CN218344387U

CN218344387U - Fork subassembly and transfer robot

Info

Publication number: CN218344387U
Application number: CN202222680187.7U
Authority: CN
Inventors: 佘俏; 詹庆鑫; 安利
Original assignee: Hai Robotics Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2022-10-12
Filing date: 2022-10-12
Publication date: 2023-01-20
Anticipated expiration: 2032-10-12

Abstract

The application relates to a fork subassembly and transfer robot. The fork assembly comprises a fork body, a tray, a telescopic arm and a linkage mechanism; the pallet is arranged on the pallet fork body and can extend and retract relative to the pallet fork body; the telescopic arm is arranged on the pallet fork body and can extend and retract relative to the pallet fork body, and the telescopic direction of the telescopic arm is parallel to that of the pallet; the linkage mechanism is arranged on the tray and comprises a first linkage piece and a second linkage piece linked with the first linkage piece; when the telescopic arm extends towards the direction of the goods shelf, the tray is driven to extend towards the goods shelf through the second linkage piece; when the tray extends out of the goods shelf, the first linkage piece moves to the goods shelf until the first linkage piece touches the goods shelf and moves relative to the tray; the first linkage piece is used for driving the second linkage piece to move relative to the tray when moving relative to the tray so as to enable the second linkage piece to be separated from the telescopic arm. The scheme that this application provided can reduce the impact to goods shelves when the tray stretches out, is suitable for the multiple tunnel condition.

Description

Fork subassembly and transfer robot

Technical Field

The application relates to the technical field of storage logistics, in particular to a pallet fork assembly and a transfer robot.

Background

With the improvement of the automation degree of the logistics industry, the transfer robot is increasingly used for transferring goods, and therefore, the transfer robot becomes a research hotspot of the logistics industry.

In the related art, a transfer robot includes a fork assembly that can be lifted in a vertical direction, the fork assembly being used to take out goods from a rack or to transfer goods to the rack; the fork subassembly has the tray and the flexible arm that can stretch out and draw back the removal in the horizontal direction, and the tray level can touch with the side of goods shelves when stretching out, and flexible arm can stretch into in the goods shelves to on moving the goods on the goods shelves and getting the tray, perhaps transfer the goods from the tray to on the goods shelves.

However, the tray is usually driven by the extension spring when extending to the shelf, the tray can be collided with the shelf with great force by the elastic potential energy released when the extension spring is contracted and reset, the shelf is easy to deform and make abnormal sound, and the movable distance of the tray limited by the extension amount of the spring is small, so that the tray is not suitable for more roadway conditions.

SUMMERY OF THE UTILITY MODEL

For solving or the problem that exists among the part solution correlation technique, this application provides a fork subassembly and transfer robot, can reduce the impact to goods shelves when the tray stretches out, is suitable for the multiple tunnel condition.

The application provides a fork subassembly in the first aspect, includes fork body, tray, flexible arm and link gear. The pallet is arranged on the pallet fork body and can extend out and retract relative to the pallet fork body; the telescopic arm is arranged on the pallet fork body and can extend out and retract relative to the pallet fork body, and the telescopic direction of the telescopic arm is parallel to the telescopic direction of the pallet; the linkage mechanism is arranged on the tray and comprises a first linkage piece and a second linkage piece linked with the first linkage piece; when the telescopic arm extends towards the direction of the goods shelf, the tray is driven to extend towards the goods shelf by the second linkage piece; when the tray extends out of the shelf, the first linkage piece moves towards the shelf until the first linkage piece touches the shelf and moves relative to the tray; the first linkage piece is used for driving the second linkage piece to move relative to the tray when the first linkage piece moves relative to the tray, so that the second linkage piece is separated from the telescopic arm.

Furthermore, the telescopic direction of the tray is the front-back direction, and at least part of the first linkage piece extends out of the front end of the tray; after the tray extends forwards to enable the first linkage piece to touch the goods shelf, the tray continuously moves forwards relative to the first linkage piece so that the second linkage piece moves towards the direction far away from the telescopic arm and is separated from the telescopic arm.

Further, the first linkage piece is connected with the tray and can slide in the front-back direction relative to the tray;

the second linkage piece is connected with the tray and can slide along the left and right direction relative to the tray;

one end of the second linkage part is connected with the first linkage part, and the other end of the second linkage part is abutted with the telescopic arm; when the first linkage piece moves backwards relative to the tray, the second linkage piece can be driven to move towards the direction far away from the telescopic arm.

Furthermore, the linkage mechanism further comprises a third link, one end of the third link is pivotally connected with the first link, and the other end of the third link is pivotally connected with the second link;

the first linkage drives the second linkage to slide in the left-right direction relative to the tray through the third linkage, so that the second linkage moves towards a direction far away from or close to the telescopic arm.

Further, the linkage mechanism further comprises a fourth linkage member, one end of the fourth linkage member is pivotally connected to the first linkage member, and the other end of the fourth linkage member is connected to the second linkage member and can slide in the left-right direction relative to the second linkage member;

the third linkage, the fourth linkage and the second linkage together enclose a triangle.

Further, the other end of the second linkage member is provided with a roller, and the telescopic arm is abutted against the roller to drive the tray to extend out;

when the second linkage piece drives the roller to move towards the direction far away from the telescopic arm, the telescopic arm moves forwards relative to the roller so that the roller rolls on the telescopic arm.

Furthermore, the pallet fork assembly further comprises an elastic resetting piece connected between the first linkage piece and the pallet;

the elastic reset piece is used for moving the first linkage piece and the second linkage piece to a position before separation after the second linkage piece is separated from the telescopic arm.

Furthermore, a second clamping block is fixedly connected to the first linkage piece, a first connecting block is fixedly connected to the tray, and the first linkage piece is connected with the first connecting block in a sliding manner;

the elastic reset piece is sleeved on the first linkage piece, one end of the elastic reset piece is abutted to the second clamping block, and the other end of the elastic reset piece is abutted to the first connecting block.

Furthermore, a push claw used for being abutted against the second linkage piece is arranged on the telescopic arm, and the telescopic arm pushes the tray to extend forwards through the push claw; the push claw is configured to be capable of rotating relative to the telescopic arm after touching the second linkage part when the telescopic arm retracts, so that the push claw avoids the second linkage part.

Furthermore, a stop block and a rotating shaft are arranged on the telescopic arm, the push claw is rotationally connected with the rotating shaft, and when the push claw pushes the tray to extend forwards, the stop block is abutted against the push claw to limit the push claw to rotate;

when the telescopic arm retracts to the push claw to touch the second linkage piece, the push claw rotates to avoid the second linkage piece.

Furthermore, the linkage mechanism is arranged on the lower surface of the tray, and the telescopic arms are arranged on two sides of the tray.

Furthermore, a first connecting block and a second connecting block are fixedly connected to the tray, the tray is provided with a flanging, and the first linkage piece penetrates through the flanging and is in sliding connection with the first connecting block; the second linkage member is slidably connected with the second connecting block.

The second aspect of the application provides a transfer robot, which comprises a chassis, a stand and a fork assembly in any one scheme. The stand is arranged on the chassis, and the fork assembly is arranged on the stand and can lift relative to the stand.

The technical scheme provided by the application can comprise the following beneficial effects: when the telescopic arm extends out, the tray is driven to extend out through the second linkage piece, the first linkage piece can move relative to the tray when touching the goods shelf, and then the second linkage piece moves relative to the tray, so that the second linkage piece is separated from the telescopic arm, the telescopic arm is not used for transmitting the extending power to the tray after being separated from the second linkage piece, and compared with a mode of driving the tray to move by adopting a spring, the impact on the goods shelf can be reduced; and, because of adopting flexible arm drive tray to stretch out, the distance of stretching out of tray no longer receives the restriction of spring flexible volume, can be suitable for the transport work under the more tunnel circumstances.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.

FIG. 1 is a schematic structural view of a fork assembly and a pallet of the related art;

FIG. 2 is a side view of FIG. 1 with the tray and telescoping arm in an extended state;

FIG. 3 is a bottom view of the pallet fork assembly shown in FIG. 2 with the pallet fork body hidden;

FIG. 4 is a schematic structural view of a pallet fork assembly of an embodiment of the present application;

FIG. 5 is a bottom view of FIG. 4 with the fork body hidden;

FIG. 5a is another schematic structural view of the fork assembly of an embodiment of the present application, with the fork body hidden;

FIG. 6 is a schematic structural diagram of a linkage mechanism according to an embodiment of the present application;

FIG. 7 is a schematic structural view of a telescopic arm according to an embodiment of the present application;

FIG. 8 is a side view of a fork assembly of an embodiment of the present application;

FIG. 9 is a side view of the fork assembly of the present application in another state;

FIG. 10 is a side view of the fork assembly of the present application in another state;

FIG. 11 is a side view of the fork assembly of the present application in another state;

FIG. 12 is a side view of the fork assembly of the present application in another state;

fig. 13 is a schematic configuration diagram of a transfer robot according to an embodiment of the present application.

Reference numerals:

1' -fork assembly, 11' -fork body, 12' -tray, 13' -telescopic arm, 14' -extension spring;

2-a goods shelf;

1-a pallet fork assembly, 11-a pallet fork body, 12-a pallet, 13-a telescopic arm, 131-a pusher jaw, 132-a rotating shaft, 133-a stop block, 134-a hook jaw, 14-a linkage mechanism, 141-a first linkage member, 142-a second linkage member, 143-a third linkage member, 144-a fourth linkage member, 145-a roller, 146-a first latch block, 147-a second latch block, 15-an elastic reset member, 16-a lug, 17-a guide rail, 18-a sliding groove, 19-a first connecting block and 20-a second connecting block;

3-chassis, 4-grudging post.

Detailed Description

Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While embodiments of the present application are illustrated in the accompanying drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In the description of the present application, it is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and to simplify the description, but are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the present application.

Unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections as well as removable connections or combinations; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate. As shown in fig. 1 to 3, in the related art, a transfer robot includes a fork assembly 1 'that can be raised and lowered in a vertical direction, the fork assembly 1' being used to take out goods from a rack 2 or to carry goods to the rack 2. The fork assembly 1 'has a fork body 11' and a pallet 12 'and a telescopic arm 13' that are telescopically movable in a horizontal direction. The fork body 11' serves as a support member. As shown in fig. 2, the tray 12 'can touch the side surface of the shelf 2 when horizontally extended, and the telescopic arm 13' can extend into the shelf 2 to move the goods on the shelf 2 to the tray 12 'or move the goods from the tray 12' to the shelf 2.

However, as shown in fig. 3, when the tray 12 'extends towards the shelf 2, it is driven by the extension spring 14', and the elastic potential energy released when the extension spring 14 'contracts and resets will make the tray 12' hit the shelf 2 with a large force, easily deforming the shelf 2 and making an abnormal sound; in addition, the transfer robot needs to perform the transfer operation in the lane between two adjacent shelves 2, and in different lane situations, the distance between the transfer robot and the shelves 2 may need to be different, and the distance that the tray 12' can extend due to the limitation of the amount of expansion and contraction of the spring is small, so that the tray 12' cannot be applied to more kinds of lane situations, and the tray 12' cannot extend to the shelves 2.

To above-mentioned problem, this application embodiment provides a fork subassembly, can reduce the impact to goods shelves 2 when the tray stretches out to be applicable to the transport work under the multiple tunnel condition.

The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.

As shown in fig. 4 to 6, the present embodiment provides a fork assembly 1, which includes a fork body 11, a pallet 12, a telescopic arm 13 and a linkage 14. Fork body 11 is as the major structure of fork subassembly 1, and tray 12 is located on the fork body 11 and can stretch out and retract relative to fork body 11, and tray 12 is used for the bearing goods, can drive the goods when tray 12 is flexible and remove.

In some embodiments, the edges of the tray 12 are provided with flanges, with the flanges on the front edge of the tray 12 facing downward and the flanges on the other edges facing upward. Wherein, the turn-ups that makes progress are used for blockking the goods in the tray 12, prevent that the goods from dropping. The left and right sides of the tray 12 are also provided with lugs 16, and the two lugs 16 are respectively projected toward the left and right sides of the tray 12.

The telescopic arm 13 may be provided with a push claw 131, a rotating shaft 132, a stopper 133 and a hook 134, the hook 134 is fixedly disposed at a lower portion of a front end of the telescopic arm 13, the push claw 131, the rotating shaft 132 and the stopper 133 are disposed at a lower portion of a rear end of the telescopic arm 13, and the push claw 131 is rotatably connected to the telescopic arm 13 through the rotating shaft 132.

The telescopic arm 13 is arranged on the pallet fork body 11 and can extend and retract relative to the pallet fork body 11, and the telescopic direction of the telescopic arm 13 is parallel to that of the pallet 12. The linkage 14 is disposed on the tray 12, and the linkage 14 includes a first linkage member 141 and a second linkage member 142 linked with the first linkage member 141. When the telescopic arm 13 extends towards the direction of the shelf 2, the second linkage member 142 drives the tray 12 to extend towards the shelf 2, that is, the telescopic arm 13 transmits the extending power to the tray 12 through the second linkage member 142. When the tray 12 extends out of the shelf 2, the first linkage member 141 can touch the shelf 2 and move relative to the tray 12, and when the first linkage member 141 moves relative to the tray 12, the second linkage member 142 can be driven to move relative to the tray 12, so that the second linkage member 142 is separated from the telescopic arm 13.

Based on the fork assembly 1 in the above scheme, when the telescopic arm 13 extends, the second linkage member 142 drives the tray 12 to extend, when the first linkage member 141 touches the goods shelf 2, the first linkage member 141 can move relative to the tray 12, and then the second linkage member 142 moves relative to the tray 12, so that the second linkage member 142 is separated from the telescopic arm 13, and after the telescopic arm 13 is separated from the second linkage member 142, the extending power is not transmitted to the tray 12 any more, and compared with a mode that the tray 12 is driven to move by a spring, the impact on the goods shelf 2 can be reduced; moreover, the telescopic arm 13 is adopted to drive the pallet 12 to extend out, the extending distance of the pallet 12 is not limited by the telescopic amount of the spring any more, the extension of the pallet 12 is stopped after the first linkage member 141 touches the goods shelf 2, the problem that the distance between the pallet 12 and the goods shelf 2 is too large due to insufficient extending distance is avoided, namely, the extending distance of the pallet 12 is increased, and the pallet fork assembly 1 can be suitable for carrying work under more roadway conditions.

Further, in the embodiment of the present application, the extending and contracting direction of the tray 12 is defined as a front-back direction, and the tray 12 moves forward when extending to the shelf 2 and moves backward when retracting, and one end of the tray 12 close to the shelf 2 is a front end and one end far from the shelf 2 is a rear end. In some embodiments, as shown in fig. 4 to 9, the first linkage member 141 extends at least partially out of the front end of the tray 12, for example, the front end of the first linkage member 141 extends out of the front end of the tray 12, and after the tray 12 extends forward to make the first linkage member 141 touch the shelf 2, the tray 12 can move forward relative to the first linkage member 141, so that the second linkage member 142 moves away from the telescopic arm 13 and disengages from the telescopic arm 13.

Specifically, in the fork assembly 1 shown in fig. 8, the telescopic arm 13 drives the tray 12 to extend out until the first link 141 just contacts the rack 2, and at this time, the telescopic arm 13 will continue to drive the tray 12 to move forward for a certain distance relative to the first link 141, so that the tray 12 moves to the state shown in fig. 9. In the fork assembly 1 shown in fig. 9, since the first linkage member 141 is unable to move forward after contacting the shelf 2, the telescopic arm 13 continues to drive the tray 12 to move forward through the second linkage member 142, so that the tray 12 and the first linkage member 141 move relatively, and meanwhile, since the second linkage member 142 is linked with the first linkage member 141, the second linkage member 142 also moves relative to the tray 12, and the moving direction of the second linkage member 142 relative to the tray 12 is a direction away from the telescopic arm 13, the telescopic arm 13 gradually separates from the second linkage member 142, so that the telescopic arm 13 is unable to continue to drive the tray 12 to move forward.

In some embodiments, as shown in fig. 4 to 6, the first linkage member 141 is slidably coupled to the tray 12 in the front-rear direction, and the second linkage member 142 is slidably coupled to the tray 12 in the left-right direction, which is parallel to the surface of the tray 12 and perpendicular to the front-rear direction. One end of the second linkage member 142 is used for being connected with the first linkage member 141, and the other end of the second linkage member 142 is used for being abutted against the telescopic arm 13, so that when the first linkage member 141 moves backward relative to the tray 12 (i.e. when the telescopic arm 13 continues to drive the tray 12 to move forward through the second linkage member 142, so that the tray 12 and the first linkage member 141 move relatively), the second linkage member 142 can be driven to move towards a direction away from the telescopic arm 13.

Specifically, as shown in fig. 8 and 9, after the tray 12 extends to the front end of the first linkage 141 and contacts the shelf 2, the first linkage 141 stops moving forward and the tray 12 continues to move forward by a moving distance, at this time, the first linkage 141 moves backward relative to the tray 12, so that the linked second linkage 142 moves away from the telescopic arm 13 and disengages from the telescopic arm 13.

Wherein, flexible arm 13 can set up the left and right sides at tray 12, and when flexible arm 13 drove tray 12 and stretches out, second linkage 142 stretches out and with flexible arm 13 butt to one side of tray 12, when first linkage 141 touched goods shelves 2 and when moving with tray 12 relatively, second linkage 142 retracted and separated with flexible arm 13 in to tray 12.

In some embodiments, as shown in fig. 5, 5a and 6, the linkage mechanism 14 further includes a third link 143, one end of the third link 143 is pivotally connected to the first link 141, the other end of the third link 143 is pivotally connected to the second link 142, and the first link 141 drives the second link 142 to slide in the left-right direction relative to the tray 12 through the third link 143.

Specifically, the first link 141, the second link 142 and the third link 143 form a link mechanism, and the linkage of the first link 141 and the third link 143 is realized through the movement of the link mechanism.

Further, in order to make the movement of the link mechanism formed by the first, second and

third link members

141, 142 and 143 more stable and smooth, in some embodiments, as shown in fig. 6, the link mechanism 14 further includes a fourth link member 144, one end of the fourth link member 144 is pivotally connected to the first link member 141, the other end of the fourth link member 144 is slidably connected to the second link member 142 in the left-right direction, and the third, fourth and

second link members

143, 144 and 142 together form a triangle, which makes the movement of the link mechanism 14 more stable.

In some embodiments, to facilitate disengagement of the telescopic arm 13 from the second linkage member 142, as shown in fig. 6, the second linkage member 142 is provided with a roller 145 at an end thereof adjacent to the telescopic arm 13, and the telescopic arm 13 drives the tray 12 to extend by abutting against the roller 145. When the second linkage member 142 drives the roller 145 to move away from the telescopic arm 13, the telescopic arm 13 moves forward relative to the roller 145 to roll the roller 145 on the telescopic arm 13 until the telescopic arm 13 is completely separated from the roller 145.

In some embodiments, as shown in fig. 5 to 12, the fork assembly 1 further includes an elastic reset member 15, and when the telescopic arm 13 is disengaged from the second link member 142, the elastic reset member 15 can move the first link member 141 and the second link member 142 to the positions before disengagement, that is, the elastic reset member 15 can reset the link mechanism 14 after the link mechanism 14 and the pallet 12 are relatively moved. In addition, when the tray 12 is extended to cause the first link 141 to touch the rack 2 and to displace relative to the tray 12, the elastic return member 15 can absorb the energy of the tray 12 hitting the rack 2, thereby playing a role of buffering and reducing the impact of the tray 12 on the rack 2.

Alternatively, the elastic restoring member 15 is connected between the first linking member 141 and the tray 12. Correspondingly, when being installed, one end of the elastic reset piece 15 can abut against the first linkage piece 141, and the other end abuts against the tray 12; or one end of the elastic reset piece 15 is abutted against the second linkage piece 142, and the other end is abutted against the tray 12. Specifically, as shown in fig. 5 and 6, the tray 12 is provided with a first connecting block 19 and a second connecting block 20, wherein the first connecting block 19 and the second connecting block 20 are fixed on the tray 12. The first linking member 141 is disposed through the flange at the front end of the tray 12 and connected to the first connecting block 19, and the first linking member 141 can slide in the front-back direction relative to the flange and the first connecting block 19. The second link member 142 is connected to the second connecting block 20 and is slidable in the left-right direction with respect to the second connecting block 20. The elastic restoring member 15 is a spring, specifically a compression spring, and the elastic restoring member 15 is sleeved on the first linking member 141. The first linkage 141 is provided with a first latch 146 and a second latch 147, and the flange at the front end of the tray 12 can move between the first latch 146 and the second latch 147 relative to the first linkage 141. One end of the elastic reset piece 15 abuts against the second latch 147, and the other end abuts against the first connecting block 19 on the tray 12. The elastic force of the elastic reset piece 15 enables the first linkage piece 141 to move forwards relative to the tray 12, the elastic reset piece 15 is compressed after the tray 12 extends out to the extent that the first linkage piece 141 is contacted with the goods shelf 2, the buffer effect can be achieved, and after the telescopic arm 13 is separated from the second linkage piece 142, the elastic reset piece 15 releases energy to enable the first linkage piece 141 and the second linkage piece 142 to reset.

In some embodiments, as shown in fig. 7 to 12, the telescopic arm 13 is provided with a push claw 131 for abutting against the second linkage member 142, the telescopic arm 13 pushes the tray 12 to extend forward through the push claw 131, and the push claw 131 is configured to be capable of rotating relative to the telescopic arm 13 after touching the second linkage member 142 when the telescopic arm 13 retracts, so that the push claw 131 avoids the second linkage member 142.

Specifically, as shown in fig. 7, the pushing claw 131 is pivotally connected to the telescopic arm 13 through a rotating shaft 132, and a stopper 133 is further disposed on the telescopic arm 13, wherein the stopper 133 is used for preventing the pushing claw 131 from rotating counterclockwise in the drawing. Fig. 11 shows a state where the pusher claw 131 contacts the second link member 142 when the telescopic arm 13 is retracted, and at this time, the pusher claw 131 rotates clockwise to avoid the second link member 142, so that the telescopic arm 13 can continue to be retracted rearward.

As shown in fig. 5 and 5a, the link mechanism 14 may be provided on the lower surface of the tray 12, and the telescopic arm 13 may be provided on one side of the tray 12. Specifically, the number of the telescopic arms 13 and the number of the link mechanisms 14 are two, the two telescopic arms 13 are oppositely arranged on the left side and the right side of the tray 12, and the two link mechanisms 14 are oppositely arranged on the left side and the right side. The upper surface of fork body 11 is equipped with guide rail 17, and the lower surface of tray 12 is equipped with the spout 18 with guide rail 17 sliding connection, and tray 12 can stretch out and draw back the removal on fork body 11 through the cooperation of spout 18 and guide rail 17.

The fork subassembly 1 of this application embodiment is still including the drive assembly who is used for driving flexible arm 13 and stretches out and draws back the removal, and is concrete, and drive assembly can adopt motor cooperation hold-in range drive flexible arm 13 to stretch out and draw back, and drive assembly also can adopt the mode of motor cooperation lead screw, perhaps the form of motor cooperation gear, rack.

Fig. 8 to 12 show different operating states of the fork assembly 1 of the embodiment of the present application. As shown in fig. 8, the pushing claw 131 of the telescopic arm 13 abuts against the second link member 142, and due to the blocking of the stopper 133, the pushing claw 131 does not rotate, so that the pushing claw 131 pushes the second link member 142 to move toward the shelf 2, and further the tray 12 is driven to extend out until the first link member 141 just contacts with the shelf 2, and at this time, the telescopic arm 13 will continue to drive the tray 12 to move forward for a certain distance relative to the first link member 141, so that the tray 12 moves to the state shown in fig. 9.

Fig. 9 shows the pallet fork assembly 1, wherein the pallet 12 and the first link member 141 are relatively moved, the elastic restoring member 15 is compressed, the second link member 142 is moved relative to the pallet 12 and away from the telescopic arm 13, the telescopic arm 13 is gradually disengaged from the second link member 142 and continuously moves forward to the state shown in fig. 10, and the elastic restoring member 15 restores the first link member 141 and the second link member 142 after the telescopic arm 13 is disengaged from the second link member 142.

The telescopic arm 13 is retracted from the condition shown in fig. 10 to the condition shown in fig. 11 after moving the goods on the pallet 2. In the pallet fork assembly 1 shown in fig. 11, the pusher dog 131 is in contact with the second link member 142, and the pusher dog 131 rotates to avoid the second link member 142 as the telescopic arm 13 continues to be retracted backwards, so that the telescopic arm 13 can be retracted to the condition shown in fig. 12. Fig. 12 shows the fork assembly 1 in which the fingers 134 of the telescopic arm 13 contact the lugs 16 of the pallet 12, and the fingers 134 carry the pallet 12 with the telescopic arm 13 rearward via the lugs 16 while the telescopic arm 13 continues to retract rearward.

As shown in fig. 13, the present embodiment also provides a transfer robot, which includes a chassis 3, a stand 4, and the fork assembly 1 of the above embodiment. Wherein, the stand 4 is arranged on the chassis 3, and the fork assembly 1 is arranged on the stand 4 and can be lifted relative to the stand 4.

By adopting the fork assembly 1 of the above embodiment, the range of the distance from the pallet 2 when the transfer robot works is increased, the transfer robot can carry out the transfer work under more roadway conditions, and the impact on the pallet 2 when the pallet 12 extends out is reduced.

To sum up, this application embodiment provides a fork subassembly 1 and transfer robot, can reduce the impact to goods shelves 2 when tray 12 stretches out, prevents to damage goods shelves 2 and sends the abnormal sound, and the extension of tray 12 is no longer stretched spring size restriction, makes transfer robot be applicable to the transport work under the multiple tunnel condition.

The telescopic arm 13 drives the tray 12 to move, the linkage mechanism 14 enables the telescopic arm 13 to be separated from the tray 12 when the tray 12 is in butt joint with the shelf 2, the telescopic arm 13 does not push the tray 12 any more, and the tray 12 is prevented from impacting the shelf 2 any more. The elastic reset piece 15 plays a role in buffering when the tray 12 is butted with the goods shelf 2, and the impact of the tray 12 on the goods shelf 2 is reduced.

The aspects of the present application have been described in detail hereinabove with reference to the accompanying drawings. In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments. Those skilled in the art should also appreciate that the acts and modules referred to in the specification are not necessarily required for the application. In addition, it can be understood that the steps in the method of the embodiment of the present application may be sequentially adjusted, combined, and deleted according to actual needs, and the modules in the device of the embodiment of the present application may be combined, divided, and deleted according to actual needs.

Having described embodiments of the present application, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A pallet fork assembly, comprising:

a fork body;

the pallet is arranged on the pallet fork body and can extend out and retract relative to the pallet fork body;

the telescopic arm is arranged on the pallet fork body and can extend out and retract relative to the pallet fork body, and the telescopic direction of the telescopic arm is parallel to the telescopic direction of the pallet; and

the linkage mechanism is arranged on the tray and comprises a first linkage piece and a second linkage piece linked with the first linkage piece;

when the telescopic arm extends towards the direction of the goods shelf, the tray is driven to extend towards the goods shelf by the second linkage piece; when the tray extends out of the shelf, the first linkage piece moves towards the shelf until the first linkage piece touches the shelf and moves relative to the tray; the first linkage piece is used for driving the second linkage piece to move relative to the tray when the first linkage piece moves relative to the tray, so that the second linkage piece is separated from the telescopic arm.

2. The pallet fork assembly of claim 1, wherein:

the telescopic direction of the tray is the front-back direction, and at least part of the first linkage piece extends out of the front end of the tray; after the tray extends forwards to enable the first linkage piece to touch the goods shelf, the tray continuously moves forwards relative to the first linkage piece so that the second linkage piece moves towards the direction far away from the telescopic arm and is separated from the telescopic arm.

3. The pallet fork assembly of claim 2, wherein:

the first linkage piece is connected with the tray and can slide in the front-back direction relative to the tray;

4. The pallet fork assembly of claim 3, wherein:

the linkage mechanism further comprises a third linkage piece, one end of the third linkage piece is pivotally connected with the first linkage piece, and the other end of the third linkage piece is pivotally connected with the second linkage piece;

the first linkage piece drives the second linkage piece to slide in the left-right direction relative to the tray through the third linkage piece, so that the second linkage piece moves towards the direction far away from or close to the telescopic arm.

5. The pallet fork assembly of claim 4, wherein:

the linkage mechanism further comprises a fourth linkage piece, one end of the fourth linkage piece is pivotally connected with the first linkage piece, and the other end of the fourth linkage piece is connected with the second linkage piece and can slide along the left-right direction relative to the second linkage piece;

6. The pallet fork assembly of claim 3, wherein:

the other end of the second linkage piece is provided with a roller, and the telescopic arm is abutted against the roller to drive the tray to extend out;

7. The pallet fork assembly of claim 1, wherein:

the elastic reset piece is connected between the first linkage piece and the tray;

8. The pallet fork assembly of claim 7, wherein:

the first linkage piece is fixedly connected with a second clamping block, the tray is fixedly connected with a first connecting block, and the first linkage piece is in sliding connection with the first connecting block;

9. The pallet fork assembly of claim 1, wherein:

the telescopic arm is provided with a push claw which is used for abutting against the second linkage part, and the telescopic arm pushes the tray to extend forwards through the push claw; the push claw is configured to be capable of rotating relative to the telescopic arm after touching the second linkage part when the telescopic arm retracts, so that the push claw avoids the second linkage part.

10. The pallet fork assembly of claim 9, wherein:

the telescopic arm is provided with a stop block and a rotating shaft, the push claw is rotationally connected with the rotating shaft, and when the push claw pushes the tray to extend forwards, the stop block is abutted against the push claw so as to limit the push claw to rotate;

11. The pallet fork assembly of claim 1, wherein:

the linkage mechanism is arranged on the lower surface of the tray, and the telescopic arms are arranged on two sides of the tray.

12. The pallet fork assembly of claim 1, wherein:

the tray is fixedly connected with a first connecting block and a second connecting block, a flanging is arranged on the tray, and the first linkage piece penetrates through the flanging and is in sliding connection with the first connecting block; the second linkage member is slidably connected with the second connecting block.

13. A transfer robot, characterized by comprising:

the chassis is provided with a plurality of supporting plates,

the vertical frame is arranged on the chassis; and

a fork assembly as claimed in any one of claims 1 to 12, provided on the stand and liftable relative to the stand.