TWI829357B - Fork mechanism and handling robot - Google Patents

Abstract

This application provides a fork mechanism and a handling robot. The fork mechanism includes: a base, a base body, a pallet that can carry goods, two mounting plates, and a mechanical arm component located on the mounting plate. The base body is rotatably connected to the base, and the mounting plate and pallet are both set on the base body. The pallet and the base are located on opposite sides of the base body, and the two mounting plates are located on two opposite sides of the pallet; the fork mechanism also includes a first driving element and a second driving element located on the base body, and the first driving element includes a first power unit and a first transmission unit, the first power unit is used to drive the first transmission unit to drive the manipulator element to extend out of the edge of the mounting plate in the first direction or the second direction, and the second driving element includes a second power unit and a second transmission unit. unit, the second power unit is used to drive the second transmission unit to drive the base to rotate relative to the base; the first power unit and the second power unit are both located between the tray and the base. The storage efficiency of the goods in this application is relatively high.

Description

Fork mechanism and handling robot

The present invention relates to the field of smart warehousing technology, and in particular to a fork mechanism and a handling robot.

With the rapid development of artificial intelligence technology, automation technology, and information technology, the intelligence of terminal logistics has also continued to increase. Handling robots are one of the main equipment that can realize automated handling operations at smart logistics terminals. Handling robots can Reduce human's heavy physical labor and improve the efficiency of handling operations.

Existing handling robots usually include a mobile base, a lifting mechanism and a fork mechanism. The mobile 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. As an important mechanism in handling robots, the fork mechanism is used for loading and unloading cargo on logistics equipment. The fork mechanism includes a base, a fork body, a mechanical arm element, a driving element and a rotating element. The fork body is rotatably fixed on the base through a rotating element. The fork body has a cargo inlet and outlet. The mechanical arm element is located on the fork body. on the fork body, and can telescope relative to the fork body to drive goods in and out of the fork body. Both the driving elements and the rotating elements are equipped with drive motors as power sources. In addition, the fork body is also equipped with cables to supply power to these power sources and transmit control signals. In order to minimize the width of the fork mechanism, these drive motors are arranged on the side of the fork body away from the cargo inlet and outlet, and due to the existence of these cables, the fork body cannot rotate 360° relative to the base.

However, in the above-mentioned fork mechanism, the driving motor is located on the side of the fork body away from the cargo. The side of the cargo inlet and outlet, so the goods can only enter and exit the fork body from the direction of the cargo inlet and outlet. When the fork body cannot rotate 360° relative to the base, there must be a blind spot for picking up the goods. In order to solve this problem, only It can be realized by rotating the handling robot, so the efficiency of picking and placing goods is low.

In view of the above problems, embodiments of the present application provide a fork mechanism and a handling robot, which can pick and place goods more efficiently.

In order to achieve the above object, the first aspect of the present application provides a fork mechanism, which includes: a base, a base body, a pallet that can carry goods, two mounting plates, and a mechanical arm element provided on the mounting plate. The base body is rotatably connected to On the base, the mounting plate and the tray are both arranged on the base body, the tray and the base are located on opposite sides of the base body, and the two mounting plates are located on two opposite sides of the pallet; the fork mechanism also includes a first driving element located on the base body and The second driving element includes a first power unit and a first transmission unit. The first power unit is used to drive the first transmission unit to drive the mechanical arm element to extend out of the mounting plate in the first direction or the second direction. On the edge, the second driving element includes a second power unit and a second transmission unit. The second power unit is used to drive the second transmission unit to drive the base to rotate relative to the base; the first power unit and the second power unit are both located between the tray and the base. between.

In a possible implementation, the top ends of the first transmission unit and the second transmission unit are positioned lower than the bottom end of the tray relative to the base.

In a possible implementation, the base body includes a base plate, and the first power unit and the second power unit are both arranged on the base plate.

In a possible implementation, the robotic arm element includes at least one robotic arm, the robotic arm extends out of the edge of the mounting plate along the direction in which goods enter and exit the pallet, and the robotic arm is located on a side of the pallet away from the base.

In a possible implementation, the number of robotic arm elements is two, one robotic arm element is connected to each mounting plate, and the first driving element and the second driving element are located between the two mounting plates.

In a possible implementation, the second transmission unit includes a rotary bearing and a gear. The gear is linked to the output shaft of the second power unit. The inner ring of the rotary bearing is provided with gear teeth that mesh with the gear; the rotary bearing is located on the base. Between the rotating bearing and the base body, the inner ring of the rotating bearing is connected to the base, the outer ring of the rotating bearing is connected to the base body, and the gear is used to rotate under the drive of the second power unit and rotate around the center of the inner ring of the rotating bearing so that the base body Rotate relative to the base.

In a possible implementation, a mounting groove is provided on the top surface of the base, the rotating bearing is located in the mounting groove, the bottom end surface of the inner ring of the rotating bearing is fixed on the bottom surface of the mounting groove, and the top surface of the outer ring of the rotating bearing is convex. From the top surface of the base, the base body is supported and fixed on the top surface of the outer ring of the rotating bearing; the output shaft of the second power unit penetrates the base body and extends into the inside of the inner ring of the bearing.

In a possible implementation, the base body is provided with a through hole, and the inner diameter of the through hole is greater than or equal to the inner diameter of the inner ring of the rotating bearing, and less than or equal to the inner diameter of the outer ring of the rotating bearing.

In a possible implementation, a mounting block is also provided on the mounting plate. Both ends of the mounting block are connected to the base body and the mounting plate respectively, and one end of the mounting block connected to the mounting plate is located on the corresponding mechanical arm element of the mounting plate. Bottom side.

In a possible implementation, at least one protruding element is also included, the tray includes a first tray, the first tray is slidably disposed on the base body, and at least one protruding element is provided between the first tray and the base body, located on the third An extending element between a pallet and the base body is used to make the first pallet protrude from the edge of the base body toward a first direction; wherein the direction of goods entering and exiting the pallet includes opposite first and second directions.

In a possible implementation, the fork mechanism includes a first bearing body and a second bearing body respectively located on the bottom side and the top side of the same extending element, and the second bearing body is slidably disposed on the first bearing body; When at least one protruding element is located between the base body and the first tray, the base body forms the first carrier body and the tray forms the second carrier body.

In a possible implementation, the pallet further includes a second pallet, the second pallet is slidably disposed on the first pallet, and the second pallet is located on a side of the first pallet away from the base; the first pallet and the second pallet At least one protruding element is also provided therebetween, and the protruding element located between the first tray and the second tray is used to make the second tray protrude from the edge of the first tray toward the second direction.

In a possible implementation, the fork mechanism includes a first bearing body and a second bearing body respectively located on the bottom side and the top side of the same extending element, and the second bearing body is slidably disposed on the first bearing body; When the protruding element between the base body and the first tray works, the base body forms the first bearing body and the pallet forms the second bearing body; when the extending element between the first pallet and the second pallet works, the first pallet forms the first bearing body. The second tray forms the second carrier body.

In a possible implementation, the extending elements include: An elastic force applying element is provided between the first carrier and the second carrier and is used to apply an elastic force toward the third carrier to the second carrier; a locking element is provided on the first carrier on, and the locking element includes a locking piece, which is blocked on the sliding path of the second carrier; and an unlocking piece, which is linked with the robotic arm element, and the unlocking piece is used when the robotic arm element moves toward the third party. , push the locking piece to move toward the third party, so that the second carrier extends toward the third party under the elastic force of the elastic force applying element, where the third party direction is one of the first direction and the second direction. .

In a possible implementation, the elastic force applying element includes a tension spring, a first end of the tension spring is arranged on the first bearing body, and a second end of the tension spring is arranged on the second bearing body, wherein the first end is The end of the tension spring is located in the third party direction, and the second end is the end of the tension spring located in the fourth direction, where the fourth direction is opposite to the third party direction.

In a possible implementation, the elastic force applying element includes two end plates, the two end plates are respectively provided on the opposite surfaces of the first bearing body and the second bearing body, and the two end plates have overlaps in the third direction. part, the first end and the second end of the tension spring are respectively connected to the two end plates.

In a possible implementation, the locking element further includes a support seat. The support seat is provided on the first carrier body. The locking piece is disposed in the support seat and can slide relative to the support seat along the direction in which the goods enter and exit the pallet.

In a possible implementation, the base body includes a base plate, a support plate and a support column supported between the base plate and the support plate. The support plate is located on a side of the base plate away from the base; when there is an extending element between the first tray and the base body , the support seat is set on the support plate.

In a possible implementation, the second carrier includes a The slide block is provided with a slide rail on the top of the first carrier body. The slide rail extends along the direction of the goods entering and exiting the pallet. The slide block can slide along the slide rail to limit the sliding direction of the second carrier body relative to the first carrier body; the locking member Located between the slide rail and the robot arm element, the locking piece is provided with a stop arm extending toward the slide rail, and the stop arm is located on the side of the slide block facing the third party.

In a possible implementation, the side of the locking piece that is away from the stop arm is also provided with an extending arm that extends toward the mechanical arm element, and the extending arm is arranged on the movement path of the unlocking piece.

In a possible implementation, the locking element further includes an elastic repositioning piece. Both ends of the elastic repositioning piece are respectively provided on the extending arm and the support base, and are used to apply an orientation to the locking piece when the robotic arm element moves toward the third party. Restoring force in the fourth direction.

In a possible implementation, the robotic arm element includes a robotic arm and a connecting rod. The robotic arm can extend out of the edge of the mounting plate in the direction of goods entering and exiting the pallet. The first transmission unit includes a sprocket element, and the sprocket element includes a chain and a connecting rod. Two sprockets are spaced apart in the direction of entering and exiting the pallet. The two sprockets are arranged on the mounting plate and are located on the bottom side of the mechanical arm element on the mounting plate. The sprockets can rotate under the drive of the first power unit. The chain It is arranged on two sprockets, and the connecting rod is linked with the chain. The connecting rod is used to drive the mechanical arm to move when the chain is running, and the connecting rod forms an unlocking member.

In a possible implementation, one end of the connecting rod facing the chain has meshing teeth, and the meshing teeth can mesh with the links of the chain.

In one possible implementation, the number of mounting plates is two, and the two mounting plates are arranged opposite each other and are respectively located at both ends of the width direction of the fork mechanism, wherein the width direction of the fork mechanism is perpendicular to the first direction; first When the number of extending elements provided between the carrier body and the second bearing body is two, the two extending elements are spaced apart in the width direction of the fork mechanism and relative to the center of the fork mechanism. have the same spacing.

The second aspect of this application provides a handling robot, including: a mobile chassis, a lifting mechanism, a column and the above-mentioned fork mechanism. The mobile chassis is used to carry the lifting mechanism, the column and the fork mechanism. The lifting mechanism is fixed to the base of the fork mechanism. connection, thereby driving the fork mechanism to rise and fall along the column.

The fork mechanism and handling robot of this application. The fork mechanism includes: a base, a base body, a pallet that can carry goods, two mounting plates, and a mechanical arm component located on the mounting plate. The base body is rotatably connected to the base, and the mounting plate and pallet are both set on the base body. The pallet and the base are located on opposite sides of the base body, and the two mounting plates are located on two opposite sides of the pallet; the fork mechanism also includes a first driving element and a second driving element located on the base body, and the first driving element includes a first power unit and a first transmission unit, the first power unit is used to drive the first transmission unit to drive the manipulator element to extend out of the edge of the mounting plate in the first direction or the second direction, and the second driving element includes a second power unit and a second transmission unit. unit, the second power unit is used to drive the second transmission unit to drive the base to rotate relative to the base; the first power unit and the second power unit are both located between the tray and the base. The two mounting plates are located on two opposite sides of the pallet, so that the mounting plates and the pallet jointly define a storage space for accommodating goods and form two cargo entrances and exits. Since the first power unit and the second power unit are both located between the pallet and the base, the first power unit and the second power unit do not block the path of goods in and out of the pallet, and the robotic arm element can move in the first direction or The edge of the mounting plate extends in the second direction, so that goods can enter and exit the pallet from at least two sides of the pallet. Compared with the prior art in which goods can only enter the pallet from one direction, there is an additional path for entering and exiting the pallet. When the base is rotated at the same angle, the picking angle range of the robotic arm components in this application is obviously twice that of the prior art. This can minimize the picking up blind spots of the robotic arm components without having to rotate them. Robots pick up and place goods The efficiency is higher.

The structure of the present invention as well as its other inventive objects and beneficial effects will be more apparent from the description of the preferred embodiments in conjunction with the accompanying drawings.

10: Base

11:Installation slot

20:Matrix

21:Substrate

22:Support plate

23:Support column

40:Mounting plate

41: Installation block

50: Robotic arm components

51: Robotic arm

52: movable parts

53,54,55:Connecting rod

60: First drive element

61:First power unit

62: First transmission unit

63:Sprocket assembly

64:First reducer

65: Drive shaft

70: Second drive element

71: Second power unit

72: Second reducer

80: Second transmission unit

81:Gear

82: Rotary bearing

100:Fork mechanism

111:First carrier

112:Second carrier

113,116: slider

114,117,118:Slide rail

120:Pallet

121:First pallet

122:Second pallet

130,131,132: Extended components

139: Elastic force applying element

142,143,144,145,146,147: End plate

148,140,141: tension spring

150: Locking element

151,152,153: Support base

154,155,156: Locking parts

157,158,159: Flexible resizing parts

160,161,162: unlocking pieces

200:Handling robot

201:Mobile chassis

202:Lifting mechanism

203:Pillar

204:Partition

211:Through hole

411: First connection part

412: Second connection part

631:Sprocket

632:Chain

821:Inner circle

822: Outer ring

1541,1551,1561: Stop arm

1542, 1552, 1562: Extend arms

Figure 1 is a schematic structural diagram of the fork mechanism provided by the embodiment of the present application; Figure 2 is a schematic structural diagram of the fork mechanism provided by the embodiment of the present application from another angle; Figure 3 is the decomposition of the fork mechanism provided by the embodiment of the present application. Structural schematic diagram; Figure 4 is a schematic structural diagram of a structure of a fork mechanism provided by an embodiment of the present application; Figure 5 is a schematic structural diagram of another structure of a fork mechanism provided by an embodiment of the present application; Figure 6 is a schematic structural diagram of a fork mechanism provided by an embodiment of the present application. A schematic structural diagram of the first carrier and the second carrier in the fork mechanism; Figure 7 is an exploded structural schematic diagram of the fork mechanism provided by the embodiment of the present application; Figure 8 is another structural diagram of the fork mechanism provided by the embodiment of the present application. A schematic diagram of the exploded structure of the angle; Figure 9 is a schematic diagram of the overall structure of the handling robot provided by the embodiment of the present application.

In order to make the purpose, 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. Obviously, the described embodiments are Invent some embodiments, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

The existing fork mechanism has the problem of low efficiency in picking and placing goods. In the existing fork mechanism, there are drive motors used to drive the rotation of the base and the fork body, and drive motors used to drive the expansion and contraction of the robotic arm elements. These drive motors are located on the side of the fork body away from the cargo inlet and outlet. Goods can only enter and exit the fork body from the cargo inlet and outlet. When the fork body cannot rotate 360° relative to the base, it is necessary to increase the size of the fork body. The picking range can only be achieved by rotating the handling robot body, so the picking and placing efficiency is low.

In the fork mechanism of this application, the first power unit and the second power unit are located between the pallet and the base. In this way, the first power unit and the second power unit do not block the path of the goods in and out of the pallet, and the goods can be transported Entering and exiting the pallet from at least two sides of the pallet makes picking and placing more efficient.

The fork mechanism 100 and the transport robot 200 according to the embodiment of the present application will be described below with reference to the accompanying drawings. It should be noted that in the embodiment of the present application, for convenience of explanation, the opposite first direction F and the second direction S are defined along the direction in which goods enter and exit the pallet 120 , and the direction perpendicular to the direction in which goods enter and exit the pallet 120 is defined. , that is, the relative 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 the third party direction T, and the other one of the first direction F and the second direction S is defined as the fourth direction E.

FIG. 1 is a schematic structural diagram of the fork mechanism provided by an embodiment of the present application, and FIG. 2 is a schematic structural diagram of the fork mechanism provided by an embodiment of the present application from another angle.

Referring to Figures 1 and 2, the fork mechanism 100 provided by the embodiment of the present application includes: a base 10, a base 20, a pallet 120 that can carry goods, two mounting plates 40, and a robotic arm element 50 provided on the mounting plates 40. , the base 20 is rotatably connected to the base 10, the mounting plate 40 and the tray 120 are both arranged on the base 20, the two mounting plates 40 are located on two opposite sides of the tray 120, the tray 120 and the base 10 are located opposite to the base 20 side; side The fork mechanism 100 also includes a first driving element 60 and a second driving element 70 provided on the base 20. The first driving element 60 includes 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 drives the robot arm element 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 element 70 includes a second power unit 71 and a second transmission unit 80 . The second power unit 71 is used to drive the second transmission unit 80 to drive the base 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 solution, the two mounting plates 40 are located on two opposite sides of the pallet 120 , so that the mounting plates 40 and the pallet 120 jointly define a storage space for accommodating goods, and, along the path K of the mounting plates 40 Two cargo inlets and outlets are formed between the end and the pallet. Since the first driving element 60 and the second driving element 70 are both located between the pallet 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 in and out of the pallet 120, and the mechanical The arm element 50 can extend out of the edge of the mounting plate 40 in the first direction F or the second direction S, so that goods can enter and exit the pallet 120 from at least both sides of the pallet 120 , compared with the prior art in which goods can only enter the pallet 120 from one direction. , there is an additional path for entering and exiting the tray 120, so that when the base 20 is rotated at the same angle relative to the base 10, the picking angle range of the robotic arm element 50 in this application is obviously two times the picking range in the prior art. times, the blind area of the robotic arm element 50 for picking up goods can be minimized, the rotation of the handling robot can be reduced, and the efficiency of picking up and placing goods is higher.

Wherein, the first power unit 61 and the second power unit 71 are both located between the tray 120 and the base 10 , which can mean that the first power unit 61 and the second power unit 71 are located in the area facing each other between the tray 120 and the base 10 , can also refer to the first power unit 61 and the second power unit Part of the structure 71 is located outside the area directly facing between the tray 120 and the base 10, but it must be satisfied that both the first power unit 61 and the second power unit 71 are positioned lower than the bottom end of the tray 120 relative to the bottom end of the base 10. The position of the base 10 is such that the first power unit 61 and the second power unit 71 will not affect the action of the robotic arm component 50 in driving goods in and out of the pallet 120 .

The specific structure of each part of the fork mechanism 100 will be described below.

Referring to FIG. 1 , the base 10 can be located at the bottom of the entire fork mechanism 100 as a support component of the fork mechanism 100 . The base 10 can be connected to a lifting mechanism 202 described below. The lifting mechanism 202 is used to drive the fork mechanism 100 to lift. In addition, as mentioned above, the base body 20 is rotatably connected to the base 10 , the mounting plate 40 is disposed on the base body 20 , and the robotic arm element 50 is disposed on the mounting plate 40 .

Referring to Figure 1, the tray 120 and the base 10 can be located on opposite sides of the base 20. For example, the tray 120 is located on the top side of the figure in Figure 1, and the tray 120, the base 20, and the base 10 are in the order from the top side to the bottom side in Figure 1 Set in sequence. In addition, the present application takes two mounting plates 40 as an example. The two mounting plates 40 are respectively located at the lateral ends of the pallet 120 in the width direction (the width direction W of the fork assembly) and are arranged oppositely. In this way, the two mounting plates 40 are positioned opposite each other. A path K for goods to enter and leave the pallet 120 is defined between the mounting plates 40 .

Illustratively, with reference to Figures 1 and 2, the number of robotic arm elements 50 is two, and one robotic arm element 50 is connected to each mounting plate 40. As mentioned above, the two mounting plates 40 are arranged opposite each other, and They are respectively located at both ends of the width direction W of the fork mechanism 100 . The tray 120 and the base 20 may be disposed between the two mounting plates 40 , and the first driving element 60 and the second driving element 70 are also located between the two mounting plates 40 .

The mounting plate 40 is also provided with a mounting block 41. Both ends of the mounting block 41 are connected to the base 20 and the mounting plate 40 respectively, and one end of the mounting block 41 connected to the mounting plate 40 is located on the mounting plate. 40 corresponds to the bottom side of the robot arm element 50 . This prevents the mounting block 41 from affecting the movement of the robot arm element 50 . The mounting block 41 has a first connecting portion 411 and a second connecting portion 412 that are connected to each other. The first connecting portion 411 and the second connecting portion 412 can be connected to the mounting plate 40 and the base body 20 respectively. The first connecting portion 411 and the second connecting portion 412 are connected to each other. The portions 412 may be perpendicular to each other, so that the mounting plate 40 is vertically mounted on the base 20 .

The number of mounting blocks 41 can be set as needed. For example, corresponding to each mounting plate 40, two mounting blocks 41 can be set, and the two mounting blocks 41 are spaced apart on the path K.

As mentioned before, the robot arm element 50 can be disposed on the mounting plate 40 , for example, on opposite surfaces of two mounting plates 40 respectively. The robotic arm element 50 may be located on a side of the pallet 120 facing away from the base 10 . In FIG. 1 , the robotic arm element 50 may be located on the top side of the pallet 120 .

The robotic arm element 50 may include at least one robotic arm 51 . The robotic arm 51 extends out of the edge of the mounting plate 40 along the direction in which goods enter and exit the pallet 120 . The robotic arm 51 is located on a side of the pallet 120 away from the base 10 , that is, the robotic arm 51 is opposite to the base 10 . The installation height at the bottom of the base 10 is higher than the installation height of the tray 120 relative to the bottom of the base 10 . The robotic arm 51 is used to drive the goods to move through its own movement. For example, the robotic arm 51 can be driven by the first driving element 60 to move along the path K of the goods in and out of the pallet 120 . It can be understood that the robotic arm 51 moves along the path K. The movement should exceed the edge of the mounting plate 40, so that the goods can be separated from the pallet 120, or the goods outside the pallet 120 can be pulled back onto the pallet 120.

For example, each robot arm element 50 may include two robot arms 51 , and the two robot arms 51 can move relative to each other, so that the entire robot arm element 50 is a telescopic robot arm element.

In some examples, the robotic arm 51 is provided with at least one movable piece 52 , and the movable piece 52 can move relative to the robotic arm 51 . For example, the movable piece 52 can move relative to the robotic arm 51 . open to block the side of path K; or the movable member 52 can be retracted relative to the mechanical arm 51 to open the path K. It can be understood that the robot arm element 50 can be driven to move in the first direction F or the second direction S. Therefore, the movable member 52 can be respectively disposed at the end of the robot arm 51 along the first direction F and along the second direction S. end.

Referring to FIG. 1 , when the movable part 52 is in the unfolded position, if the robotic arm 51 moves toward the first direction F, the goods on the pallet 120 can be driven by the movable part 52 to move toward the first direction F and be sent to the shelf or robot. on the back basket; if the robot arm 51 moves toward the second direction S, the goods on the pallet 120 can be moved toward the second direction S driven by the movable part 52 and be sent to the shelf or the robot's back basket.

In the embodiment of the present application, with reference to Figures 2 and 3, as mentioned above, the first power unit 61 is used to drive the first transmission unit 62 to drive the robotic arm element 50 to move along the path K. The first power unit 61 includes a first drive unit 61. motor. The robotic arm element 50 also includes a connecting rod 53 connected to the robotic arm 51 . The first transmission unit 62 may include a sprocket element 63 . The sprocket element 63 includes a chain 632 and two chains spaced apart in the direction of the goods entering and exiting the pallet 120 . Wheel 631, two sprockets 631 are rotatably arranged on the mounting plate 40, and are located on the bottom side of the robotic arm element 50 on the mounting plate 40. The sprockets 631 can rotate under the drive of the first driving motor, and the chain 632 is Located on the two sprockets 631, the connecting rod 53 is linked with the chain 632. The connecting rod 53 is used to drive the mechanical arm 51 to move when the chain 632 is running. 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 through the chain 632 , converting the rotation of the first driving motor into the 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 part located on the top side of the sprocket 631 and a part located on the bottom side of the sprocket 631, and there is an interval between the two. The mounting block 41 can be located between the intervals, so that the space can be fully utilized time, the height of the fork mechanism 100 is reduced.

The two ends of the connecting rod 53 are connected to the chain 632 and the robotic arm 51 respectively. The robotic arm 51 can move driven by the connecting rod 53 to load and unload goods.

In addition, as mentioned above, the robot arm element 50 can telescope toward the first direction F and the second direction S. Therefore, consider that one chain 632 corresponds to two connecting rods 53. The two connecting rods 53 can be on the path K of the goods in and out of the pallet 120. arranged at upper intervals. For example, as shown in FIG. 2 , on one of the mounting plates 40 , the two connecting rods 53 can drive the mechanical arm 51 to move toward the first direction F when the chain 632 rotates counterclockwise. The two connecting rods 53 can rotate along the chain 632 . When the hour hand rotates, the mechanical arm 51 is driven to move toward the second direction S.

For example, one end of the connecting rod 53 facing the chain 632 has meshing teeth, and the meshing teeth can mesh with the links of the chain 632 . In this way, one end of the connecting rod 53 is fixedly connected to the mechanical arm 51 , and the other end is movably connected to the chain 632 . Referring to Figure 2, the process of extending and retracting the robotic arm element 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 robotic arm. 51 moves toward the first direction F. During this process, when the connecting rod 54 moves close to the sprocket 631 located at the end of the first direction, it gradually disengages from the chain 632 and no longer drives the mechanical arm 51 toward the first direction F. move, and the connecting rod 55 continues to drive the mechanical arm 51 to continue moving toward the first direction F; when the chain 632 rotates clockwise, first the connecting rod 55 drives the mechanical arm 51 to move toward the second direction S. In this process, the connecting rod 55 54 gradually re-engages with the chain 632. At this time, the connecting rod 54 and the connecting rod 55 together drive the mechanical arm 51 to move in the second direction S until it moves to the initial position.

The process of extending and retracting the robotic arm element 50 toward 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 robotic arm 51 toward the second direction S. The two directions S move. During this process, when the connecting rod 55 moves When it is close to the sprocket 631 located at the end of the second direction S, it gradually disengages from the chain 632 and no longer drives the robotic arm 51 to move in the second direction S. The connecting rod 54 continues to drive the robotic arm 51 to continue moving in the second direction. S moves; when the chain 632 rotates counterclockwise, the connecting rod 54 first drives the mechanical arm 51 to move toward the first direction F. During this process, the connecting rod 55 gradually re-engages the chain 632. At this time, the connecting rod 54 and the connecting rod 55 Together, the robotic arm 51 is driven to move in the first direction S until it moves to the initial position.

In addition, the above description takes the sprocket element 63 and the robotic arm element 50 corresponding to one of the mounting plates 40 as an example. The movement process of the sprocket element 63 and the robotic arm element 50 corresponding to the other mounting plate 40 is similar to this. And the two processes are carried out simultaneously, so I won’t go into details here.

In the embodiment of the present application, as mentioned above, the number of the mounting plate 40 and the robot arm element 50 is two. In order to drive both the robot arm elements 50, the number of the sprocket elements 63 can also be two, respectively. Corresponds to the mounting plate 40 one-to-one. In other words, one sprocket element 63 is mounted on each mounting plate 40 , and the sprocket element 63 is located between the robot arm element 50 and the base 10 . The two sprockets 631 in the same sprocket element 63 are both connected to the same mounting plate 40 .

Referring to FIG. 3 , the first transmission unit 62 also includes a drive shaft 65 extending in the opposite direction of the two mounting plates 40 (width direction W of the fork element), and each sprocket element 63 has one sprocket. 631 is connected to both ends of the drive shaft 65, so that when the drive shaft 65 rotates, it can drive the two sprockets 631 to rotate synchronously, so as to drive the chains 632 in the respective sprocket assemblies 63 to run synchronously. Of course, both ends of the drive shaft 65 are supported between the two mounting plates 40 through the sprockets 631 connected thereto.

Referring to FIG. 2 , the first transmission unit 62 may also include a first reducer 64 , and the first drive motor may be connected to the drive shaft 65 through the first reducer 64 , so that the first drive motor may be connected to the drive shaft 65 through the first reducer 64 . The rotation of the electric motor is transmitted to the drive shaft 65. The first drive motor and the first reducer 64 are both disposed on the base 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 second driving element 70 included in the fork mechanism 100 can drive the base 10 to rotate relative to the base 20 . The relative rotation of the base 20 and the base 10 is realized.

In the embodiment of the present application, referring to FIG. 3 , the second driving element 70 includes a second power unit 71 and a second transmission unit 80 . The second power unit 71 can be fixed on the base 20 .

The second transmission unit 80 includes a rotating bearing 82 and a gear 81. The gear 81 is linked with the output shaft of the second power unit 71. The inner wall of the inner ring 821 of the rotating bearing 82 is provided with gear teeth that mesh with the gear 81; The rotating bearing 82 is located between the base 10 and the base 20 . The inner ring 821 of the rotating bearing 82 is connected to the base 10 . The outer ring 822 of the rotating bearing 82 is connected to the base 20 . The gear 81 is used to rotate under the driving of the second power unit 71 , and rotates around the center of the inner ring 821 of the rotating bearing 82, so that the base body 20 and the base 10 rotate relative to each other.

In the above solution, the linkage between the gear 81 and the output shaft of the second power unit 71 means that 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 drive motor, the second transmission unit 80 may also include a second reducer 72, the input shaft of the second reducer 72 is linked to the second drive motor, and the output shaft of the second reducer 72 It is connected with the gear 81, so that when the second driving motor is running, after being decelerated by the second reducer 72, the gear 81 is driven to rotate.

It should be noted that the inner ring 821 of the rotating bearing 82 is installed and fixed on the base 10, that is, the inner ring 821 of the rotating bearing 82 is relatively fixed to the base 10, and the second drive motor and the second reducer 72 can be fixed on the base 20. The outer ring 822 of the rotating bearing 82 is installed and fixed on the base body 20 As mentioned above, when the second driving motor drives the gear 81 to rotate, the gear teeth of the gear 81 mesh with the gear teeth on the inner ring 821 of the rotating bearing 82 , and the gear 81 rotates around the center of the inner ring 821 of the rotating bearing 82 , and drives the second reducer 72 , the second drive motor and the base 20 to rotate, so that the base 20 can rotate relative to the base 10 . At this time, the pallet 120 is disposed on the base 20 . When the base 20 rotates relative to the base 10 , the pallet 120 and the goods carried thereon also rotate relative to the base 10 .

It should be noted that in the above solution, the radial directions of the inner ring 821 and the outer ring 822 of the rotating bearing 82 are parallel to the base 10 , and the output shaft of the second reducer 72 can extend along the height direction H of the fork mechanism 100 . In order to save the space occupied by the second driving element 70, especially to reduce the space occupied by the second driving motor, the second reducer 72 can be a right-angle reducer. At the same time, the motor shaft of the second driving motor (the second power unit 71 The output shaft) may be perpendicular to the height direction of the fork mechanism 100 . In this way, the second drive motor is actually arranged laterally between the base body 20 and the base 10 .

In the embodiment of the present application, the top surface of the base 10 may be provided with a mounting groove 11, and the rotating bearing 82 may be located in the mounting groove 11. The inner ring 821 of the rotating bearing 82 is fixed in the mounting groove 11 of the base 10. It should be noted that What is more, the inner ring 821 and the outer ring 822 of the rotating bearing 82 are rotatably connected to each other, so the outer ring 822 of the rotating 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 bottom surface of the installation groove 11, the top surface of the outer ring 822 of the rotary bearing 82 protrudes from the top surface of the base 10, and the base 20 supports and is fixed on the rotary bearing 82. On the top surface of the outer ring 822 of the bearing 82, when the base 20 is fixed on the outer ring 822, there can be a certain gap between the base 20 and the base 10 to prevent interference when the two rotate with each other.

In addition, referring to FIG. 2 , since the output shaft of the second power unit 71 and the gear 81 Therefore, in order for the gear 81 to extend into the inside of the inner ring 821 of the rotating bearing 82 and mesh with the gear teeth on the inner ring 821, the output shaft of the second power unit 71 needs to penetrate the base 20 and extend into the inner ring of the bearing. The inside of 821.

For example, the base 20 is provided with a through hole 211 , the inner diameter of the through hole 211 is greater than or equal to the inner diameter of the inner ring 821 of the rotary bearing 82 , and less than or equal to the inner diameter of the outer ring 822 of the rotary bearing 82 . In this way, the through hole 211 can fully expose the inner ring 821 of the rotating bearing 82 to the top side of the base body 20, and also facilitates the connection between the base body 20 and the bearing outer ring 822.

In the embodiment of the present application, as mentioned 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 is equivalent to the first power unit 61 being arranged transversely between the pallet 120 and the base 10. The first power unit 61 can pass through the first power unit 61. A reducer 64, drive shaft 65, sprocket element 63, etc. transmit power to the robot arm element 50.

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 arranged laterally between the pallet 120 and the base 10 . For example, the output axis of the first power unit 61 can be parallel to the width direction W of the base 20 , and the output axis of the second power unit 71 can be perpendicular to the output axis direction of the first power unit 61 , so that the first power unit 61 and The second power units 71 are arranged vertically to each other in the shape of an English letter "T". It can be understood that in this application, the first power unit 61 and the second power unit 71 are both arranged between the tray 120 and the base 10, so that the space between the tray 120 and the base 10 can be fully and effectively utilized.

Exemplarily, the base body 20 includes a base plate 21, a first power unit 61 and a second power unit 61. The force units 71 can all be disposed on the base plate 21 .

In the embodiment of the present application, with reference to FIGS. 2 and 3 , the top end of the first transmission unit 62 and the second transmission unit 80 can be positioned lower than the bottom end of the tray 120 relative to the base 10 . . In other words, the installation height of the first transmission unit 62 and the second transmission unit 80 is also lower than the pallet 120 , and will not interfere with the entry and exit of the goods on the pallet 120 .

In addition, when the robot arm 51 is located on the side of the tray 120 away from the base 10 , the height of the first driving element 60 and the second driving element 70 relative to the base 10 is both lower than the height of the robot arm 51 relative to the base 10 high. In this way, the first driving element 60 and the second driving element 70 are not blocked on the extension path of the robotic arm element 50 , nor are they blocked on the path of goods entering and exiting the pallet 120 .

Referring to FIG. 1 , the robot arm element 50 can be bidirectionally extended in the first direction F and the second direction S to pick up goods. This is because the space in the direction in which the robot arm element 50 extends is completely released, and the base 20 is relative to the base 10 By rotating 180°, full circumferential coverage of the picking operation can be achieved. There is no blind area for picking up goods, and the efficiency of picking up and placing goods is high.

In the embodiment of the present application, as mentioned above, the pallet 120 is located on the top side of the base 20 and is used to carry goods. It can be understood that when the transport robot approaches the target logistics equipment to transport goods, there may be a certain distance between the pallet 120 and the storage unit of the logistics equipment, which may cause the goods to get stuck in the gap or Fall through the gap. At this time, it may be considered to configure the pallet 120 into a structure that can extend toward the logistics equipment, that is, the fork mechanism 100 includes at least one extending element, and the extending element is used to extend the pallet 120 toward the logistics equipment.

Figure 4 is a structural representation of a structure of the fork mechanism provided by the embodiment of the present application. Intentionally, FIG. 5 is a schematic structural diagram of another structure of the fork mechanism provided by the embodiment of the present application. In FIG. 5 , a plurality of pallets 120 are sequentially stacked on the base 20 in the height direction of the fork assembly, and each pallet 120 is slidably disposed on the pallet 120 located on its adjacent bottom side.

Specifically, the number of trays 120 may be one as shown in FIG. 4 or multiple as shown in FIG. 5 . Regardless of whether the number of trays 120 is one or more, the trays 120 include the first tray 121 closest to the base body, and the present application provides at least one extending element extending element 131 between the first tray 121 and the base body 20 .

The first tray 121 is slidably disposed on the base 20 , and the extending element 131 located between the first tray 121 and the base 20 is used to make the first tray 121 extend out of the edge of the base 20 toward the first direction F. Here, the number of the extending elements 131 is two as an example. However, the application is not limited thereto, and the number of the extending elements can be set according to actual needs.

When defining the load-bearing structure on the top side and the bottom side of the protruding element as a reference, the fork mechanism 100 includes a second bearing body 112 and a first bearing body 111 respectively located on the top side and bottom side of the same extending element. The carrier body 112 is slidably disposed on the first carrier body 111 ; and when the extending element 131 is located between the base body 20 and the first tray 121 , the base body 20 forms the first carrier body 111 and the tray 120 forms the second carrier body 112 .

Referring to FIG. 5 , when the number of trays 120 is greater than one, the tray 120 further includes a second tray 122 located on the top side of the first tray 121 and adjacent to it.

Similar to the above, the first tray 121 is slidably disposed on the base 20 , and at least one protruding element 131 is disposed between the first tray 121 and the base 20 . 131 is used to make the first tray 121 drive the second tray 122 to extend out of the edge of the base 20 toward the first direction F. Moreover, for the base body 20 and the first tray 121, when the protruding element 131 between the base body 20 and the first tray 121 operates, the base body 20 forms a first carrier body. 111. The tray 120 forms the second carrier 112. It can be understood that the above-mentioned operation of the extending element 131 between the base 20 and the first tray 121 means that the extending element 131 between the base 20 and the first tray 121 is not in a locked state. At this time, the first tray 121 can drive 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 the side of the first tray 121 away from the base 20; that is, the second tray 122 is stacked on the first tray 121, At least one extending member 132 is also provided between the first tray 121 and the second tray 122. The extending member 132 located between the first tray 121 and the second tray 122 is used to extend the second tray 122 toward the second direction. out of the edge of the first tray 121 .

For the first tray 121 and the second tray 122, when the protruding element 132 between the first tray 121 and the second tray 122 operates, the first tray 121 forms the first carrier 111, and the second tray 122 forms the second Carrier 112. Similar to the above, the working of the extending element 132 between the first tray 121 and the second tray 122 means that the extending element 132 between the first tray 121 and the second tray 122 is not in a locked state. At this time , the second tray 122 can extend out of the edge of the first tray 121 toward the second direction S.

In other words, in this application, the fork mechanism 100 defines the components on the bottom side and the top side of the same protruding element as the first carrier 111 and the second carrier 112 respectively, and the first carrier 111 and the second carrier Body 112 may refer to different components depending on which components extend beyond the top and bottom sides of the element.

For the case where there are more pallets 120 , the protruding elements 130 may be set between other pallets as needed, or may not be set, and this application does not limit this.

The following takes the connection situation between the first carrier 111 and the second carrier 112 as an example.

FIG. 6 is a schematic structural diagram of a structure of the first bearing body 111 and the second bearing body 112 in the fork mechanism provided by the embodiment of the present application. In addition, the types of the first carrier 111 and the second carrier 112 are not limited in FIG. 6 . The first carrier 111 and the second carrier 112 may be the base body 20 and the first tray 121 respectively, or the first carrier 111 and the second carrier 112 may be respectively The carrier 111 and the second carrier 112 may be the first tray 121 and the second tray 122 respectively.

When the number of protruding elements 130 provided between the first bearing body 111 and the second bearing body 112 is two, the two extending elements 130 are spaced apart in the width direction W of the cargo fork mechanism 100 and are arranged relative to the cargo. The centers of the fork mechanisms 100 have the same spacing.

Referring to Figure 6, the extending element 130 includes: an elastic force applying element 139. The elastic force applying element 139 is provided between the first bearing body 111 and the second bearing body 112, and is used to apply the direction of the third bearing body 112 to the second bearing body 112. The elastic force of T; the locking element 150, the locking element 150 is provided on the first bearing body 111, and the locking element 150 includes a locking piece 154, which is blocked on the sliding path of the second bearing body 112; and the unlocking piece 160 , the unlocking piece 160 is linked with the robot arm element 50, and the unlocking piece 160 is used to push the locking piece 154 to move towards the third party T when the robot arm element 50 moves towards the third party, so that the second carrier 112 can elastically Under the action of the elastic force, the force applying element 139 extends toward the third party direction T, where the third party direction T is one of the first direction F and the second direction S.

Exemplarily, the elastic force applying element 139 may include a tension spring 148, a first end of the tension spring 148 is provided on the first carrier 111, and a second end of the tension spring 148 is provided on the second carrier 112.

The elastic force applying element 139 also includes two end plates 142, 143. The two end plates 142, 143 are respectively provided on the opposite surfaces of the first carrier 111 and the second carrier 112. The two end plates 142, 143 have overlapping portions in the direction T of the third party. The first end and the second end of the tension spring 148 The ends are connected to two end plates 142 and 143 respectively.

Moreover, when the tension spring 148 is fixed on the two end plates 142 and 143, it needs to be in a stretched state. In this way, the tension spring 148 always exerts an elastic force toward the third party direction T on the second carrier 112.

FIG. 7 is a schematic exploded structural view of the fork mechanism 100 provided by the embodiment of the present application. FIG. 8 is a schematic exploded structural view of the fork mechanism 100 provided by the embodiment of the present application from another angle. Here, for example, the third party faces T toward the first direction F, and the fourth direction E faces the second direction S. Of course, the third party's direction T can also be the second direction S, and the fourth direction E can also be the first direction. F, there is no limitation on this here. The unlocking member 160 may be the aforementioned connecting rod 53.

Referring to Figure 7, when the first carrier and the second carrier are corresponding to the first tray 121 and the second tray 122, the first end of the tension spring 141 is provided on the first tray 121, and the second end of the tension spring 141 is provided on the first tray 121 and the second tray 122. On the second tray 122, the first end is the end of the tension spring 141 located in the fourth direction E, and the second end is the end of the tension spring located in the third direction T.

On this basis, the elastic force applying element 139 also includes two end plates 146 and 147. The two end plates 146 and 147 are respectively provided on the opposite surfaces of the first tray 121 and the second tray 122. The two end plates 146 , 147 has an overlapping portion on the third party direction T, and the first end and the second end of the tension spring 141 are connected to the two end plates 146 and 147 respectively.

The specific positions of the two end plates 146 and 147 are as follows. One end plate 147 is located at the end of the second pallet 122 toward T, and the other end plate 146 is located on the side of the first pallet 121 close to the fourth direction E. There is sufficient distance between the two end plates to keep the tension spring 141 in a stretched state. In addition, the two end plates 146 and 147 protrude from the first tray 121 or the second tray. The height of the 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 , as long as it does not interfere with the first tray 121 and the second tray 122 .

Moreover, when the tension spring 141 is fixed on the two end plates 146 and 147, it needs to be in a stretched state, so that the tension spring 141 always exerts an elastic force toward the fourth direction on the second tray 122.

Regarding the elastic force applying element 139 between the first tray 121 and the base 20 , referring to FIGS. 3 and 8 , the first end of the tension spring is disposed on the base 20 and the second end of the tension spring is disposed on the first tray 121 .

On this basis, the elastic force applying element 139 also includes two end plates 144 and 145. The two end plates 144 and 145 are respectively provided on the opposite surfaces of the base body 20 and the first tray 121. The two end plates 144 and 145 There is an overlapping portion in the direction T, and the first end and the second end of the tension spring 140 are connected to the two end plates 144 and 145 respectively.

The specific positions of the two end plates 144 and 145 are as follows. One end plate 145 is located at the end of the first tray 121 in the fourth direction E, and the other end plate 144 is located on the S side of the base 20 close to the third party. In addition, it is necessary to maintain a sufficient distance between the two end plates 144 and 145 to keep the tension spring 140 in a stretched state. In this way, the tension spring 140 always exerts an elastic force toward the third party direction T on the first tray 121 . In addition, the height of the two end plates 144 and 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 . Pallet 121 shall prevail. Here, the distance between the base 20 and the first tray 121 is relatively far. The height of the end plate 144 may be significantly higher than the height of the end plate 145 , and there is a gap between the top of the end plate 144 and the top of the end plate 145 . There is an overlapping portion on the end plate to connect the tension spring 140 horizontally between the end plate 144 and the end plate 145 .

In the embodiment of the present application, referring to Figure 6, as mentioned above, the second carrier 112 can Slidingly disposed on the first carrier 111 , for example, the second carrier 112 can be disposed on the first carrier 111 through a slider or slide rail structure.

Exemplarily, the second carrier 112 includes a slider 113 provided at the bottom. A slide rail 114 is provided at the top of the first carrier 111. The slide rail 114 extends along the direction in which goods enter and exit the pallet 120. The slider 113 can be along the slide rail. 114 slides 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 movement of the second carrier 112 relative to the first carrier 111 is limited to the extension direction of the slide rail 114.

Specific to the first pallet 121 and the second pallet 122, referring to FIG. 7, the second pallet 122 includes a slider 116 provided at the bottom, and a slide rail 118 is provided at the top of the first pallet 121. The slide rail 118 moves the goods in and out of the pallet 120. Extending in the direction, the slider 116 can slide along the slide 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 movement of the second tray 122 relative to the first tray 121 is limited to the extension direction of the slide rail 118 .

Specific to the first pallet 121 and the base 20, referring to Figure 8, the first pallet 121 includes a slider (not shown) provided at the bottom, and a slide rail 117 is provided on the top of the base 20. The slide rail 117 moves the goods in and out of the pallet 120. extending in the direction, 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 movement of the first tray 121 relative to the base 20 is limited to the extension direction of the slide rail 117 .

In the embodiment of the present application, referring to FIG. 6 , the locking element 150 further includes a support base 151 , which is provided on the first carrier 111 . The locking piece 154 is disposed in the support base 151 and can be moved along the support base 151 relative to the support base 151 . The goods slide in and out of the pallet 120 .

The locking member 154 is located between the slide rail 114 and the robot arm element 50. The locking member 154 is provided with a stop arm 1541 extending toward the slide rail 114. The stop arm 1541 blocks the slide block 113 toward the slide rail 114. Third party to one side of the T.

As a possible implementation, the side of the locking member 154 away from the stop arm 1541 is also provided with an extending arm 1542 extending toward the robotic arm element 50 , and the extending arm 1542 is disposed on the movement path of the unlocking member 160 .

In addition, the locking element 150 may also include an elastic repositioning member 157. Both ends of the elastic repositioning member 157 are respectively pressed against the extending arm 1542 and the support base 151, and are used to move toward the lock when the robot arm element 50 moves toward the third party in the direction T. The member 154 exerts a restoring force toward the fourth direction E.

Specific to the first tray 121 and the second tray 122, referring to Figure 7, the locking element 150 also includes a support base 153. The support base 153 is provided on the first tray 121, and the locking piece 156 is passed through the support base 153 and can It slides relative to the support base 153 in the direction in which goods enter and exit the pallet 120 .

The locking piece 156 is located between the slide rail 118 and the robot arm element 50. The locking piece 156 is provided with a stop arm 1561 extending toward the slide rail 118. The stop arm 1561 blocks a side of the slide block 116 facing the fourth direction E. side.

As a possible implementation, the side of the locking member 156 away from the stop arm 1561 is also provided with an extending arm 1562 extending toward the robotic arm element 50 , and the extending arm 1562 is disposed on the movement path of the unlocking member 162 .

In addition, the locking element 150 may also include an elastic repositioning part 159. Both ends of the elastic repositioning part 159 are respectively provided on the extending arm 1562 and the support base 153, and are used to move toward the locking part when the robot arm element 50 moves toward the fourth direction E. 156 exerts a restoring force toward T toward the third party.

Specific to the first tray 121 and the base 20, referring to Figure 3, the locking element 150 also includes a support base 152. The support base 152 is provided on the base 20. The locking piece 155 is disposed in the support base 152 and can be relative to the support base. 152 slides in the direction of goods entering and exiting the pallet 120 .

Exemplarily, the base 20 may include a base plate 21, a support plate 22 and a support plate 22. The support column 23 is between the base plate 21 and the support plate 22. The support plate 22 is located on the side of the base plate 21 away from the base 10. When there is an extending element 131 between the first tray 121 and the base body 20, the support seat 152 is provided on the support on board 22.

For example, the locking member 155 may be located between the slide rail 117 and the robot arm element 50. The locking member 155 is provided with a stop arm 1551 extending toward the slide rail 117. The stop arm 1551 blocks the slide block 116 toward the collaborative force. The side to which the manufacturer is directed.

As a possible implementation, the side of the locking member 155 away from the stop arm 1551 is also provided with an extending arm 1552 extending toward the robotic arm element 50 , and the extending arm 1552 is disposed on the movement path of the unlocking member 161 .

In addition, the locking element 150 may also include an elastic repositioning part 158. Both ends of the elastic repositioning part 158 are respectively provided on the extending arm 1552 and the support base 152, and are used to move toward the locking part when the robot arm element 50 moves toward the third party F. 155 exerts a restoring force toward the fourth direction E.

The following describes the principle of mutual movement of the first carrier 111 and the second carrier 112 with reference to FIG. 6 .

In the first carrier 111 and the second carrier 112 shown in Figure 6, the tension spring 148 is installed between the two end plates 142 and 143, always exerting a force toward the third party T on the second carrier 112, At this time, because the slider 113 fixed at the bottom of the second carrier 112 is blocked by the stop arm 1541, it cannot move toward the third party T. When the chain 632 rotates clockwise, the connecting rod 53, that is, the unlocking piece 160 hits the extension When the arm 1542 is extended, the extended arm 1542 drives the stop arm 1541 to move toward the third party toward T. The stop arm 1541 releases the unlocking of the slider 113. At this time, the first carrier 111 faces toward T under the elastic force of the tension spring 148. Third parties reach out to the T.

When the chain 632 rotates counterclockwise, the unlocking member 160 moves in the fourth direction E. At this time, the extending arm 1542 moves in the fourth direction E under the elastic force of the elastic resetting member 157. The movable stop arm 1541 moves in the fourth direction E, and the stop arm 1541 pushes the slider 113 to drive the second carrier 112 back to the initial position.

The principle of the bidirectional extension of the tray 120 will be described below with reference to FIGS. 7 and 8 .

For the base body 20 and the first tray 121, the tension spring 140 is installed between the two end plates 144 and 145 to always exert a force toward the third party T on the first tray 121. At this time, due to the fixed slide at the bottom of the first tray 121 The block is blocked by the stop arm 1551 and cannot move toward the third party T. When the chain 632 rotates clockwise, the connecting rod 53, that is, the unlocking piece 161 moves toward the third party and touches the extension arm 1552, and then extends The arm 1552 drives the stop arm 1551 to move toward T (first direction F). The stop arm 1551 releases the unlocking of the slider. At this time, the first tray 121 drives the second tray 122 under the elastic force of the tension spring 140 Under the action, it stretches out towards T towards the third party. It should be noted that during this process, the unlocking part 162 will be linked with the unlocking part 161 through the chain 632, that is, it will move towards T towards the third party, but it will not come into contact with the extended part. The arm 1562 will not affect the locking of the first tray 121 and the second tray 122 by the locking member 156 .

When the chain 632 rotates counterclockwise, the unlocking member 161 moves in the fourth direction E (second direction S). At this time, the extending arm 1552 moves in the fourth direction E under the elastic force of the elastic reset member 158, driving the stop. The arm 1551 moves in the fourth direction E, and the stop arm 1551 pushes the slider to drive the first tray 121 back to the initial position.

Referring to Figure 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 to always apply a force toward the fourth direction E to the second tray 122. At this time, due to the second The slider 116 fixed at the bottom of the tray 122 is blocked by the stop arm 1561 and cannot move in the fourth direction E. When the chain 632 rotates clockwise, the connecting rod, that is, the unlocking piece 162 hits the extending arm 1562 and extends out. The arm 1562 drives the stop arm 1561 to move in the fourth direction E, The stop arm 1561 unlocks the slider 116 , and at this time, the second tray 122 extends toward the fourth direction E under the elastic force of the tension spring 141 . It should be noted that during this process, the unlocking member 161 will be linked with the unlocking member 162 through the chain 632, that is, move toward the fourth direction E, and will not contact the extending arm 1552, that is, it will not affect the locking member 155. Locking between the first tray 121 and the base 20 .

When the chain 632 rotates counterclockwise, the unlocking member 162 moves toward the third party F. At this time, the extension arm 1562 moves toward the third party T under the elastic force of the elastic resetting member 159, driving the stop arm 1561 toward the third party. F moves, the stop arm 1561 pushes the slider 116 to drive the first tray 121 back to the initial position.

Figure 9 is a schematic diagram of the overall structure of the handling robot provided by the embodiment of the present application.

Referring to Figure 9, another aspect of the present application also provides a transport robot 200, including: a mobile chassis 201, a lifting mechanism 202, a column 203 and the above-mentioned cargo fork mechanism 100. The mobile chassis 201 is used to carry the lifting mechanism 202, the column 203 and the cargo. The fork mechanism 100 and the lifting mechanism 202 are fixedly connected to the base 10 in the fork mechanism 100, thereby driving the fork mechanism 100 to rise and fall along the column 203.

Among them, the mobile chassis 201 is movable and drives the lifting mechanism 202, the column 203 and the fork mechanism 100 it carries to move together. In addition, the mobile chassis 201 can also be provided with multiple partitions 204. The multiple partitions 204 are located on The transport robot 200 is fixed on the columns 203 at intervals in the height direction to form a multi-layer shelf. Any partition 204 in the multi-layer shelf can be used for temporary storage boxes. In this way, the transport robot 200 can transport multiple goods at a time. boxes, thereby improving the handling efficiency of the handling robot 200.

The mobile chassis 201 drives the fork mechanism 100 to move, so that the fork mechanism 100 can The cargo boxes are transported between multi-layer shelves and storage shelves, and the lifting mechanism 202 is used to drive the fork mechanism 100 to lift along the column 203. In this way, the fork mechanism 100 can be any partition 204 of the shelf, or a storage shelf. Load and unload containers on any level.

The lifting mechanism 202 can be powered by a motor, etc., and the power is transmitted by a transmission mechanism, such as a sprocket mechanism. In addition, the sprocket mechanism can be omitted, and the lifting mechanism 202 is directly driven by the motor. In this case, the motor is a linear motor.

It can be understood that the fork mechanism 100 is not limited to application in the handling robot 200. The fork mechanism 100 can also be applied in shuttle vehicles, sorting platforms and other fields.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, but not to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or substitutions do not deviate from the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present invention. Scope

In the description of the present invention, it should be noted that, unless otherwise clearly stated and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection or an intermediate connection. The medium is indirectly connected, which can be the internal connection between two components or the interaction between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "vertical", "level", "top", "bottom", "inner", The orientation or positional relationship indicated by "outside" is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have specific characteristics. Orientation, construction and operation in a specific orientation and therefore should not be construed as limiting the invention.

The terms "first", "second", "third", "fourth", etc. (if present) in the description and patent scope of this application and the above-mentioned drawings are used to distinguish similar objects without necessarily using Used to describe a specific order or sequence. It is to be understood that the materials so used are interchangeable under appropriate circumstances so that the embodiments of the application described herein can, for example, be practiced in sequences other than those illustrated or described herein.

In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, e.g., a process, method, system, product, or apparatus that encompasses a series of steps or units and need not be limited to those explicitly listed. Those steps or elements may instead include other steps or elements not expressly listed or inherent to the process, method, product or apparatus.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, but not to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or substitutions do not deviate from the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present invention. Scope.

10: Base

20:Matrix

40:Mounting plate

50: Robotic arm components

51: Robotic arm

52: movable parts

60: First drive component

61:First power unit

62: First transmission unit

100:Fork mechanism

120:Pallet

Claims (25)

A fork mechanism, characterized in that it includes: a base, a base body, a pallet that can carry goods, two mounting plates, and a mechanical arm element provided on the mounting plate, and the base body is rotatably connected to the base On the board, the mounting plate and the tray are both arranged on the base body, the tray and the base are located on opposite sides of the base body, and the two mounting plates are located on two opposite sides of the tray; The fork mechanism also includes a first driving element and a second driving element provided on the base body. The first driving element includes a first power unit and a first transmission unit. The first power unit is used to drive The first transmission unit drives the mechanical arm element to extend out of the two opposite edges of the mounting plate in the first direction or the second direction; the second driving element includes a second power unit and a second transmission unit. The second power unit is used to drive 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; wherein , the first direction and the second direction are both the directions in which goods enter and exit the pallet, and are opposite directions to each other. The fork mechanism of claim 1, wherein the top ends of the first transmission unit and the second transmission unit are positioned lower relative to the bottom end of the base than the bottom end of the pallet relative to the base. setting position. The fork mechanism according to claim 2, wherein the base body includes a base plate, and the first moving Both the force unit and the second power unit are disposed on the base plate. The fork mechanism of claim 2, wherein the robotic arm element includes at least one robotic arm, and the robotic arm is located on a side of the pallet away from the base. The fork mechanism of claim 2, wherein the number of the mechanical arm elements is two, one of the mechanical arm elements is connected to each of the mounting plates, and the first driving element and the The second drive elements are located between the two mounting plates. The fork mechanism according to any one of claims 1 to 5, wherein the second transmission unit includes a rotating bearing and a gear, the gear is linked with the output shaft of the second power unit, and the rotating bearing The inner wall of the inner ring is provided with gear teeth that mesh with the gear; the rotary bearing is located between the base and the base body, the inner ring of the rotary bearing is connected to the base, and the outer ring of the rotary bearing The ring is connected to the base body, and the gear is used to rotate driven by the second power unit and rotate around the center of the inner ring of the rotary bearing, so that the base body and the base rotate relatively. The fork mechanism according to claim 6, wherein a mounting groove is provided on the top surface of the base, the rotary bearing is located in the mounting groove, and the bottom end surface of the inner ring of the rotary bearing is fixed on the The bottom surface of the installation groove, the top surface of the outer ring of the rotary bearing protrudes from the top surface of the base, the base body is supported and fixed on the top surface of the outer ring of the rotary bearing; the second power The output shaft of the unit penetrates the base body and extends into the inside of the bearing inner ring. The fork mechanism according to claim 7, wherein the base body is provided with a through hole, the inner diameter of the through hole is greater than or equal to the inner diameter of the inner ring of the rotary bearing, and is less than or equal to the inner diameter of the rotary bearing. The inner diameter of the bearing's outer ring. The fork mechanism according to claim 1, wherein a mounting block is further provided on the mounting plate, and both ends of the mounting block are respectively connected to the base body and the mounting plate, and the mounting block is One end connected to the mounting plate is located on the bottom side of the robotic arm element corresponding to the mounting plate. The fork mechanism of claim 1, further comprising at least one protruding element, the pallet includes a first pallet slidably disposed on the base body, the first pallet and At least one extending element is disposed between the base bodies, and the extending element located between the first tray and the base body is used to make the first tray extend out of the base body toward the first direction. edge; wherein the direction in which the goods enter and leave the pallet includes opposite first directions and second directions. The fork mechanism according to claim 10, wherein the fork mechanism includes a first bearing body and a second bearing body respectively located on the bottom side and the top side of the same extending element, and the second bearing body is slidably disposed on the first carrier; when at least one protruding element is located between the base and the first tray, the base forms the first carrier, and the tray forms the The second carrier. The fork mechanism of claim 10, wherein the pallet further includes a second pallet, the second pallet is slidably disposed on the first pallet, and the second pallet is located on the first pallet. The side of the tray facing away from the base body; at least one protruding element is also provided between the first tray and the second tray, and all the protruding elements located between the first tray and the second tray are The extending element is used to make the second tray extend out of the edge of the first tray toward the second direction. The fork mechanism according to claim 12, wherein the fork mechanism includes a first bearing body and a second bearing body respectively located on the bottom side and the top side of the same extending element, and the second bearing body is slidably disposed on the first carrier; when the protruding element between the base and the first tray is in operation, the base forms the first carrier, and the tray forms the second carrier; when the protruding element between the first tray and the second tray is in operation, the first tray forms the first carrier, and the second tray forms the second carrier. The fork mechanism according to claim 11 or 13, wherein the extending element includes an elastic force applying element, and the elastic force applying element is provided between the first bearing body and the second bearing body. , and is used to apply an elastic force toward the third carrier to the second carrier; a locking element, the locking element is provided on the first carrier, and the locking element includes a locking piece, and the locking piece blocks Provided on the sliding path of the second carrier; and an unlocking piece, the unlocking piece is linked with the robotic arm element, and the unlocking piece is used when the robotic arm element moves toward the third party. , push the locking piece to move toward the third party, so that the second carrier body is affected by the elastic force of the elastic force applying element. Extending toward the third party direction, wherein the third party direction is one of the first direction and the second direction. The fork mechanism according to claim 14, wherein the elastic force applying element includes a tension spring, the first end and the second end of the tension spring are respectively disposed on the first carrier and the second on the carrier. The fork mechanism according to claim 15, wherein the elastic force applying element includes two end plates, and the two end plates are respectively provided on opposite sides of the first bearing body and the second bearing body. On the surface, the two end plates have overlapping portions in the third direction, and the first end and the second end of the tension spring are respectively connected to the two end plates. The fork mechanism according to claim 15, wherein the locking element further includes a support seat, the support seat is provided on the first bearing body, the locking piece is passed through the support seat, and It can slide relative to the support base in the direction in which the goods enter and exit the pallet. The fork mechanism of claim 17, wherein the base body includes a base plate, a support plate and a support column supported between the base plate and the support plate, and the support plate is located on a side of the base plate away from the base; the third When the protruding element is provided between a tray and the base body, the support seat is arranged on the support plate. The fork mechanism according to claim 17, wherein the second carrier body includes a slider disposed at the bottom, and a slide rail is provided on the top of the first carrier body, and the slide rail moves the goods in and out of the place. The direction of the tray extends, and the slide block can slide along the slide rail to limit the sliding direction of the second carrier relative to the first carrier; the locking piece is located on the slide rail and the Between the mechanical arm elements, the locking piece is provided with a stop arm extending toward the slide rail, and the stop arm is blocked on the side of the slide block facing the third party. The fork mechanism of claim 19, wherein the side of the locking member away from the stop arm is further provided with an extension arm extending toward the mechanical arm element, and the extension arm is provided on on the moving path of the unlocking piece. The fork mechanism according to claim 20, wherein the locking element further includes an elastic repositioning piece, and both ends of the elastic repositioning piece are respectively provided on the extending arm and the support base, and are used to adjust the position on the When the robotic arm element moves toward the third party, a restoring force in a fourth direction is applied to the locking piece, wherein the fourth direction is opposite to the third party direction. The fork mechanism of claim 21, wherein the mechanical arm element includes a mechanical arm and a connecting rod, and the mechanical arm can extend out of the edge of the mounting plate along the direction in which the goods enter and exit the pallet, and the The first transmission unit includes a sprocket element. The sprocket element includes a chain and two sprockets spaced apart in the direction in which the goods enter and exit the pallet. The two sprockets are arranged on the mounting plate and located on the On the bottom side of the mechanical arm element on the mounting plate, the sprocket can rotate under the drive of the first power unit, the chain is stretched on the two sprockets, and the connecting rod Linked with the chain, the connecting rod is used to drive the mechanical arm to move when the chain is running, and the connecting rod forms the unlocking piece. The fork mechanism according to claim 22, wherein one end of the connecting rod facing the chain has meshing teeth, and the meshing teeth can mesh with the links of the chain. The fork mechanism according to claim 14, wherein when the number of extending elements provided between the first bearing body and the second bearing body is two, the two extending elements are The fork mechanisms are spaced apart in the width direction and have the same spacing with respect to the center of the fork mechanism; wherein the width direction of the fork mechanism is perpendicular to the first direction. A transport robot, characterized in that it includes: a mobile chassis, a lifting mechanism, a column and the fork mechanism described in any one of the above claims 1-24, the mobile chassis is used to carry the lifting mechanism, the column And the fork mechanism, the lifting mechanism is fixedly connected to the base in the fork mechanism, thereby driving the fork mechanism to lift and lower along the column.

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