, and the cargo forks are connected to the outer side plates and extend and retract relative to the outer side plates.

In a possible implementation manner, the carrying device provided by the utility model further comprises a connecting piece, and the second detecting piece is connected with the outer side plate through the connecting piece.

In a possible implementation manner, in the carrying device provided by the utility model, the connecting piece comprises a supporting part and a bending part connected with the supporting part, the bending part is detachably connected with the outer side plate, and the second detection piece is detachably connected with the supporting part.

In a possible implementation manner, the carrying device provided by the utility model further comprises two protective covers, the protective covers and the second detection pieces are arranged in a one-to-one correspondence manner, and the protective covers cover the outer walls of the second detection pieces.

In one possible implementation, the utility model provides that the protective cover is detachably connected with the outer side plate.

In a possible implementation manner, the utility model provides the carrying device, wherein the first detection piece is a three-dimensional camera.

In one possible implementation manner, the present invention provides the conveying device, wherein the second detecting member is a width sensor.

In a possible implementation manner, the present invention provides the carrying device, wherein the second detecting member is a position sensor or a laser sensor.

In a possible implementation manner, the carrying device provided by the utility model further comprises a base, a telescopic tray and a rotating mechanism, wherein the telescopic tray is connected with the base through the rotating mechanism, the telescopic tray is located between the two fork arms, the telescopic tray is connected with the supporting frame and is telescopic relative to the supporting frame, and the rotating mechanism is used for driving the telescopic tray and the fork assembly to rotate relative to the base.

In a second aspect, the present invention further provides a robot including a robot body and the carrying device of the first aspect disposed on the robot body.

The utility model provides a carrying device and a robot, wherein the carrying device is provided with a fork assembly, a controller and a detection assembly, and the detection assembly and the fork assembly are electrically connected with the controller; the detection assembly comprises a first detection piece and a second detection piece, the fork assembly comprises two fork arms, the first detection piece is used for detecting the position of a to-be-taken cargo, the second detection piece is used for detecting the width of the to-be-taken cargo, the fork assembly is used for taking and placing the cargo, the first detection piece enables the fork assembly to find the correct position of the to-be-taken cargo, whether the width of the cargo is larger than the maximum safe cargo taking distance between the two fork arms or not is judged through the second detection piece, and when the width of the cargo is larger than the maximum safe cargo taking distance between the two fork arms, the two fork arms stop taking the cargo through the controller, so that the situation that the fork arms are blocked or damaged due to forced cargo taking is avoided.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

Fig. 1 is a schematic structural diagram of a handling device according to an embodiment of the present disclosure;

FIG. 2 is a rear view of FIG. 1;

FIG. 3 is an enlarged view of a portion A of FIG. 1;

fig. 4 is a schematic structural view of a fork arm, a second detecting member and an outer panel of the transporting device according to the embodiment of the present disclosure;

FIG. 5 is a left side view of FIG. 4;

fig. 6 is a partially enlarged view of fig. 4 at B.

Description of reference numerals:

100-a support frame;

110-outer panels;

200-a fork assembly;

210-a pallet fork arm; 211-medial side;

300-a second detection member;

310-detection end; 311-a detection section;

400-a connector;

410-a support portion; 420-bending part;

500-a protective cover;

600-a base;

700-a telescopic tray;

800-rotating mechanism.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the accompanying drawings in the preferred embodiments of the present application. In the drawings, the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The described embodiments are a subset of the embodiments in the present application and not all embodiments in the present application. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application. Embodiments of the present application will be described in detail below with reference to the accompanying drawings.

In the description of the present application, it should be noted that unless otherwise specifically stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may for example be fixed or indirectly connected through intervening media, or may be interconnected between two elements or may be in the interactive relationship between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations and positional relationships based on the drawings, are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application.

The terms "first," "second," and "third" (if any) in the description and claims of this application and the above-described drawings 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.

Moreover, 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 display that comprises a list of steps or elements is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or display.

The carrying robot comprises a robot body and a carrying device, wherein the carrying device is connected with the robot body and can lift and rotate relative to the robot body, the carrying device comprises a carrying device body, a goods fork arm and a detection piece (such as a camera or a camera), the goods fork arm and the detection piece are arranged on the carrying device body, the position of a to-be-taken box on a goods shelf is detected through the detection piece, and the relative position of the goods fork arm and the to-be-taken box is adjusted, so that a container on the goods shelf is carried to the carrying device body.

When storage article are too much in the packing box, can lead to the deformation inflation all around of packing box, the correct position of waiting to get the packing box can only be found to the fork arm of detection piece, and can't know and judge the specific width size of packing box, if the inflation volume has surpassed the maximum width that handling device can carry the packing box, the fork arm still stretches out to remove the packing box, can lead to the fork arm jamming, leads to the fork arm to damage even. And when detecting the packing box position, detection pieces such as camera or camera, the recognition rate is slower, and detection efficiency is lower.

Based on this, this application embodiment provides a handling device and robot, and handling device can detect the width of goods to when the width of goods exceedes the biggest safe clearance of getting between two goods yoke, control goods yoke stop getting goods.

Fig. 1 is a schematic structural diagram of a handling device according to an embodiment of the present disclosure; fig. 2 is a rear view of fig. 1. Referring to fig. 1 and 2, the carrying device provided in the embodiment of the present application is disposed on a robot, the robot may include a robot body and a carrying device, the carrying device is connected to the robot body, the carrying device may carry goods between different shelves, the carrying device includes a supporting frame 100, a fork assembly 200, a controller (not shown in the figure), and a detection assembly, the fork assembly 200 and the detection assembly are disposed on the supporting frame 100, and the detection assembly and the fork assembly 200 are electrically connected to the controller. The controller can be arranged on the robot body and connected with the detection assembly and the fork assembly 200 through a control line, or the detection assembly and the fork assembly 200 are wirelessly connected with the controller.

The supporting frame 100 is a supporting and fixing structure of the carrying device, the fork assembly 200, the detection assembly and the like are mounted on the supporting frame 100, and the detection assembly and the fork assembly 200 are electrically connected with the controller, so that the controller controls the detection assembly and the fork assembly 200.

In the present application, the detecting assembly includes a first detecting member and a second detecting member 300, the fork assembly 200 includes two fork arms 210, the fork arms 210 extend and retract relative to the supporting frame 100 to pick and place the goods, and the first detecting member is used to detect the position of the goods, so that the fork arms 210 are aligned with the goods to be picked, and the fork assembly 200 has a normal goods picking condition. The second detection member 300 is used for detecting the width of the goods to be taken, and the controller controls the fork arms 210 to stop taking the goods when the width of the goods detected by the second detection member 300 is greater than the maximum safe goods taking distance between the two fork arms 210.

That is, after the two fork arms 210 are respectively aligned with the two sides of the goods in the width direction, the second detecting member 300 detects the width of the goods, and if the width of the goods to be taken is less than or equal to the maximum safe goods taking distance between the two fork arms 210, the controller controls the two fork arms 210 to extend out of the supporting frame 100 relative to the supporting frame 100, and the fork arms 210 extend to the two sides of the goods to clamp the goods and retract relative to the supporting frame 100, so as to carry the goods to the carrying device.

If the width of the goods to be taken is greater than the maximum safe goods taking distance between the two goods fork arms 210, at the moment, the carrying device makes a judgment according to the detection information fed back by the second detection piece 300, the goods fork arms 210 cannot take the goods normally, and then the goods fork arms 210 are controlled to stop taking the goods through the controller, so that the situation that the goods to be taken are stuck or damaged due to the fact that the width of the goods to be taken is too large is avoided. Wherein the width direction of the goods coincides with the direction of the interval between the two fork arms 210.

The carrying device provided by the embodiment of the application, through set up fork subassembly 200 on support frame 100 in order to get and put the goods, set up first detection piece on support frame 100 and find the correct position of the goods of waiting to get, whether the width of rethread second detection piece 300 judgement goods is greater than the maximum safety between two goods yoke arms 210 and gets the goods interval, action on next step through controller control goods yoke arm 210, and when the width of goods is greater than the maximum safety between two goods yoke arms 210 and get the goods interval, two goods yoke arms 210 of controller control stop getting the goods, in order to avoid getting the goods by force and cause goods yoke arm 210 jamming or damage.

In some embodiments, the distance between the two forks 210 is adjustable, the distance between the two forks 210 has a maximum distance and a minimum distance, and the controller controls the movement of at least one fork 210 when the width of the cargo is greater than the minimum distance and less than the maximum distance, so that the distance between the two forks 210 matches the width of the cargo. For example, one of the fork arms 210 is connected to a driving member that drives one of the fork arms 210 to move relative to the other fork arm 210 to adjust the spacing between the two fork arms 210, or both of the fork arms 210 are connected to a driving member that drives the two fork arms 210 to simultaneously move toward or away from each other to adjust the spacing between the two fork arms 210. Like this, fork arm 210 can the centre gripping goods of different width dimensions, perhaps the tip of centre gripping arm is provided with rotatable finger, and the finger can be colluded the goods of different width dimensions, and fork arm 210's adaptability is better. For example, the driving member may be a linear motor, a pneumatic cylinder, a hydraulic cylinder, or the like.

When the width of the goods is larger than or equal to the maximum distance, the controller controls the goods fork arm 210 to stop taking the goods, so that the goods fork arm 210 is prevented from being stuck or damaged due to forced goods taking.

Because the fork arms 210 are mounted on the supporting frame 100, the distance between the two opposite ends of the supporting frame 100 is limited, the maximum distance between the two fork arms 210 cannot exceed the distance between the two ends of the supporting frame 100, otherwise the fork arms 210 cannot be fixed to the supporting frame 100. In order to save the time for adjusting the distance between the fork arms, the minimum distance between the two fork arms 210 should not be too small, and during specific implementation, the minimum distance between the two fork arms 210 can be set according to the width of the goods and is slightly smaller than the width of the goods.

For safety, in the implementation, the maximum safe pick-up distance is greater than the minimum distance, and the maximum safe pick-up distance is smaller than the maximum distance, when the width of the cargo is greater than the maximum safe pick-up distance and smaller than the maximum distance, the distance between the two fork arms 210 can be adjusted to be consistent with the width of the cargo, the fork arms 210 can extend outward for a distance for better detection, and then the fork arms 210 retract, and the fork arms 210 stop picking up the cargo.

FIG. 3 is an enlarged view of a portion A of FIG. 1; fig. 4 is a schematic structural view of a fork arm, a second detecting member and an outer panel of the transporting device according to the embodiment of the present disclosure. Referring to fig. 1, 3 and 4, in the present application, the number of the second detecting members 300 may be two, the second detecting members 300 are disposed in one-to-one correspondence with the fork arms 210, the detecting ends 310 of the second detecting members 300 face the extending sides of the fork arms 210, and the two second detecting members 300 are respectively used for detecting both sides of the goods in the width direction.

In a specific implementation, as shown in fig. 4 and 5, the detecting end 310 of the second detecting member 300 has a detecting portion 311, and the extension surface of the inner side surface 211 of the fork arm 210 is located in the middle region of the detecting portion 311 corresponding to the fork arm 210.

It can be understood that the inner side surface 211 of the fork arm 210 is a plane, the extension surface of the inner side surface 211 of the fork arm 210 is a plane where the inner side surface 211 of the fork arm 210 is located, the detection portion 311 has a detection area, that is, a middle area of the detection portion 311, when the detection assembly is mounted on the support frame 100, the extension surface of the inner side surface 211 of the fork arm 210 is located in the middle area of the detection portion 311 corresponding to the fork arm 210, and thus, the second detection member 300 determines whether the width of the cargo is greater than the maximum safe cargo taking distance between the two fork arms 210 by detecting whether two side surfaces of the cargo in the width direction are located in the middle area of the detection portion 311.

Referring to fig. 4, in some embodiments, the inner side surface 211 of the fork arm 210 and the middle surface of the sensing portion 311 corresponding to the fork arm 210 are located in the same plane. When the detecting assembly is mounted on the supporting frame 100, the inner side surface 211 of the fork arm 210 and the middle surface of the detecting portion 311 corresponding to the fork arm 210 are located on the same plane, and thus, the second detecting member 300 determines whether the width of the cargo is greater than the maximum safe cargo taking distance between the two fork arms 210 by detecting whether the two side surfaces of the cargo in the width direction are located on the same plane as the middle surface of the detecting portion 311.

Referring to fig. 2 and 4, in a specific implementation, the supporting frame 100 includes two outer panels 110, the cargo fork arms 210 and the second detecting members 300 are disposed corresponding to the outer panels 110 one by one, the second detecting members 300 are disposed on the outer panels 110, the second detecting members 300 are located below the cargo fork arms 210, and the cargo fork arms 210 are connected to the outer panels 110 and extend and retract relative to the outer panels 110.

When the fork arm 210 picks up goods, the fork arm 210 can extend out of the support frame 100 relative to the support frame 100, and the outer side plate 110 is fixed relative to the support frame 100, so that the second detection piece 300 and the fork arm 210 are fixed on the outer side plate 110, the position of the second detection piece 300 can be ensured not to change relative to the support frame 100, the fork arm 210 extends and retracts relative to the outer side plate 110 and the second detection piece 300, and therefore the extension surface of the inner side surface 211 of the fork arm 210 is always located in the middle area of the detection part 311, or the inner side surface 211 of the fork arm 210 and the middle surface of the detection part 311 are always located on the same plane, and therefore the detection consistency of the second detection piece 300 can be ensured. The second detection member 300 is disposed below the fork arm 210, so that the fork arm 210 does not affect the detection of the second detection member 300 when the fork arm 210 extends and contracts.

In addition, referring to fig. 4, the carrying device provided in the embodiment of the present application further includes a connecting member 400, and the second detecting member 300 is connected to the outer panel 110 through the connecting member 400. Therefore, the second detecting member 300 can be fixed to the conveying device, and the second detecting member 300 is stably and reliably fixed.

FIG. 5 is a left side view of FIG. 4; fig. 6 is a partially enlarged view of fig. 4 at B. Referring to fig. 5 and 6, in a specific implementation, the connection member 400 includes a support portion 410 and a bending portion 420 connected to the support portion 410, the bending portion 420 is detachably connected to the outer panel 110, and the second detection member 300 is detachably connected to the support portion 410.

To the handling device of the width that can not detect the goods, accessible connecting piece 400 is fixed the second and is detected piece 300 to outer panel 110 on, and connecting piece 400 all adopts detachable connected mode with outer panel 110 and second and detects piece 300, and the installation is simple reliable, is convenient for upgrade the transformation to existing handling device. In addition, when the second detection piece 300 has a fault, the second detection piece 300 can be conveniently detached for overhauling and maintenance.

In order to avoid other factors from affecting the second detection piece 300 to detect, the carrying device provided in the embodiment of the present application further includes two protective covers 500, which can be specifically shown in fig. 2 and fig. 3, the protective covers 500 are disposed in one-to-one correspondence with the second detection piece 300, and the protective covers 500 are coated on the outer wall of the second detection piece 300, so that the detection ends 310 are not blocked, and therefore, the protective covers 500 can protect the second detection piece 300, thereby improving the fixing reliability and the detection reliability of the second detection piece 300, and simultaneously, the second detection piece 300 is not affected to detect.

Specifically, the protection cover 500 is detachably connected to the outer panel 110, and the protection cover 500 is connected to the outer panel 110 through conventional methods such as screws, so that the protection cover 500 is fixed to the outer panel 110, and the protection cover 500 is easy and convenient to mount, and can be detached from the protection cover 500 when needed, so that the second detection member 300 can be rapidly overhauled or replaced.

In the present application, the first detecting member is a three-dimensional camera. The robot needs to sense and analyze the environment when working, then judgment is made, the three-dimensional camera can scan the goods, point cloud data of the goods are obtained, intelligent identification and positioning analysis are completed through three-dimensional modeling of the point cloud data, the current position of the goods is accurately judged, and three-dimensional coordinate information of the goods is sent to the carrying device through the data interface, so that the carrying device is assisted to complete complex identification and carrying tasks.

In some embodiments, the second detecting member 300 is a width sensor. The width sensor is a machine vision device with image recognition and analysis, and the width sensor can be according to the width of the automatic analysis goods of the image of gathering to assist handling device to judge whether the width of goods is greater than the maximum safe pick-up spacing between two fork arms 210, the width sensor installation and debugging is convenient, is convenient for upgrade and reform existing handling device, and width sensor reliability and stability are high.

When the second sensing member 300 is a width sensor, the number of the second sensing member 300 may be one, and one width sensor is provided at an intermediate position of the two fork arms 210.

In other embodiments, the second sensing member 300 is a position sensor or a laser sensor. The width sensor and the laser sensor have high recognition speed and high detection efficiency. When the second detecting member 300 is a position sensor or a laser sensor, the number of the second detecting member 300 is two, and the two position sensors or the laser sensors are respectively and correspondingly disposed below the two fork arms 210, as shown in fig. 2.

The position sensor is a sensor which can sense the position of a measured object and convert the position into a usable output signal, the laser sensor is a sensor which utilizes a laser technology to measure, the laser has the advantages of high directionality, high monochromaticity, high power and the like, and the detection precision of the laser sensor is high.

The carrying device can detect two side surfaces of the goods in the width direction by using the position sensor or the laser sensor, so that the width parameter of the goods is obtained, and whether the width of the goods is larger than the maximum safe goods taking distance between the two fork arms 210 is judged.

Referring to fig. 1 and 2, the carrying device provided in the embodiment of the present application further includes a base 600, a retractable tray 700 and a rotating mechanism 800, the retractable tray 700 is connected to the base 600 through the rotating mechanism 800, the retractable tray 700 is located between two fork arms 210, the retractable tray 700 is connected to the supporting frame 100, the retractable tray 700 is retractable with respect to the supporting frame 100, and the rotating mechanism 800 is configured to drive the retractable tray 700 and the fork assembly 200 to rotate with respect to the base 600.

When goods are taken, the telescopic tray 700 and the two fork arms 210 simultaneously extend out of the support frame 100 to carry the goods to the robot body, and the rotating mechanism 800 can drive the telescopic tray 700 and the fork arms 210 to rotate relative to the base 600, so that the telescopic directions of the telescopic tray 700 and the fork arms 210 are consistent with the width direction of the goods to be taken.

The retractable tray 700 and the rotating mechanism 800 may be of a structure known to those skilled in the art, and the embodiment is not limited thereto.

The embodiment of the application also provides a robot, which comprises a robot body and the carrying device arranged on the robot body and provided with the first aspect.

The structure and the working principle of the carrying device have been described in the foregoing embodiments, and are not described in detail herein.

It can be understood that the robot body may include a column assembly, a lifting assembly and a plurality of trays, the lifting assembly and the plurality of trays are connected to the column assembly, the lifting assembly can be lifted and lowered along the extending direction of the column assembly relative to the column assembly to enable the carrying device to reach the height of the goods, the plurality of trays are arranged at intervals along the extending direction of the column assembly to be used for placing the goods, and the rotating mechanism 800 drives the telescopic tray 700 to rotate relative to the base 600 to enable the entrance of the telescopic tray 700 to be aligned with the goods on the shelf or the tray.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims (15)

1. A carrying device is characterized by comprising a supporting frame, a fork assembly, a controller and a detection assembly, wherein the fork assembly and the detection assembly are arranged on the supporting frame, and the detection assembly and the fork assembly are electrically connected with the controller;

the detection assembly comprises a first detection piece and a second detection piece, the fork assembly comprises two fork arms, the fork arms are relative to the support frame and stretch out and draw back to take and put the goods, the first detection piece is used for detecting the position of the goods to be taken, the second detection piece is used for detecting the width of the goods to be taken, the controller is used for controlling the fork arms to stop taking the goods when the width of the goods detected by the second detection piece is greater than two maximum safe goods taking intervals between the fork arms, wherein the width direction of the goods is consistent with the direction of the intervals between the fork arms.

2. The transfer device of claim 1, wherein the spacing between the two forks is adjustable, the spacing between the two forks having a maximum spacing and a minimum spacing, the controller controlling the movement of at least one of the forks to match the spacing between the forks with the width of the load when the width of the load is greater than the minimum spacing and less than the maximum spacing;

and the controller controls the fork arms to stop picking when the width of the goods is larger than or equal to the maximum distance.

3. The conveying apparatus according to claim 2, wherein the number of the second detecting members is two, the second detecting members are provided in one-to-one correspondence with the fork arms, the detecting ends of the second detecting members face the extending sides of the fork arms, and the two second detecting members are respectively used for detecting both sides of the load in the width direction.

4. The carrying device according to claim 3, wherein the detecting end of the second detecting member has a detecting portion, and the extension surface of the inner side surface of the fork arm is located at a middle region of the detecting portion corresponding to the fork arm.

5. The carrying device according to claim 4, wherein an inner side surface of the fork arm and a middle surface of the detection portion corresponding to the fork arm are located in the same plane.

6. The carrying device as claimed in any one of claims 3 to 5, wherein the supporting frame comprises two outer side plates, the cargo forks and the second detecting member are arranged in one-to-one correspondence with the outer side plates, the second detecting member is arranged on the outer side plates, the second detecting member is located below the cargo forks, and the cargo forks are connected with the outer side plates and extend and retract relative to the outer side plates.

7. The handling device of claim 6, further comprising a connector by which the second detection member is connected to the outer panel.

8. The conveying device according to claim 7, wherein the connecting member includes a support portion and a bent portion connected to the support portion, the bent portion is detachably connected to the outer side plate, and the second detecting member is detachably connected to the support portion.

9. The carrying device as claimed in claim 6, further comprising two protective covers, wherein the protective covers are arranged in one-to-one correspondence with the second detection members, and the protective covers are covered on the outer walls of the second detection members.

10. The handling device of claim 9, wherein the protective enclosure is removably attached to the outer side panel.

11. Handling device according to any of claims 1-5, where the first detection member is a three-dimensional camera.

12. Handling device according to claim 1 or 2, characterized in that the second detection member is a width sensor.

13. Handling device according to any of claims 3-5, where the second detection member is a position sensor or a laser sensor.

14. The handling device of any one of claims 1 to 5, further comprising a base, a retractable tray and a rotating mechanism, wherein the retractable tray is connected with the base through the rotating mechanism, the retractable tray is located between the two fork arms, the retractable tray is connected with the support frame, the retractable tray is retractable relative to the support frame, and the rotating mechanism is used for driving the retractable tray and the fork assembly to rotate relative to the base.

15. A robot comprising a robot body and the carrying device according to any one of claims 1 to 14 provided on the robot body.

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