WO2020156393A1 - 一种搬运机器人及其货叉组件 - Google Patents

一种搬运机器人及其货叉组件 Download PDF

Info

Publication number
WO2020156393A1
WO2020156393A1 PCT/CN2020/073623 CN2020073623W WO2020156393A1 WO 2020156393 A1 WO2020156393 A1 WO 2020156393A1 CN 2020073623 W CN2020073623 W CN 2020073623W WO 2020156393 A1 WO2020156393 A1 WO 2020156393A1
Authority
WO
WIPO (PCT)
Prior art keywords
fork
assembly
robot according
handling robot
base
Prior art date
Application number
PCT/CN2020/073623
Other languages
English (en)
French (fr)
Inventor
詹庆鑫
孔哲
陈叶广
Original Assignee
深圳市海柔创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市海柔创新科技有限公司 filed Critical 深圳市海柔创新科技有限公司
Priority to JP2021544672A priority Critical patent/JP2022520736A/ja
Priority to KR1020217025194A priority patent/KR102673077B1/ko
Priority to EP20748101.1A priority patent/EP3919413A4/en
Publication of WO2020156393A1 publication Critical patent/WO2020156393A1/zh
Priority to US17/389,183 priority patent/US11932487B2/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G65/00—Loading or unloading
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0014—Gripping heads and other end effectors having fork, comb or plate shaped means for engaging the lower surface on a object to be transported
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/0233—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by chains, cables or ribbons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/025—Arms extensible telescopic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023—Cartesian coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0435—Storage devices mechanical using stacker cranes with pulling or pushing means on either stacking crane or stacking area
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/10—Storage devices mechanical with relatively movable racks to facilitate insertion or removal of articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/82—Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels

Definitions

  • This application relates to the field of intelligent storage, and in particular to a handling robot and its fork assembly.
  • Smart warehousing is a link in the logistics process.
  • the application of smart warehousing ensures the speed and accuracy of data input in each link of cargo warehouse management, ensuring that companies can accurately and timely grasp the true data of inventory, and reasonably maintain and control corporate inventory.
  • Fork components play an important role in intelligent warehousing. Fork components replace manual handling of goods.
  • the inventor found that the storage robots currently equipped with shelves use the fork components to remove the goods from two parts of the cargo box. The side stretches in and hooks back to complete the holding and picking action, which causes the shelf to reserve enough working space for the fork components, which reduces the storage density of the warehouse.
  • the main technical problem solved by the embodiments of the present application is to provide a handling robot and its fork assembly, which can increase the storage density of the warehouse.
  • a fork assembly is provided.
  • the fork assembly includes a base assembly, a fork arm assembly, a hook and a driving assembly.
  • the fork arm assembly is slidably mounted on the base assembly, and can make a reciprocating linear movement relative to the base assembly.
  • the hook is slidably mounted on the fork arm assembly and can make a reciprocating linear movement relative to the fork arm assembly, and the hook is used to hook or push goods.
  • the driving assembly is connected with the fork arm assembly, and is used for driving the fork arm assembly and the hook to make a reciprocating linear motion.
  • the hook member includes a connecting part and a hooking and pushing part.
  • the hooking and pushing part is connected to the connecting part, and the hooking and pushing part and the connecting part are at a preset angle.
  • the hooking and pushing part is used to hook or push the cargo box, and the connecting part is slidably mounted on the fork arm assembly.
  • the hooking and pushing portion is perpendicular to the movement direction of the reciprocating linear movement of the hook member relative to the fork arm assembly.
  • the connecting part and the hooking and pushing part are arranged perpendicularly.
  • the hook member has an L-shaped structure or a ⁇ -shaped structure or a ⁇ -shaped structure.
  • the fork arm assembly includes a fork plate and a transmission assembly.
  • the fork plate is slidably mounted on the base assembly, and can make a reciprocating linear movement on the base assembly.
  • the hook member is installed on the fork plate and can make a reciprocating linear movement on the fork plate.
  • the transmission assembly connects the base assembly and the hook member, and the transmission assembly is used to drive the hook member to make a reciprocating linear movement on the fork plate.
  • the base assembly includes a base body and a first sliding rail.
  • the first sliding rail is installed on the base body.
  • the fork arm assembly further includes a first sliding groove installed on the fork plate and slidingly connected to the first sliding rail. The fork plate can pass through the first sliding groove along the The first slide rail slides.
  • the fork assembly includes a hook component, and the hook component includes a slider and the hook member.
  • the fork arm assembly further includes a second slide rail, and the second slide rail is installed on the fork plate.
  • the sliding block is installed on the hook and slidably connected to the second sliding rail, and the hook can slide along the second sliding rail through the sliding block.
  • the transmission assembly includes two movable pulleys and two strops.
  • Each of the movable pulleys is installed on the fork plate, and each of the strops is wound around a corresponding one of the movable pulleys.
  • One end of each strop is connected to the hook, and the other end is connected to the base assembly.
  • the hook assembly further includes a pressing plate.
  • the two pressure plates are both installed on the hook member, and one end of each of the sliding cables is connected to the hook member through a corresponding one of the pressure plates.
  • the movable pulley is a flat pulley
  • the strop is an open-loop flat belt
  • a sink groove is provided in the middle of the fork plate.
  • the hook assembly, the second slide rail, and the transmission assembly are all installed in the sink groove.
  • the fork plate further includes a side baffle plate.
  • the two side baffles are respectively connected to both sides of the fork plate, and the two side baffles are used to correct the posture of the cargo box when it is carried on the fork plate, and at the same time prevent the cargo box from slipping off the fork plate .
  • the fork plate further includes a guide plate.
  • the guide plate is connected to the end of the fork plate and is arranged at a preset angle with the fork plate, and the guide plate is used for guiding when the cargo box is pulled onto the fork plate.
  • the guide plate includes a first guide plate and a second guide plate.
  • the first guide plate and the fork plate are arranged at an included angle in the horizontal direction, and are connected to the end of the fork plate, and are used for guiding the cargo box in the horizontal direction when the cargo box is pulled onto the fork plate.
  • the two second guide plates are respectively arranged at an angle with the two sides of the fork plate in the vertical direction, and are respectively fixedly connected to the ends of the two sides of the fork plate for the cargo box to be pulled up. The vertical direction of the fork plate.
  • the driving assembly includes a first driving device, a screw rod and a moving block.
  • the first driving device and the screw rod are both installed on the base assembly.
  • the output end of the first driving device is connected with the screw rod.
  • the moving block is installed on the fork arm assembly, and the moving block is threadedly connected with the screw rod.
  • the first driving device is used to drive the screw rod to rotate relative to the base assembly, so that the moving block moves along the screw rod relative to the base assembly to drive the fork arm assembly relative to The base assembly makes a reciprocating linear motion.
  • the base assembly includes a base body and a supporting plate.
  • the supporting plate is fixedly connected to one side of the base body.
  • the fork arm assembly is slidably mounted on the side of the support plate facing the base body, and the fork arm assembly can make a reciprocating linear movement relative to the support plate.
  • the hook is slidably mounted on the fork arm assembly, and the hook can make a reciprocating linear movement relative to the fork arm assembly.
  • the fork assembly includes multiple sets of the fork arm assemblies.
  • a plurality of groups of the fork arm assemblies are stacked in parallel with each other, and each adjacent two groups of the fork arm assemblies are slidably connected to each other and can make reciprocating linear motions relative to each other.
  • a set of the fork arm assemblies located at the upper ends of the plurality of sets of the fork arm assemblies is slidably mounted on the side of the support plate facing the base body, and can make a reciprocating linear movement relative to the support plate.
  • the hook member is slidably mounted on a group of the fork arm assemblies located at the lower ends of the plurality of groups of the fork arm assemblies, and the hook member can make a reciprocating linear movement relative to the fork arm assemblies.
  • the fork assembly further includes a rotating assembly.
  • the rotating component is connected to the base component and is used to drive the base component to make a rotational movement.
  • the rotating assembly includes a mounting bracket, a rotating mechanism and a rotating drive assembly.
  • the rotating mechanism is connected to the mounting bracket and the base assembly, and the rotating mechanism is rotatable about its axis of rotation.
  • the rotating drive assembly is connected to the rotating mechanism for driving the rotating mechanism to rotate about the axis of rotation. .
  • the rotating mechanism includes a slewing support, a circular light wheel and a connecting plate.
  • the slewing bearing includes an inner ring and an outer ring.
  • the outer ring is sleeved on the inner ring, the outer ring is mounted on the mounting bracket, and the inner ring is rotatable relative to the outer ring around the rotation axis.
  • the connecting plate is connected to the inner ring and can rotate with the inner ring around the rotation axis.
  • the circular light wheel is sleeved on the outer ring and installed on the mounting bracket.
  • the base assembly is installed on the connecting plate.
  • the rotation driving assembly connects the connecting plate and the circular light wheel, and is used for driving the connecting plate to rotate about the rotation axis relative to the circular light wheel.
  • the rotation driving assembly includes a second driving device, a second timing belt wheel and a second timing belt.
  • the second driving device is connected to the connecting plate.
  • the second timing belt wheel is connected to the output end of the second driving device.
  • One end of the second timing belt is sleeved on the second timing belt wheel, and the other end is sleeved on the circular light wheel.
  • the rotation assembly further includes a rotation control assembly for controlling the rotation mechanism to rotate around the rotation axis through the rotation drive assembly.
  • the rotation assembly further includes a rotation limit device, and the rotation limit device is used to control the rotation mechanism to rotate around the rotation axis within a preset angle range.
  • a handling robot includes a mobile chassis, a storage shelf, a lifting device, and the fork assembly described above.
  • the lifting device is installed on the storage shelf.
  • the fork assembly is installed on the lifting device, and the lifting device is used to control the level of the fork assembly.
  • the fork assembly includes a hook
  • the fork arm assembly is slidably mounted on the The base assembly
  • the wishbone assembly can make a reciprocating linear movement on the base assembly
  • the hook is slidably mounted on the wishbone assembly
  • the hook can be made on the wishbone assembly
  • reciprocating linear motion the hook member slides toward the end of the fork arm assembly while the fork arm assembly slides out of the base assembly, so that the hook member can hook the bottom or the top of the cargo box to achieve alignment.
  • the pulling or pushing of the cargo box does not need to extend into both sides of the cargo box, which saves the working space of the fork assembly, enables the warehoused cargo boxes to be placed next to each other, and improves the storage density of the warehouse.
  • FIG. 1 is a schematic structural diagram of a fork assembly provided by one of the embodiments of this application;
  • FIG. 2 is a schematic diagram of another state of the fork assembly shown in Figure 1;
  • FIG. 3 is an exploded schematic diagram of the structure of the fork assembly shown in FIG. 1;
  • FIG. 4 is a schematic diagram of the structure of the fork arm assembly and the hook assembly of the fork assembly shown in FIG. 1;
  • Fig. 5 is a schematic structural view of the fork assembly shown in Fig. 1 from another angle;
  • Figure 6 is a schematic structural view of the rotating assembly of the fork assembly shown in Figure 1, wherein the connecting plate of the rotating assembly is omitted;
  • FIG. 7 is a schematic structural diagram of a handling robot provided by another embodiment of the application.
  • FIG. 8 is a schematic structural diagram of a fork assembly provided by another embodiment of this application.
  • Fig. 9 is a schematic structural view of the fork assembly shown in Fig. 8 from another angle;
  • FIG. 10 is a schematic structural diagram of a handling robot provided by still another embodiment of the application.
  • One embodiment of the present application provides a fork assembly 100 that can be applied to an intelligent storage system, an intelligent logistics system, or an intelligent sorting system.
  • the fork assembly 100 may be installed in a handling robot or a handling device to realize its function of handling goods.
  • the fork assembly 100 includes a base assembly 10, a fork arm assembly 20, a hook assembly 30, a driving assembly 40 and a rotating assembly 50.
  • the base assembly 10 has a horizontal reference line
  • the wishbone assembly 20 is slidably mounted on the base assembly 10 and can make a reciprocating linear movement along the reference line relative to the base assembly 10
  • the hook assembly 30 is slidably mounted on the fork arm assembly 20, and can make a reciprocating linear motion relative to the fork arm assembly 20 along the reference line
  • the drive assembly 40 is connected to the fork arm assembly 20, so
  • the driving assembly 40 is used to drive the fork arm assembly 20 to make a reciprocating linear motion relative to the base assembly 10 along a reference line.
  • the fork arm assembly 20 drives the hook assembly 30 relative to the fork arm
  • the assembly 20 makes a reciprocating linear movement along the reference line;
  • the rotating assembly 50 connects the fork assembly 100 with a handling robot or a handling device, and the rotating assembly 50 is used to rotate the fork assembly 100 to a desired angle .
  • the base assembly 10 includes a base body 11 and a first sliding rail 12.
  • the base body 11 is arranged horizontally and has a first reference line S1 arranged horizontally.
  • the first reference line S1 is the reference line arranged horizontally of the base assembly 10, and the first reference line S1 is connected to the The center lines of the base body 11 coincide.
  • the two first sliding rails 12 are symmetrically arranged on both sides of the first reference line S1 guided by the first reference line S1, and are both installed on the side of the base body 11 facing away from the ground.
  • the base body 11 can also be arranged at a preset angle with the horizontal plane, as long as the fork assembly 100 can be aligned from the top or bottom of the cargo box.
  • the function of tick or push is sufficient.
  • the fork arm assembly 20 includes a fork plate 21, a sliding groove 22, a second sliding rail 23 and a transmission assembly 24.
  • the sliding groove 22, the second sliding rail 23, and the transmission assembly 24 are all installed on the fork plate 21, and the transmission assembly 24 connects the base body 11 and the hook 31, so The transmission assembly 24 is used to drive the hook member 31 to make a reciprocating linear movement on the fork plate 21.
  • a sink groove is provided in the middle of the fork plate 21 guided by the first reference line S1, and the second slide rail 23, the transmission assembly 24 and the hook assembly 30 are all installed in the sink groove,
  • the fork plate 21 is slidably mounted on the base body 11, and the fork plate 21 is used to carry a cargo box.
  • the two sliding grooves 22 are symmetrically arranged on both sides of the first reference line S1 with the first reference line S1 as a guide, and are both installed on the side of the fork plate 21 opposite to the base body 11 .
  • Each slide groove 22 is slidably connected to a corresponding first slide rail 12, and the slide groove 22 can slide along the first slide rail 12 to drive the fork plate 21 relative to the base
  • the main body 11 makes a reciprocating linear motion along the first reference line S1.
  • the two second sliding rails 23 are symmetrically arranged on both sides of the first reference line S1 with the first reference line S1 as a guide, and are both installed in the sink groove of the fork plate 21.
  • the hook assembly 30 includes a hook 31, a pressing plate 32 and a slider 33. Wherein, the pressing plate 32 and the sliding block 33 are both installed on the hook 31.
  • the hook 31 is used to hook the cargo box on the fixed shelf when sliding, or to push the cargo box on the fork plate 21.
  • the hook member 31 includes a connecting part 310 and a hooking and pushing part 312, the hooking and pushing part 312 is connected to the connecting part 310, and the hooking and pushing part 312 and the connecting part 310 are at a preset angle,
  • the hooking and pushing part 312 is used for hooking the cargo box on the fixed shelf, or pushing the cargo box on the fork plate 21.
  • the hooking and pushing portion 312 is perpendicular to the connecting portion 310, and the hooking and pushing portion 312 is perpendicular to the direction of movement of the hook 31 in a reciprocating linear motion relative to the fork plate 21.
  • the two sliders 33 are symmetrically arranged on both sides of the first reference line S1 with the first reference line S1 as a guide, and are both installed on the connecting portion 310.
  • the two pressing plates 32 are symmetrically arranged on both sides of the first reference line S1 with the first reference line S1 as a guide, and are installed at the connecting portion 310.
  • Each slider 33 is slidably mounted on a corresponding one of the second sliding rails 23, and the slider 33 can slide along the second sliding rail 23 to drive the hook member 31 relative to the fork plate 21 Perform a reciprocating linear motion along the first reference line S1.
  • the hook member 31 has an L-shaped structure
  • the connecting portion 310 is the bottom of the L-shaped structure
  • the hooking and pushing portion 312 is one side of the L-shaped structure.
  • the hook member 31 is not limited to an L-shaped structure, and the hook member 31 may also be other structures with hooking and pushing functions.
  • the hook member 31 may be in a ⁇ shape.
  • the connecting part 310 is the bottom of the middle of the ⁇ -shaped structure
  • the hooking and pushing parts 312 are two sides of the ⁇ -shaped structure
  • the hook member 31 may be a ⁇ -shaped structure or the like.
  • the number of the first slide rail 12 or the second slide rail 23 is not limited to two.
  • the number of the first slide rail 12 may be one or three. Or more than three, as long as there is at least one, the number of the second slide rail 23 can be one, three or more than three, as long as there is at least one, correspondingly, the number of the slide groove 22
  • the number of the first slide rails 12 remains the same, and the number of the sliders 33 remains the same as the number of the second slide rails 23.
  • the two sets of transmission components 24 are arranged on both sides of the first reference line S1 with the first reference line S1 as a guide, and are all installed in the sink groove of the fork plate 21.
  • Each group of the transmission assembly 24 is connected to the base body 11 and the hook assembly 30, and the transmission assembly 24 is used for the fork plate 21 to be along the first reference line S1 relative to the base body 11 When moving, the hook assembly 30 is driven to move relative to the fork plate 21.
  • Each transmission assembly 24 includes a movable pulley 241 and a strop 242.
  • the front and rear ends of the fork plate 21 are respectively provided with an opening 213, each of the movable pulleys 241 is installed in a corresponding one of the openings 213, and each of the movable pulleys 241 can rotate around its own central axis.
  • Each of the strops 242 passes through a corresponding one of the openings 213 and is wound around a corresponding one of the movable pulleys 241.
  • One end of each sliding cable 242 is fixedly connected to the base body 11, and the other end is fixedly connected to a pressing plate 32 corresponding to the hook assembly 30.
  • the hook assembly 30 When the fork plate 21 slides at the first speed along the first reference line S1 relative to the base body 11, under the pulling of one of the strops 242, the hook assembly 30 is relative to the The fork plate 21 moves along the first reference line S1 at a second speed, and the second speed is twice the first speed.
  • the spool 242 of one group of the transmission assembly 24 bypasses the corresponding one of the movable pulleys 241 to pull the hook assembly 30 to move,
  • the hook assembly 30 tightens the spool 242 of the other transmission assembly 24 during the movement, and the rotation of the two movable pulleys 241 is always the same.
  • the movable pulley 241 is a flat pulley
  • the strop 242 is an open-loop flat belt.
  • the movable pulley 241 is not limited to a flat pulley
  • the strop 242 is not limited to an open-loop flat belt.
  • the movable pulley 241 and the strop 242 are respectively sprockets.
  • the link chain, for example, the movable pulley 241 and the strop 242 are V belt wheels and V belts, and so on.
  • the transmission assembly 24 is not limited to the belt transmission mechanism of the movable pulley 241 and the strop 242.
  • the transmission assembly 24 can also be a rack and pinion transmission mechanism, or a worm gear transmission mechanism. and many more.
  • the fork plate 21 further includes a side baffle 211 and a guide plate 212.
  • the two side baffles 211 are respectively fixedly connected to both sides of the fork plate 21, and the two side baffles 211 are used to correct the posture of the cargo box when it is carried on the fork plate 21, and prevent the cargo box from being The fork plate 21 slides down.
  • the guide plate 212 includes a first guide plate 2121 and a second guide plate 2122. Both the first guide plate 2121 and the second guide plate 2122 are installed at the end of the fork plate 21.
  • the two first guide plates 2121 and the fork plate 21 are arranged at a preset angle in the horizontal direction, and are respectively fixedly connected to the two ends of the fork plate 21.
  • the first guide plates 2121 are used for When the cargo box is pulled up the fork plate 21, it is guided in the vertical direction.
  • the two second guide plates 2122 are respectively arranged at a preset angle with the two side baffles 211 in the vertical direction, and are fixedly connected to the ends of the two side baffles 211, respectively.
  • the second guide plate 2122 is used to guide the horizontal direction when the cargo box is pulled up the fork plate 21.
  • the driving assembly 40 includes a first driving device 41, a screw 42 and a moving block 43.
  • the first driving device 41 and the screw rod 42 are both installed on the base body 11, the output end of the first driving device 41 is connected to the screw rod 42, and the center line of the screw rod 42 is parallel Set on the first reference line S1.
  • the moving block 43 is installed on the fork plate 21, and the moving block 43 is threadedly connected with the screw 42.
  • the first driving device 41 is used to drive the first screw 42 to rotate relative to the base body 11 around the center line, so that the first moving block 43 is moved along the center line relative to the base body 11.
  • the first reference line S1 moves to drive the fork arm assembly 20 to make a reciprocating linear motion along the first reference line S1 relative to the base body 11.
  • the base body 11 is provided with a screw supporting seat 44 and a screw fixing seat 45, and the screw supporting seat 44 and the screw fixing seat 45 are disposed opposite to two sides of the base body 11. end.
  • Two ends of the screw 42 are respectively mounted on the screw support 44 and the screw fixing base 45, and one end of the screw 42 passes through the screw fixing base 45.
  • the moving block 43 includes a screw nut 431 and a screw connection block 432, the screw nut 431 is threadedly connected to the screw 42, and the screw connection block 432 is fixedly connected to the screw nut 431, and
  • the screw connecting block 432 is installed on the fork plate 21.
  • the first driving device 41 is arranged on one side of the screw fixing seat 45, and the central axis of the first driving device 41 is arranged parallel to the center line of the screw 42.
  • the output end of the first driving device 41 and the end of the screw 42 passing through the screw fixing seat 45 are respectively provided with a first timing pulley 46, and two first timing pulleys 46 pass through the first timing pulley 46.
  • the timing belt 47 is connected, one end of the first timing belt 47 is sleeved on the first timing pulley 46 of the output end of the first driving device 41, and the other end of the first timing belt 47 is sleeved on the wire
  • the first timing pulley 46 at one end of the rod fixing seat 45 enables the output end of the first driving device 41 to transmit power through the first timing belt 47 when rotating, so that the lead screw 42 is synchronized
  • the moving block 43 can move back and forth along the lead screw 42 according to the change of the rotation direction of the lead screw 42, thereby driving the fork plate 21 to make a reciprocating linear motion along the first reference line S1 .
  • first timing belt wheel 46 and the first timing belt 47 may also be a sprocket and a link chain respectively, or alternatively, the moving first timing belt wheel 46 and the The first timing belt 47 may also be a V-belt wheel and a V-belt, and so on.
  • the first driving device 41 is a first servo motor. It can be understood that, according to actual conditions, the first driving device 41 is not limited to a servo motor.
  • the first driving device 41 is a pneumatic motor, and the driving component 40 may be a hydraulic power system, etc. .
  • the transmission mechanism between the first driving device 41 and the fork plate 21 is not limited to the combination of the screw 42 and the moving block 43, and the first driving device 41 and the
  • the transmission mechanism between the fork plates 21 may also be a rack and pinion or a worm gear or the like.
  • the first driving device 41 is installed on the fork plate 21, and the fork plate 21 is driven relative to the base body 11 through a transmission mechanism such as a rack and pinion, a worm gear, or a screw. Perform a reciprocating linear motion along the first reference line S1.
  • the first driving device 41 drives the hook plate assembly 20 to make a reciprocating linear motion along the first reference line S1 relative to the fork plate 21 through a transmission mechanism, and the hook plate assembly 20 During the movement, another transmission mechanism drives the fork plate 21 to make a reciprocating linear movement along the first reference line S1.
  • the rotating assembly 50 is used for making the fork assembly 100 rotatable relative to the handling robot or the handling device.
  • the rotating assembly 50 includes a mounting bracket 51, a rotating mechanism 52, a rotating drive assembly 53, a rotating control assembly 54 and a rotating limiting device 55.
  • the rotation mechanism 52 connects the base body 11 and the mounting bracket 51, the rotation mechanism 52 can rotate about its rotation axis S2, the rotation axis S2 is vertically arranged, and the rotation drive assembly 53 is connected
  • the rotation mechanism 52, the rotation drive assembly 53 is used to drive the rotation mechanism 52 to rotate around the rotation axis S2
  • the rotation control assembly 54 is used to control the rotation mechanism 52 around the rotation axis S2 through the rotation drive assembly 53
  • the rotation axis S2 rotates
  • the rotation limit device 55 is used to limit the rotation of the rotation drive assembly 53 within a preset angle range.
  • the mounting bracket 51 is used to support the base assembly 10, the wishbone assembly 20, the hook assembly 30, the drive assembly 40, the rotation mechanism 52, the rotation drive assembly 53, the The rotation control assembly 54 and the rotation limit device 55.
  • the mounting bracket 51 includes a bracket body 511 and a mounting plate 512.
  • the bracket body 511 is used to be installed on a handling robot or a conveying device, and the mounting plate 512 is installed on the bracket body 511.
  • the rotating mechanism 52 includes a first rotating member 521, a second rotating member 522 and a connecting plate 523.
  • the first rotating member 521 is mounted on the side of the mounting plate 512 facing the base body 11, the rotation axis S2 coincides with the center line of the first rotating member 521, and the second rotating member 522 is sleeved
  • the first rotating member 521 is arranged on the side of the mounting plate 512 facing the base body 11, the axes of the first rotating member 521 and the second rotating member 522 coincide, and the axis is The rotation axis S2 of the rotation mechanism 52.
  • the first rotating member 521 can rotate relative to the second rotating member 522 about the rotation axis S2.
  • the connecting plate 523 connects the second rotating member 522 and the base body 11, and the connecting plate 523 and the base body 11 can follow the second rotating member 522 around the rotation axis S2. Rotate.
  • the first rotating member 521 is a slewing support 521
  • the second rotating member 522 is a circular light wheel 522.
  • the slewing bearing 521 includes an inner ring 5211 and an outer ring 5212.
  • the outer ring 5212 is sleeved on the inner ring 5211 and is mounted on the mounting plate 512
  • the circular optical wheel 522 is sleeved on the outer ring 5212 and is mounted on the mounting plate 512
  • the inner ring 5211 It can rotate about the rotation axis S2 relative to the outer ring 5212.
  • the inner ring 5211 is provided with a washer 5213, and the washer 5213 is installed on the side of the inner ring 5211 facing the base body 11, and the washer 5213 can be relative to the outer ring 5212 along with the inner ring 5211. It rotates around the rotation axis S2.
  • One side of the connecting plate 523 is installed on the gasket 5213, and the bottom surface of the base body 11 is installed on the other side of the connecting plate 523.
  • the connecting plate 523 can be opposite to the mounting plate along with the gasket 5213.
  • 512 rotates around the rotation axis S2.
  • the base assembly 10, the fork arm assembly 20, the hook assembly 30, and the drive assembly 40 can all follow the connecting plate 523 relative to the The mounting plate 512 rotates together around the rotation axis S2.
  • the rotation driving assembly 53 includes a tensioning device 531, a second driving device 532, a deceleration device 533, a second timing belt wheel 534 and a second timing belt 535.
  • the tensioning device 531 includes a fixing seat 5311, a tensioning block 5312 and a screw 5313.
  • the fixing seat 5311 is mounted on an end of the connecting plate 523 far away from the rotation axis S2, and the fixing seat 5311 is provided with a flange 5314 on a side opposite to the rotation axis S2.
  • the fixing base 5311 is fixedly connected.
  • the tension block 5312 is opposite to the flange 5314 and is installed on the connecting plate 523.
  • the screw 5313 is threadedly connected with the tension block 5312, the screw 5313 passes through the tension block 5312, and one end of the screw 5313 abuts against the flange 5314.
  • the deceleration device 533 is mounted on the fixing base 5311, the second drive device 532 is mounted on the deceleration device 533, and the output end of the second drive device 532 is connected to the input end of the deceleration device 533.
  • the deceleration device 533 is used to reduce the rotation speed of the output end of the second driving device 532 while increasing the output torque.
  • the second timing belt wheel 534 is installed at the output end of the deceleration device 533, one end of the second timing belt 535 is sleeved on the second timing belt wheel 534, and the other end is sleeved on the circular light wheel 522.
  • the output end of the speed reduction device 533 is also provided with a fixed ring 536 for preventing the second timing pulley 534 from moving axially.
  • the second driving device 532 is a second servo motor.
  • the rotating drive assembly 53 may also be a pneumatic motor or the like.
  • the transmission mode of the second driving device 532 is not limited to the second timing belt wheel 534 and the second timing belt 535.
  • the second driving device 532 can also be driven by a rack and pinion transmission mechanism. , Or a transmission mechanism such as a worm gear and the like drives the rotation mechanism to rotate around the rotation axis S2.
  • the rotation limiting device 55 includes a first limiting rod 551, a second limiting rod 552 and a limiting block 553.
  • the first limiting rod 551 and the second limiting rod 552 are both installed on the connecting plate 523, and the first limiting rod 551 and the second limiting rod 552 are circumferentially distributed around the rotation axis S2,
  • the limiting block 553 is installed on the bottom surface of the mounting plate 512 facing the connecting plate 523, and the limiting block 553 can abut against the first limiting rod 551 and the second limiting rod 552, respectively , So that the rotation mechanism 52 can only rotate around the rotation axis S2 within a preset angle range.
  • the rotation control component 54 includes a first angle sensor 541, a second angle sensor 542, and a rotation controller.
  • the first angle sensor 541 and the second angle sensor 542 are both installed on the connecting plate 523, and the first angle sensor 541 and the second angle sensor 542 are circumferentially distributed around the rotation axis S2.
  • the rotation controller is connected to the rotation drive assembly 53 and is used for controlling the rotation direction of the rotation mechanism 52 around the rotation axis S2 through the rotation drive assembly 53.
  • the first angle sensor 541 is a first proximity switch
  • the second angle sensor 542 is a second proximity switch.
  • the rotation control assembly 54 further includes a detection board 543 installed on the bottom surface of the mounting board 512 facing the connecting board 523, and the detection board 543 is bent around the rotation axis S2.
  • the connecting plate 523 rotates to a predetermined angle
  • the first proximity switch 541 is facing the detection board 543
  • the second proximity switch 542 is not facing the detection board 543; when the connecting board 523 When turning to another preset angle, the first proximity switch 541 is not facing the detection board 543, and the second proximity switch 542 is facing the detection board 543.
  • FIG. 7 another embodiment of the present application further provides a handling robot 600, including a mobile chassis 200, a storage shelf 300, a lifting device 400 and the fork assembly 100.
  • the storage rack 300 is installed on the mobile chassis 200
  • the lifting device 400 is installed on the storage rack 300
  • the storage rack 300 is provided with a plurality of storage pallets, and the storage pallets are used to place cargo boxes.
  • the fork assembly 100 is installed on the lifting device 400 through the bracket body 511
  • the mobile chassis 200 is used to drive the handling robot 600 to a designated location
  • the lifting device 400 is used to control the fork assembly
  • the horizontal height of 100 is such that the fork assembly 100 can take the container 500 out of the fixed shelf and place it on the storage shelf 300.
  • the bottom of the cargo box 500 is provided with a groove for being hooked by the hook member 31 to cooperate with the hooking action of the fork assembly 100.
  • the steps for the handling robot 600 to pick up goods from the fixed shelf are as follows:
  • the moving chassis 200 is used to move the handling robot 600 along a designated path to the fixed shelf where the cargo box 500 is placed, and the moving chassis 200 is stationary relative to the fixed shelf.
  • the lifting device 400 drives the fork assembly 100 to move in the vertical direction relative to the fixed shelf, so that the fork arm assembly 20 of the fork assembly 100 is located at a predetermined distance from the bottom of the cargo box 500 The horizontal plane of the distance.
  • the fork assembly 100 is rotated about the rotation axis S2 through the rotating assembly 50 so that the extension direction of the fork arm assembly 20 of the fork assembly 100 is opposite to the front of the cargo box 500.
  • the fork arm assembly 20 extends relative to the base body 11 along the first reference line S1, and at the same time drives the hook assembly 30 to slide toward one end of the fork arm assembly 20.
  • the first driving device 41 drives the lead screw 42 to rotate synchronously in the first rotation direction around its center line through the first timing belt 47, and at the same time, the moving block 43 is relative to the lead screw 42 along the
  • the moving block 43 drives the fork plate 21 to slide out in the first horizontal direction relative to the base body 11, and a set of sliding cables 242 of the transmission assembly 24 pulls the
  • the hook assembly 30 slides out to one end of the fork plate 21 in the first horizontal direction relative to the fork plate 21, so that the hook member 31 of the hook assembly 30 is located in the groove at the bottom of the cargo box 500.
  • the first horizontal direction is parallel to the first reference line S1.
  • the fork assembly 100 is lifted by the lifting device 400 so that the hook member 31 hooks the groove of the cargo box 500.
  • the fork arm assembly 20 is recovered along the first reference line S1 relative to the base body 11, and at the same time, the hook assembly 30 is driven to slide toward the other end of the fork arm assembly 20.
  • the cargo box 500 is pulled onto the fork plate 21.
  • the first driving device 41 drives the screw 42 to rotate synchronously in a second rotation direction through the first timing belt 47, and at the same time, the moving block 43 is relative to the screw 42 in a second horizontal direction.
  • the moving block 43 drives the fork plate 21 to slide in the second horizontal direction relative to the base body 11, and the spool 242 of the transmission assembly 24 pulls the hook assembly Relative to the fork plate 21, 30 slides into the other end of the fork plate 21 in the second horizontal direction, so that the cargo box 500 is pulled onto the fork plate 21.
  • the second horizontal direction is parallel to the first reference line S1, and the first horizontal direction is opposite to the second horizontal direction, and the first rotation direction is opposite to the second rotation direction.
  • the cargo box on the fork plate 21 is pushed to a storage pallet on the storage shelf 300.
  • the fork assembly 100 is rotated about the rotation axis S2 by the rotating assembly 50, and the level of the fork assembly 100 is adjusted by the lifting device 400 as required, so that the fork assembly 100 is
  • the fork arm assembly 20 is opposed to a storage pallet on the storage shelf 300, and then drives the fork plate 21 to slide out relative to the base body 11, and at the same time, the hook 31 is in a set of the transmission assembly 24 Driven down to one end of the fork plate 21, the hook member 31 pushes the cargo box 500 on the fork plate 21 to the storage pallet.
  • the lifting device 400 lowers the fork assembly 100 so that the hook member 31 is separated from the groove of the cargo box 500, and then drives the fork arm assembly 20 relative to the base body 11 along the first The reference line S1 is recovered, and the hook member 31 slides toward the other end of the fork plate 21 under the driving of another group of the transmission assembly 24.
  • the fork assembly 100 includes a base body 11, a fork arm assembly 20, a hook 31, and a drive assembly 40.
  • the fork arm assembly 20 is slidably mounted on the base body 11 and can The base body 11 makes a reciprocating linear motion
  • the hook member 31 is slidably mounted on the wishbone assembly 20, and can make a reciprocating linear movement on the wishbone assembly 20, the drive assembly 40 and the
  • the fork arm assembly 20 is connected to drive the fork arm assembly 20 and the hook member 31 to make a reciprocating linear motion, so that the fork assembly 100 can be pulled and transported from the bottom of the front of the cargo box 500, There is no need to extend into both sides of the cargo box 500, which saves the working space of the fork assembly 100, so that the warehoused cargo boxes 500 can be placed close to each other, which improves the storage density of the warehouse.
  • the structure includes a base assembly 10a and a wishbone assembly 20a.
  • the base assembly 10a includes a base body 11, a first slide rail 12, and a support plate 13.
  • the support plate 13 is fixedly connected to the base body 11
  • the first slide rail 12 is installed on the side of the support plate 13 facing the base body 11.
  • the wishbone assembly 20a includes a primary wishbone assembly 200a and a secondary wishbone assembly 202a.
  • the primary wishbone assembly 200a is slidably mounted on the side of the support plate 13 facing the base body 11.
  • the second-stage wishbone assembly 200a can make a reciprocating linear movement relative to the support plate 13, the second-stage wishbone assembly 202a is slidably mounted on the side of the first-stage wishbone assembly 200a facing the base body 11, and the second The wishbone assembly 202a can make a reciprocating linear motion relative to the first-level wishbone assembly 200a; the drive assembly 40 is installed on the side of the support plate 13 facing the base body 11, and is connected to the first-level wishbone assembly 200a connection.
  • the base body 11 is arranged horizontally, and the base body 11 is used to carry the cargo box 500a.
  • the supporting plate 13 is fixedly connected to one side of the base body 11, and the supporting plate 13 has a horizontally arranged second reference line S3.
  • the reference line is the second reference line S3.
  • the line S3 and the center line of the base body 11 are located on the same vertical plane and arranged in parallel.
  • Both the first-level wishbone assembly 200a and the second-level wishbone assembly 202a can reciprocate along the second reference line S3 Linear motion.
  • the two first sliding rails 12 are symmetrically arranged on both sides of the second reference line S3 guided by the second reference line S3, and are both installed on the supporting plate 13 toward the base body 11 one side.
  • Both the first level wishbone assembly 200a and the second level wishbone assembly 202a are basically the same as the wishbone assembly 20 of the above embodiment.
  • the difference is that the fork plate 21a in this embodiment is a rectangular flat plate, that is, the fork No sink groove is provided in the middle of the plate 21a, side baffles are not provided on both sides of the fork plate 21a, and guide plates are not provided at the end of the fork plate 21a.
  • side baffle structures for correcting the posture of the cargo box 500a while preventing the cargo box 500a from sliding off the base body 11 are provided on both sides of the base body 11. And the base body 11 is provided with a guiding structure for guiding the cargo box 500a in the horizontal and vertical directions.
  • the first-stage wishbone assembly 200a and the second-stage wishbone assembly 202a are guided along the second reference line S3.
  • the difference between the hooking assembly 30a and the hooking assembly 30 of the above-mentioned embodiment is that the hooking member 31a of the hooking assembly 30a of this embodiment has a U-shaped structure, and the hooking member 31a is slidably mounted on the secondary wishbone assembly 202a faces the side of the base body 11, and the notch of the hook member 31a is downward.
  • the transmission assembly of the primary wishbone assembly 200a connects the support plate 13 and the secondary wishbone assembly 202a, and the drive assembly of the secondary wishbone assembly 202a connects the primary wishbone assembly 200a and the Hook the component 30a.
  • the primary wishbone assembly 200a may be omitted, and the secondary wishbone assembly 202a is directly slidably mounted on the side of the support plate 13 facing the base body 11. .
  • the transmission assembly of the secondary wishbone assembly 202a connects the support plate 13 and the hook assembly 30a.
  • the fork assembly 100a may be provided with multiple levels of the fork arm assemblies 20a, that is, the fork assembly 100a includes multiple sets of the fork arm assemblies 20a, of which one set The wishbone assembly 20a is a one-stage arrangement.
  • a plurality of sets of the fork arm assemblies 20a are stacked in parallel with each other, and each adjacent two sets of the fork arm assemblies 20a are slidably connected to each other, and can make a reciprocating linear motion relative to each other along the second reference line S3.
  • a set of the wishbone assemblies 20a located at the upper end of the plurality of sets of wishbone assemblies 20a is slidably mounted on the side of the support plate 13 facing the base body 11, and is capable of reciprocating linear movement relative to the support plate 13 .
  • the hook member 31 a is slidably mounted on a group of the fork arm assemblies 20 located at the lower end of the plurality of groups of the fork arm assemblies 20, and the hook member 31 a can make a reciprocating linear movement relative to the fork arm assemblies 20.
  • FIG. 10 another embodiment of the present application provides a handling robot 600a, which includes a mobile chassis 200, a storage shelf 300, a lifting device 400, and the fork assembly 100a.
  • the storage rack 300 is installed on the mobile chassis 200
  • the lifting device 400 is installed on the storage rack 300
  • the storage rack 300 is provided with a plurality of storage pallets, and the storage pallets are used to place cargo boxes.
  • the fork assembly 100a is installed on the lifting device 400 through the bracket body 511, the mobile chassis 200 is used to drive the handling robot 600a to a designated location, and the lifting device 400 is used to control the cargo
  • the level of the fork assembly 100 a is such that the robot fork assembly 100 a can take the container 500 a out of the fixed shelf and place it on the storage shelf 300.
  • the bottom of the cargo box 500a does not need to be provided with a groove for hooking by the hook 31a, and the hook 31a directly hooks the upper edge of the cargo box 500a.
  • the steps for the handling robot 600a to pick up goods from the fixed shelf are as follows:
  • the moving chassis 200 is used to move the handling robot 600a along a designated path to the fixed shelf where the container 500a is placed, and the moving chassis 200 is stationary relative to the fixed shelf.
  • the lifting device 400 drives the fork assembly 100a to move in the vertical direction relative to the fixed shelf, so that the fork arm assembly 20a of the fork assembly 100a is located at a predetermined distance from the top of the cargo box 500a The horizontal plane of the distance.
  • the fork assembly 100a is rotated about the rotation axis S2 through the rotating assembly 50 so that the extension direction of the fork arm assembly 20a of the fork assembly 100a is opposite to the front of the cargo box 500a.
  • the fork arm assembly 20a extends along the second reference line S3 relative to the supporting plate 13, and at the same time drives the hook assembly 30a to slide toward one end of the fork arm assembly 20a.
  • the first driving device 41 drives the lead screw 42 to rotate synchronously in a first rotation direction through the first timing belt, and at the same time, the moving block 43 moves synchronously in a first horizontal direction relative to the lead screw.
  • the moving block 43 drives the fork plate 21a of the first-level wishbone assembly 200a to slide out in the first horizontal direction relative to the support plate 13, and at the same time, a set of transmissions of the first-level wishbone assembly 200a
  • the sliding cable of the component pulls the fork plate 21a of the secondary wishbone assembly 202a to slide out in the first horizontal direction, and at the same time, the spool of a set of transmission components of the secondary wishbone assembly 202a pulls the hook.
  • the hook 31a of the assembly 30a slides along the first horizontal direction toward the end of the fork plate 21a of the secondary wishbone assembly 202a, so that the hook 31a of the hook assembly 30a is located on the top of the cargo box 500a, And the notch of the hook member 31a is aligned downward with the upper edge of the cargo box 500a.
  • the first direction is parallel to the second reference line S3.
  • the fork assembly 100a is lowered by the lifting device 400, so that the hook 31a is held on the upper edge of the cargo box 500a.
  • the fork arm assembly 20 is recovered along the second reference line S3 relative to the support plate 13, and at the same time, the hook assembly 30a is driven to slide toward the other end of the secondary fork arm assembly 202a.
  • the cargo box 500a is drawn onto the base body 11 at this time.
  • the first driving device 41 drives the screw 42 to rotate synchronously in a second rotation direction through the first timing belt, and at the same time, the moving block 43 is synchronized with the screw 42 in the second horizontal direction.
  • the moving block 43 drives the fork plate 21a of the first-level fork arm assembly 200a to slide in the second horizontal direction relative to the supporting plate 13, and at the same time, the other one of the first-level fork arm assembly 200a
  • the sliding cable of the second-level wishbone assembly 202a pulls the fork plate 21a of the second-level wishbone assembly 202a to slide in along the second horizontal direction.
  • the hook 31a of the hook assembly 30a slides along the second horizontal direction to the other end of the fork plate 21a of the secondary fork arm assembly 202a, so that the cargo box 500a is pulled onto the base body 11.
  • the second horizontal direction is parallel to the second reference line S3
  • the first horizontal direction is opposite to the second horizontal direction
  • the first rotating direction is opposite to the second rotating direction.
  • the cargo box on the base body 11 is pushed to a storage pallet on the storage shelf 300.
  • the fork assembly 100a is rotated around the rotation axis S2 by the rotating assembly 50, and the level of the fork assembly 100a is adjusted by the lifting device 400 as required, so that the fork assembly 100a is
  • the base body 11 is opposed to a storage pallet on the storage shelf 300, and then drives the fork arm assembly 20a to slide out relative to the support plate 13, while the hook 31a is driven by a set of the transmission assembly Sliding down to one end of the secondary fork arm assembly 202a, the hook member 31a pushes the cargo box 500a on the base body 11 to the storage pallet.
  • lift the fork assembly 100a by the lifting device 400 so that the hook member 31 is separated from the upper edge of the cargo box 500, and then drive the fork arm assembly 20a and the hook member 31 along the second reference line S3 recycling.
  • the sliding displacement of the hook member 31a relative to the supporting plate 13 along the second reference line S3 includes a first displacement section and a second displacement section, the second displacement section minus the The difference of the second displacement section is equal to the depth between two adjacent cargo boxes 500a. That is, when the hook member 31a slides out of the first displacement section along the second reference line S3 relative to the support plate 13, the first deep hook action can be performed, and the two adjacent cargo boxes Take out the first one of 500a; when the hook member 31a slides out of the second displacement section along the second reference line S3 relative to the supporting plate 13, the second deep hooking action can be performed, and the next one The cargo box 500a is taken out to realize the function of double-deep pickup.
  • the displacement of the hook member 31a relative to the supporting plate 13 may be set to multiple stages, for example, the displacement includes a first displacement section, a second displacement section, and a third section. Displacement, through the setting of the three-stage displacement, the three adjacent cargo boxes 500a on the front and rear of the fixed bracket can be taken out in order to realize a further multi-stage hooking action.
  • the fork assembly 100a is a double-deep horizontal structure
  • the support plate 13 is installed on one side of the base body 11
  • the first level fork arm assembly 200a is slidably installed on the
  • the supporting plate 13 faces the side of the base body 11
  • the secondary fork arm assembly 202a is slidably mounted on the side of the primary fork arm assembly 200a facing the base body 11, and the hook member 31a is slidably mounted In the secondary wishbone assembly 202a.
  • the fork assembly 100a can be pulled and transported from the top of the front of the cargo box 500a without reaching into the two sides of the cargo box 500a, which saves the working space of the fork assembly 100a, so that The warehoused cargo boxes 500a can be placed next to each other, which improves the storage density of the warehouse.
  • the movement stroke of the hook 31a is extended, so that the pickup range of the fork assembly 100a is larger, and The fork assembly 100a can perform a double-deep pick-up action, and take out the two adjacent cargo boxes 500a on the fixed bracket.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Manipulator (AREA)

Abstract

一种搬运机器人（600）及其货叉组件（100），货叉组件（100）包括基座组件（10）、叉臂组件（20）、勾件（31）以及驱动组件（40），叉臂组件（20）滑动安装于基座组件（10），并且可在基座组件（10）上做往复直线运动，勾件（31）滑动安装于叉臂组件（20），并且可在叉臂组件（20）上做往复直线运动，驱动组件（40）与叉臂组件（20）连接，用于驱动叉臂组件（20）和勾件（31）做往复直线运动。通过以上结构，实现货叉组件（100）对货箱（500）的拉取或推送，无需伸入货箱（500）两侧，节省了货叉组件（100）的作业空间，使得仓储的货箱（500）可紧挨着摆放，提高了仓库的存储密度。

Description

一种搬运机器人及其货叉组件 技术领域
本申请涉及智能仓储领域，特别是涉及一种搬运机器人及其货叉组件。
背景技术
智能仓储是物流过程的一个环节，智能仓储的应用，保证了货物仓库管理各个环节数据输入的速度和准确性，确保企业及时准确地掌握库存的真实数据，合理保持和控制企业库存。
货叉组件在智能仓储中扮演着重要的角色，货叉组件代替人工搬运货物，但是，发明人在实现本申请的过程中，发现：目前配置货架的仓储机器人通过货叉组件从货箱的两侧伸入、回勾以完成抱取动作，导致货架需要给货叉组件预留足够的工作空间，降低了仓储的储存密度。
发明内容
本申请实施方式主要解决的技术问题是提供一种搬运机器人及其货叉组件，可提高仓储的储存密度。
为了解决上述技术问题，本申请实施例提供以下技术方案：
提供一种货叉组件，所述货叉组件包括基座组件，叉臂组件，勾件以及驱动组件。所述叉臂组件滑动安装于所述基座组件，并且可相对所述基座组件做往复直线运动。所述勾件滑动安装于所述叉臂组件，并且可相对所述叉臂组件做往复直线运动，所述勾件用于对货物进行勾取或者推送。所述驱动组件与所述叉臂组件连接，用于驱动所述叉臂组件和所述勾件做往复直线运动。
较优地，所述勾件包括连接部和勾取推送部。所述勾取推送部连接于所述连接部，并且所述勾取推送部和所述连接部呈预设角度。所述勾取推送部用于对货箱进行勾取或者推送，所述连接部滑动安装于所述叉臂组件。
较优地，所述勾取推送部垂直于所述勾件相对所述叉臂组件做往复直线运动的运动方向。
较优地，所述连接部与所述勾取推送部垂直设置。
较优地，所述勾件为L字形结构或⊥字形结构或凵字形结构。
较优地，所述叉臂组件包括叉板以及传动组件。所述叉板滑动安装于所述基座组件，并且可在所述基座组件上做往复直线运动。所述勾件安装于所述叉板，并且可在所述叉板上做往复直线运动。所述传动组件连接所述基座组件与所述勾件，所述传动组件用于驱动所述勾件在所述叉板上做往复直线运动。
较优地，所述基座组件包括基座主体以及第一滑轨。所述第一滑轨安装于所述基座主体。所述叉臂组件还包括第一滑槽，所述第一滑槽安装于所述叉板，并且滑动连接于所述第一滑轨，所述叉板可通过所述第一滑槽沿所述第一滑轨滑动。
较优地，所述货叉组件包括勾取组件，所述勾取组件包括滑块以及所述勾件。所述叉臂组件还包括第二滑轨，所述第二滑轨安装于所述叉板。所述滑块安装于所述勾件，并且滑动连接于所述第二滑轨，所述勾件可通过所述滑块沿所述第二滑轨滑动。
较优地，所述传动组件包括两个动滑轮和两个滑索。每个所述动滑轮安装于所述叉板，每个所述滑索绕设于对应的一个所述动滑轮。每个所述滑索的一端均连接于所述勾件，另一端均连接于所述基座组件。
较优地，所述勾取组件还包括压板。两个所述压板均安装于所述勾件，每个所述滑索的一端通过对应的一个所述压板连接于所述勾件。
较优地，所述动滑轮为平带轮，所述滑索为开环平带。
较优地，所述叉板的中部设置有沉槽。所述勾取组件、所述第二滑轨、以及所述传动组件均安装于所述沉槽。
较优地，所述叉板还包括侧挡板。两个所述侧挡板分别连接于所述叉板的两侧，两个所述侧挡板用于纠正货箱承载于所述叉板时的姿态，同时防止货箱从所述叉板滑落。
较优地，所述叉板还包括导向板。所述导向板连接于所述叉板的末端，并且与所述叉板呈预设夹角设置，所述导向板用于货箱被拉上所述叉板时导向。
较优地，所述导向板包括第一导向板和第二导向板。所述第一导向板与所述叉板在水平方向上呈夹角设置，并且连接于所述叉板的末端，用于货箱被拉上所述叉板时水平方向上的导向。两个所述第二导向板分别与所述叉板的两侧在竖直方向上呈夹角设置，并且分别固定连接于所述叉板的两侧的末端，用于 货箱被拉上所述叉板时竖直方向上的导向。
较优地，所述驱动组件包括第一驱动装置、丝杆以及移动块。所述第一驱动装置和所述丝杆均安装于所述基座组件。所述第一驱动装置的输出端与所述丝杆连接。所述移动块安装于于所述叉臂组件，并且所述移动块与所述丝杆螺纹连接。所述第一驱动装置用于驱动所述丝杆相对于所述基座组件旋转，使得所述移动块相对于所述基座组件沿所述丝杆移动，以带动所述叉臂组件相对于所述基座组件做往复直线运动。
较优地，所述基座组件包括基座主体和支承板。所述支承板固定连接于所述基座主体的一侧。所述叉臂组件滑动安装于所述支承板朝向所述基座主体的一面，并且所述叉臂组件可相对所述支承板做往复直线运动。所述勾件滑动安装于所述叉臂组件，并且所述勾件可相对所述叉臂组件做往复直线运动。
在一些实施例中，所述货叉组件包括多组所述叉臂组件。多组所述叉臂组件彼此平行层叠设置，每相邻两组所述叉臂组件彼此滑动连接，并且可相对彼此做往复直线运动。位于多组所述叉臂组件的上端的一组所述叉臂组件滑动安装于所述支承板朝向所述基座主体的一面，并且可相对所述支承板做往复直线运动。所述勾件滑动安装于位于多组所述叉臂组件的下端的一组所述叉臂组件，并且所述勾件可相对所述叉臂组件做往复直线运动。
较优地，所述货叉组件还包括旋转组件。所述旋转组件连接于所述基座组件，用于驱动所述基座组件做旋转运动。
较优地，所述旋转组件包括安装支架、旋转机构以及旋转驱动组件。所述旋转机构连接所述安装支架与所述基座组件，所述旋转机构可绕其旋转轴线旋转所述旋转驱动组件连接所述旋转机构，用于驱动所述旋转机构绕所述旋转轴线旋转。
较优地，所述旋转机构包括回转支承、圆圈光轮以及连接板。所述回转支承包括内圈和外圈。所述外圈套设于所述内圈，所述外圈安装于所述安装支架，所述内圈可相对于所述外圈绕所述旋转轴线旋转。所述连接板连接于所述内圈，并且可随所述内圈绕所述旋转轴线旋转。所述圆圈光轮套设于所述外圈，并且安装于所述安装支架。所述基座组件安装于所述连接板。所述旋转驱动组件连接所述连接板与所述圆圈光轮，用于驱动所述连接板相对所述圆圈光轮绕所述旋转轴线转动。
较优地，所述旋转驱动组件包括第二驱动装置、第二同步带轮以及第二同步带。所述第二驱动装置连接于所述连接板。所述第二同步带轮连接于所述第二驱动装置的输出端。所述第二同步带的一端套设于所述第二同步带轮，另一端套设于所述圆圈光轮。
较优地，所述旋转组件还包括旋转控制组件，所述旋转控制组件用于通过所述旋转驱动组件控制所述旋转机构绕所述旋转轴线旋转。
较优地，所述旋转组件还包括旋转限位装置，所述旋转限位装置用于控制所述旋转机构绕所述旋转轴线在预设角度范围内旋转。
为了解决上述技术问题，本申请实施例还提供以下技术方案：
提供一种搬运机器人，所述搬运机器人包括移动底盘，存储货架，升降装置以及如上所述的货叉组件。所述升降装置安装于所述存储货架。所述货叉组件安装于所述升降装置，所述升降装置用于控制所述货叉组件的水平高度。
本申请实施方式的有益效果是：区别于现有技术的情况，本申请实施例的搬运机器人及其货叉组件中，所述货叉组件包括勾件，所述叉臂组件滑动安装于所述基座组件，并且所述叉臂组件可在所述基座组件上做往复直线运动，所述勾件滑动安装于所述叉臂组件，并且所述勾件可在所述叉臂组件上做往复直线运动，所述叉臂组件滑出所述基座组件的同时所述勾件滑向所述叉臂组件的末端，可使得所述勾件勾住货箱的底部或者顶部，以实现对货箱的拉取或推送，无需伸入货箱两侧，节省了所述货叉组件的作业空间，使得仓储的货箱可紧挨着摆放，提高了仓库的存储密度。
附图说明
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1为本申请其中一实施例提供的一种货叉组件的结构示意图；
图2为图1所示的货叉组件的另一状态示意图；
图3为图1所示的货叉组件的结构分解示意图；
图4为图1所示的货叉组件的叉臂组件以及勾取组件的结构示意图；
图5为图1所示的货叉组件的另一角度的结构示意图；
图6为图1所示的货叉组件的旋转组件的结构示意图，其中旋转组件的连接板被省略；
图7为本申请另一实施例提供的一种搬运机器人的结构示意图；
图8为本申请又一实施例提供的一种货叉组件的结构示意图；
图9为图8所示的货叉组件的另一角度的结构示意图；
图10为本申请再一实施例提供的一种搬运机器人的结构示意图。
具体实施方式
为了便于理解本申请，下面结合附图和具体实施方式，对本申请进行更详细的说明。需要说明的是，当元件被表述“固定于”另一个元件，它可以直接在另一个元件上、或者其间可以存在一个或多个居中的元件。当一个元件被表述“连接”另一个元件，它可以是直接连接到另一个元件、或者其间可以存在一个或多个居中的元件。本说明书所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的。
除非另有定义，本说明书所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本说明书中在本申请的说明书中所使用的术语只是为了描述具体的实施方式的目的，不是用于限制本申请。本说明书所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
请参阅图1和图2，本申请其中一实施例提供一种货叉组件100，所述货叉组件100可应用于智能仓储系统、智能物流系统或智能分拣系统等。具体的，所述货叉组件100可安装于搬运机器人或搬运装置，以实现其搬运货物的功能。
所述货叉组件100包括基座组件10、叉臂组件20、勾取组件30、驱动组件40以及旋转组件50。其中，所述基座组件10具有水平设置的参考线，所述叉臂组件20滑动安装于所述基座组件10，并且可相对所述基座组件10沿所述参考线做往复直线运动；所述勾取组件30滑动安装于所述叉臂组件20，并且可相对所述叉臂组件20沿所述参考线做往复直线运动；所述驱动组件40与所述叉臂组件20连接，所述驱动组件40用于驱动所述叉臂组件20相对于所述基座组件10沿参考线做往复直线运动，同时，所述叉臂组件20驱动所述勾取组件30相对于所述叉臂组件20沿所述参考线做往复直线运动；所述旋转组件50连接 所述货叉组件100与搬运机器人或搬运装置,所述旋转组件50用于转动所述货叉组件100至所需的角度。
请参阅图3，所述基座组件10包括基座主体11以及第一滑轨12。所述基座主体11水平设置，并且具有水平设置的第一参考线S1，所述第一参考线S1即为所述基座组件10水平设置的参考线，所述第一参考线S1与所述基座主体11的中心线重合。两个所述第一滑轨12以所述第一参考线S1为导向对称设置于所述第一参考线S1的两侧，并且均安装于所述基座主体11的背离地面的一面。
可以理解的是，在一些其它实施例中，根据实际情况，所述基座主体11也可以与水平面呈预设夹角设置，只要能实现所述货叉组件100从货箱的顶部或底部对其进行勾取或推送的功能即可。
请一并参阅图4和图5，所述叉臂组件20包括叉板21、滑槽22、第二滑轨23以及传动组件24。其中，所述滑槽22、所述第二滑轨23以及所述传动组件24均安装于所述叉板21，所述传动组件24连接所述基座主体11与所述勾件31，所述传动组件24用于驱动所述勾件31在所述叉板21上做往复直线运动。
所述叉板21的中部以所述第一参考线S1为导向设置有沉槽，所述第二滑轨23、所述传动组件24以及所述勾取组件30均安装于所述沉槽，所述叉板21滑动安装于所述基座主体11，所述叉板21用于承载货箱。
两个所述滑槽22以所述第一参考线S1为导向对称设置于所述第一参考线S1的两侧，并且均安装于所述叉板21与所述基座主体11相对的一面。每个所述滑槽22滑动连接于一个相对应的所述第一滑轨12，并且所述滑槽22可沿所述第一滑轨12滑动以带动所述叉板21相对所述基座主体11沿所述第一参考线S1做往复直线运动。
两个所述第二滑轨23以所述第一参考线S1为导向对称设置于所述第一参考线S1的两侧，并且均安装于所述叉板21的沉槽。
所述勾取组件30包括勾件31、压板32以及滑块33。其中，所述压板32以及所述滑块33均安装于所述勾件31。
所述勾件31用于滑动时对固定货架上的货箱进行勾取，或者对位于所述叉板21上的货箱进行推送。所述勾件31包括连接部310和勾取推送部312，所述勾取推送部312连接于所述连接部310，并且所述勾取推送部312和所述连接部 310呈预设角度，所述勾取推送部312用于对固定货架上的货箱进行勾取，或者对位于所述叉板21上的货箱进行推送。在本实施例中，所述勾取推送部312垂直于所述连接部310，并且所述勾取推送部312垂直于所述勾件31相对所述叉板21做往复直线运动的运动方向。
两个所述滑块33以所述第一参考线S1为导向对称设置于所述第一参考线S1的两侧，并且均安装于所述连接部310。两个所述压板32以所述第一参考线S1为导向对称设置于所述第一参考线S1的两侧，并且安装于所述连接部310。每个所述滑块33滑动安装于对应的一个所述第二滑轨23，并且所述滑块33可沿所述第二滑轨23滑动以带动所述勾件31相对所述叉板21沿所述第一参考线S1做往复直线运动。
在本实施例中，所述勾件31为L字形结构，所述连接部310为L字形结构的底部，所述勾取推送部312为L字形结构的一侧。可以理解的是，根据实际情况，所述勾件31并不仅限于L字形结构，所述勾件31也可以是其他具有勾取、推送功能的结构，例如，所述勾件31可以是凵字形结构，所述连接部310为凵字形结构的中间的底部，所述勾取推送部312为凵字形结构的两侧，又或者，所述勾件31可以是⊥字形结构等等。
可以理解的是，根据实际情况，所述第一滑轨12或所述第二滑轨23的数量并不限制为两个，例如，所述第一滑轨12的数量可以为一个，三个或者三个以上，只要至少为一个即可，所述第二滑轨23的数量可以为一个，三个或者三个以上，只要至少为一个即可，相对应的，所述滑槽22的数量跟所述第一滑轨12的数量保持相同，所述滑块33的数量跟所述第二滑轨23的数量保持相同。
两组所述传动组件24以所述第一参考线S1为导向设置于所述第一参考线S1的两侧，并且均安装于所述叉板21的沉槽。每组所述传动组件24均连接所述基座主体11与所述勾取组件30，所述传动组件24用于所述叉板21相对所述基座主体11沿所述第一参考线S1运动时，驱动所述勾取组件30相对所述叉板21运动。
每组所述传动组件24包括动滑轮241和滑索242。所述叉板21的前后两端分别开设有一开口213，每个所述动滑轮241安装于对应的一个所述开口213，并且每个所述动滑轮241可绕自身的中轴线转动。每个所述滑索242穿过对应的一个所述开口213，并且绕设于对应的一个所述动滑轮241。每个所述滑索242 的一端固定连接于所述基座主体11，另一端固定连接于所述勾取组件30对应的一个压板32。当所述叉板21相对于所述基座主体11沿所述第一参考线S1以第一速度滑动时，在一个所述滑索242的拉动下，所述勾取组件30相对于所述叉板21沿所述第一参考线S1以第二速度移动，所述第二速度为所述第一速度的两倍。其中，所述叉板21与所述基座主体11由于相对运动而使得其中一组所述传动组件24的滑索242绕过对应的一个所述动滑轮241而拉动所述勾取组件30运动，同时，所述勾取组件30在运动过程中拉紧另一组传动组件24的滑索242，两个所述动滑轮241的转向始终相同。
在本实施例中，所述动滑轮241为平带轮，所述滑索242为开环平带。
可以理解的是，根据实际情况，所述动滑轮241并不仅限于平带轮，所述滑索242也并不仅限于开环平带，例如，所述动滑轮241与所述滑索242分别为链轮与节链，又例如，所述动滑轮241与所述滑索242分别为V带轮和V带，等等。当然，所述传动组件24也并不局限于所述动滑轮241与所述滑索242的带传动机构，所述传动组件24也可以是齿轮齿条的传动机构，又或者是蜗轮蜗杆的传动机构等等。
请继续参阅图4，所述叉板21还包括侧挡板211以及导向板212。
两个所述侧挡板211分别固定连接于所述叉板21的两侧，两个所述侧挡板211用于纠正货箱承载于所述叉板21时的姿态，同时防止货箱从所述叉板21滑落。
所述导向板212包括第一导向板2121和第二导向板2122，所述第一导向板2121和所述第二导向板2122均安装于所述叉板21的末端。
两个所述第一导向板2121与所述叉板21在水平方向上呈预设夹角设置，并且分别固定连接于所述叉板21的末端两侧，所述第一导向板2121用于货箱被拉上所述叉板21时竖直方向上的导向。两个所述第二导向板2122分别与两个所述侧挡板211在竖直方向上呈预设夹角设置，并且分别固定连接于两个所述侧挡板211的末端，两个所述第二导向板2122用于货箱被拉上所述叉板21时水平方向上的导向。通过在所述叉板21上设置所述第一导向板2121和所述第二导向板2122，使得所述货叉组件100能顺畅地从货箱的底部将其从固定货架上勾取至所述叉板21，防止所述货叉组件100的叉板21的伸出角度与货箱的摆放位置不对应而勾取失败，甚至破坏货箱或者所述叉板21。
请继续参阅图3，所述驱动组件40包括第一驱动装置41、丝杆42以及移动块43。所述第一驱动装置41和所述丝杆42均安装于所述基座主体11，所述第一驱动装置41的输出端与所述丝杆42连接，所述丝杆42的中心线平行于所述第一参考线S1设置。所述移动块43安装于所述叉板21，并且所述移动块43与所述丝杆42螺纹连接。所述第一驱动装置41用于驱动所述第一丝杆42相对于所述基座主体11绕所述中心线旋转，使得所述第一移动块43相对于所述基座主体11沿所述第一参考线S1移动以带动所述叉臂组件20相对于所述基座主体11沿所述第一参考线S1做往复直线运动。
具体的，所述基座主体11上设置有丝杆支撑座44和丝杠固定座45，所述丝杠支撑座44和所述丝杠固定座45相对设置于所述基座主体11的两端。所述丝杠42的两端分别安装于所述丝杠支撑座44和所述丝杠固定座45，并且所述丝杠42的一端穿过所述丝杠固定座45。所述移动块43包括丝杠螺母431和丝杠连接块432，所述丝杠螺母431与所述丝杠42螺纹连接，所述丝杠连接块432固定连接于所述丝杠螺母431，并且所述丝杠连接块432安装于所述叉板21。所述第一驱动装置41设置于所述丝杠固定座45的一侧，并且所述第一驱动装置41的中轴线与所述丝杠42的中心线平行设置。所述第一驱动装置41的输出端和所述丝杠42穿过所述丝杠固定座45的一端分别设置有一第一同步带轮46，两个所述第一同步带轮46通过第一同步带47连接，所述第一同步带47的一端套设于所述第一驱动装置41的输出端的所述第一同步带轮46，所述第一同步带47的另一端套设于丝杠固定座45的一端的所述第一同步带轮46，所述使得所述第一驱动装置41的输出端转动时能通过所述第一同步带47传递动力从而使得所述丝杠42同步转动，同时，所述移动块43可根据所述丝杠42的转动方向的变换而沿所述丝杠42来回移动，从而驱动所述叉板21沿所述第一参考线S1做往复直线运动。
可以理解的是，根据实际情况，所述第一同步带轮46与所述第一同步带47也可以分别为链轮与节链，又或者，所述动第一同步带轮46与所述第一同步带47也可以分别为V带轮和V带，等等。
在本实施例中，所述第一驱动装置41为第一伺服电机。可以理解的是，根据实际情况，所述第一驱动装置41并不仅限于伺服电机，例如，所述第一驱动装置41为气动马达，而所述驱动组件40则可以是液压动力系统，等等。
可以理解的是，所述第一驱动装置41与所述叉板21之间的传动机构并不限于所述丝杆42以及所述移动块43的组合，所述第一驱动装置41与所述叉板21之间的传动机构也可以是齿轮齿条或者蜗轮蜗杆等等。
在一些其他的实施例中，所述第一驱动装置41安装于所述叉板21，通过齿轮齿条或者蜗轮蜗杆或者丝杆等传动机构以驱动所述叉板21相对所述基座主体11沿所述第一参考线S1做往复直线运动。
在一些其他的实施例中，所述第一驱动装置41通过传动机构驱动所述勾板组件20相对所述叉板21沿所述第一参考线S1做往复直线运动，所述勾板组件20在运动的过程中通过另外的传动机构驱动所述叉板21沿所述第一参考线S1做往复直线运动。
请参阅图3、图5和图6，所述旋转组件50用于使得所述货叉组件100可相对于搬运机器人或搬运装置旋转。所述旋转组件50包括安装支架51、旋转机构52、旋转驱动组件53、旋转控制组件54以及旋转限位装置55。其中，所述旋转机构52连接所述基座主体11与所述安装支架51，所述旋转机构52可绕其旋转轴线S2旋转，所述旋转轴线S2竖直设置，所述旋转驱动组件53连接所述旋转机构52，所述旋转驱动组件53用于驱动所述旋转机构52绕所述旋转轴线S2旋转，所述旋转控制组件54用于通过所述旋转驱动组件53控制所述旋转机构52绕所述旋转轴线S2旋转，所述旋转限位装置55用于限制所述旋转驱动组件53在预设角度范围内转动。
所述安装支架51用于支承所述基座组件10、所述叉臂组件20、所述勾取组件30、所述驱动组件40、所述旋转机构52、所述旋转驱动组件53、所述旋转控制组件54以及旋转限位装置55。所述安装支架51包括支架主体511以及安装板512。所述支架主体511用于安装于搬运机器人或搬运装置，所述安装板512安装于所述支架主体511。
所述旋转机构52包括第一转动件521、第二转动件522以及连接板523。所述第一转动件521安装于所述安装板512朝向所述基座主体11的一面，所述旋转轴线S2与所述第一转动件521的中心线重合，所述第二转动件522套设于所述第一转动件521并且安装于所述安装板512朝向所述基座主体11的一面，所述第一转动件521和所述第二转动件522的轴线重合，所述轴线为所述旋转机构52的旋转轴线S2。所述第一转动件521可相对所述第二转动件522绕所述 旋转轴线S2转动。所述连接板523连接所述第二转动件522与所述基座主体11，并且所述连接板523和所述基座主体11可一同随所述第二转动件522绕所述旋转轴线S2转动。
在本实施例中，所述第一转动件521为回转支承521，所述第二转动件522为圆圈光轮522。所述回转支承521包括内圈5211和外圈5212。所述外圈5212套设于所述内圈5211并且安装于所述安装板512，所述圆圈光轮522套设于所述外圈5212并且安装于所述安装板512，所述内圈5211可相对于所述外圈5212绕所述旋转轴线S2旋转。所述内圈5211上设置有垫圈5213，所述垫圈5213安装于所述内圈5211朝向所述基座主体11的一面，所述垫圈5213可随所述内圈5211相对于所述外圈5212绕所述旋转轴线S2旋转。所述连接板523的一面安装于所述垫圈5213，所述基座主体11的底面安装于所述连接板523的另一面，所述连接板523可随所述垫圈5213相对于所述安装板512绕所述旋转轴线S2旋转，对应的，所述基座组件10、所述叉臂组件20、所述勾取组件30以及所述驱动组件40均可随所述连接板523相对于所述安装板512一同绕所述旋转轴线S2旋转。
所述旋转驱动组件53包括张紧装置531、第二驱动装置532、减速装置533、第二同步带轮534以及第二同步带535。
所述张紧装置531包括固定座5311、张紧块5312以及螺杆5313。所述固定座5311安装于所述连接板523的远离所述旋转轴线S2的一端，所述固定座5311相对于所述旋转轴线S2的一侧设置有凸缘5314，所述凸缘5314与所述固定座5311固定连接。所述张紧块5312与所述凸缘5314相对设置，并且安装于所述连接板523。所述螺杆5313与所述张紧块5312螺纹连接，所述螺杆5313穿过所述张紧块5312，并且所述螺杆5313的一端抵接于所述凸缘5314。
所述减速装置533安装于所述固定座5311，所述第二驱动装置532安装于所述减速装置533，并且所述第二驱动装置532的输出端连接所述减速装置533的输入端。所述减速装置533用于降低所述第二驱动装置532的输出端的转速，同时提高输出扭矩。
所述第二同步带轮534安装于所述减速装置533的输出端，所述第二同步带535的一端套设于所述第二同步带轮534，另一端套设于所述圆圈光轮522。所述减速装置533的输出端还设置有固定环536，所述固定环536用于防止所述 第二同步带轮534轴向运动。当连接于所述第二同步带轮534和所述第二转动件522之间的第二同步带轮534出现松弛时，可通过旋转所述螺杆5313，使得所述螺杆5313的一端往所述凸缘5314的方向抵持，从而实现张紧所述第二同步带轮534的功能。
在本实施例中，所述第二驱动装置532为第二伺服电机。
可以理解的是，根据实际情况，所述旋转驱动组件53还可以为气动马达等。当然，所述第二驱动装置532的传动方式也并不局限于所述第二同步带轮534与所述第二同步带535，所述第二驱动装置532也可以通过齿轮齿条的传动机构，又或者是蜗轮蜗杆等传动机构驱动所述旋转机构绕所述旋转轴线S2旋转。
请继续参阅图6，所述旋转限位装置55包括第一限位杆551、第二限位杆552以及限位块553。所述第一限位杆551和第二限位杆552均安装于所述连接板523，并且所述第一限位杆551和第二限位杆552绕所述旋转轴线S2呈圆周分布，所述限位块553安装于所述安装板512朝向所述连接板523的底面，所述限位块553可分别抵接于所述第一限位杆551和所述第二限位杆552，使得所述旋转机构52仅可绕旋转轴线S2在预设角度范围内转动。
所述旋转控制组件54包括第一角度传感器541、第二角度传感器542以及旋转控制器。所述第一角度传感器541和第二角度传感器542均安装于所述连接板523，并且所述第一角度传感器541和第二角度传感器542绕所述旋转轴线S2呈圆周分布。
所述旋转控制器与所述旋转驱动组件53相连，用于通过所述旋转驱动组件53控制所述旋转机构52绕所述旋转轴线S2的旋转方向。
在本实施例中，所述第一角度传感器541为第一接近开关，所述第二角度传感器542为第二接近开关。
所述旋转控制组件54还包括检测板543，所述检测板543安装于所述安装板512朝向所述连接板523的底面，所述检测板543绕所述旋转轴线S2弯曲设置。
当所述连接板523转至一预设角度时，所述第一接近开关541正对所述检测板543，所述第二接近开关542不正对所述检测板543；当所述连接板523转至另一预设角度时，所述第一接近开关541不正对所述检测板543，所述第二接近开关542正对所述检测板543。
请参阅图7，本申请另一实施例还提供一种搬运机器人600，包括移动底盘200、存储货架300、升降装置400以及所述货叉组件100。所述存储货架300安装于所述移动底盘200，所述升降装置400安装于所述存储货架300，所述存储货架300上设置有多个存储货板，所述存储货板用于放置货箱500，所述货叉组件100通过支架主体511安装于所述升降装置400，所述移动底盘200用于驱动所述搬运机器人600到达指定地点，所述升降装置400用于控制所述货叉组件100的水平高度，以使得所述货叉组件100可从固定货架上将货箱500取出后放置于所述存储货架300。需要说明的是，货箱500的底部设置有用于被所述勾件31勾取的沟槽，以配合所述货叉组件100的勾取动作。
所述搬运机器人600从固定货架上取货的步骤具体如下：
第一步，通过所述移动底盘200使所述搬运机器人600沿指定路径移动至放置有货箱500的固定货架处，所述移动底盘200相对于所述固定货架静止。
第二步，通过所述升降装置400驱动所述货叉组件100相对于所述固定货架沿竖直方向移动，使所述货叉组件100的叉臂组件20位于距货箱500的底部预设距离的水平面。
第三步，通过所述旋转组件50使所述货叉组件100绕所述旋转轴线S2旋转，使所述货叉组件100的叉臂组件20的伸出方向与货箱500的正面相对。
第四步，所述叉臂组件20相对于所述基座主体11沿所述第一参考线S1伸出，同时带动所述勾取组件30滑向所述叉臂组件20的一端。
其中，所述第一驱动装置41通过所述第一同步带47驱动所述丝杠42绕其中心线沿第一旋转方向同步转动，同时，所述移动块43相对于所述丝杠42沿第一水平方向同步移动，所述移动块43带动所述叉板21相对于所述基座主体11沿所述第一水平方向滑出，一组所述传动组件24的滑索242拉动所述勾取组件30相对于所述叉板21沿所述第一水平方向滑出至所述叉板21的一端，使得所述勾取组件30的勾件31位于货箱500的底部的沟槽。所述第一水平方向与所述第一参考线S1平行。
第五步，通过所述升降装置400抬升所述货叉组件100，使得所述勾件31勾住货箱500的沟槽。
第六步，所述叉臂组件20相对于所述基座主体11沿所述第一参考线S1回收，同时带动所述勾取组件30滑向所述叉臂组件20的另一端,此时货箱500被 拉取到所述叉板21上。
其中，所述第一驱动装置41通过所述第一同步带47驱动所述丝杠42沿第二旋转方向同步转动，同时，所述移动块43相对于所述丝杠42沿第二水平方向同步移动，所述移动块43带动所述叉板21相对于所述基座主体11沿所述第二水平方向滑入，另一组所述传动组件24的滑索242拉动所述勾取组件30相对于所述叉板21沿所述第二水平方向滑入至所述叉板21的另一端，使得货箱500被拉取到所述叉板21上。所述第二水平方向与所述第一参考线S1平行，并且所述第一水平方向与所述第二水平方向相反，所述第一旋转方向与第二旋转方向相反。
第七步，将位于所述叉板21上的货箱推送至所述存储货架300上的一个存储货板。
其中，通过所述旋转组件50使所述货叉组件100绕所述旋转轴线S2旋转，根据需要通过所述升降装置400调整所述货叉组件100的水平高度，使得所述货叉组件100的叉臂组件20与所述存储货架300上的一个存储货板相对，然后驱动所述叉板21相对所述基座主体11滑出，同时所述勾件31在一组所述传动组件24的驱动下滑向所述叉板21的一端，所述勾件31将位于所述叉板21上的货箱500推送至所述存储货板。再通过所述升降装置400降低所述货叉组件100，使得所述勾件31脱离货箱500的沟槽，然后驱动所述叉臂组件20相对于所述基座主体11沿所述第一参考线S1回收，同时所述勾件31在另一组所述传动组件24的驱动下滑向所述叉板21的另一端。
在本实施例中，所述货叉组件100包括基座主体11、叉臂组件20、勾件31以及驱动组件40，所述叉臂组件20滑动安装于所述基座主体11，并且可在所述基座主体11上做往复直线运动，所述勾件31滑动安装于所述叉臂组件20，并且可在所述叉臂组件20上做往复直线运动，所述驱动组件40与所述叉臂组件20连接，用于驱动所述叉臂组件20和所述勾件31做往复直线运动，使得所述货叉组件100可从货箱500的正面的底部对其进行拉取、搬运，无需伸入货箱500两侧，节省了所述货叉组件100的作业空间，使得仓储的货箱500可紧挨着摆放，提高了仓库的存储密度。
请参阅图8和图9，是本申请又一实施例提供的一种货叉组件100a，与上 述实施例提供的货叉组件100基本相同，区别在于：所述货叉组件100a为双深位结构，包括基座组件10a和叉臂组件20a，所述基座组件10a包括基座主体11、第一滑轨12以及支承板13，所述支承板13固定连接于所述基座主体11的一侧，所述第一滑轨12安装于所述支承板13朝向所述基座主体11的一面。所述叉臂组件20a包括一级叉臂组件200a和二级叉臂组件202a，所述一级叉臂组件200a滑动安装于所述支承板13朝向所述基座主体11的一面，所述一级叉臂组件200a可相对所述支承板13做往复直线运动，所述二级叉臂组件202a滑动安装于所述一级叉臂组件200a朝向所述基座主体11的一面，所述二级叉臂组件202a可相对所述一级叉臂组件200a做往复直线运动；所述驱动组件40安装于所述支承板13朝向所述基座主体11的一面，并且与所述一级叉臂组件200a连接。具体的：
所述基座主体11水平设置，所述基座主体11用于承载货箱500a。所述支承板13固定连接于所述基座主体11的一侧，所述支承板13具有水平设置的第二参考线S3，所述参考线即为第二参考线S3，所述第二参考线S3与所述基座主体11的中心线位于同一竖直平面并且平行设置，所述一级叉臂组件200a和所述二级叉臂组件202a均可沿所述第二参考线S3做往复直线运动。两个所述第一滑轨12以所述第二参考线S3为导向对称设置于所述第二参考线S3的两侧，并且均安装于所述支承板13朝向所述基座主体11的一面。
所述一级叉臂组件200a和所述二级叉臂组件202a皆与上述实施例的叉臂组件20基本相同，区别在于：本实施例中的叉板21a为矩形平板，即，所述叉板21a的中部不设置沉槽，所述叉板21a的两侧不设置侧挡板，所述叉板21a的末端不设置导向板。
可以理解的是，在一些其他的实施例中，在所述基座主体11的两侧设置用于纠正货箱500a姿态、同时防止货箱500a从所述基座主体11滑落的侧挡板结构，并且所述基座主体11设置有用于对货箱500a进行水平以及竖直方向上导向的导向结构。
所述一级叉臂组件200a和所述二级叉臂组件202a沿所述第二参考线S3为导向设置。
所述勾取组件30a与上述实施例勾取组件30的区别在于：本实施例的勾取组件30a的勾件31a为凵字形结构，所述勾件31a滑动安装于所述二级叉臂组 件202a朝向所述基座主体11的一面，所述勾件31a的槽口向下。
所述一级叉臂组件200a的传动组件连接所述支承板13与所述二级叉臂组件202a，所述二级叉臂组件202a的传动组件连接所述一级叉臂组件200a与所述勾取组件30a。
可以理解的是，在一些其他的实施例中，所述一级叉臂组件200a可以省略，所述二级叉臂组件202a直接滑动安装于所述支承板13朝向所述基座主体11的一面。其中，所述二级叉臂组件202a的传动组件连接所述支承板13与所述勾取组件30a。
可以理解的是，根据实际需要，所述货叉组件100a可以设置多级所述叉臂组件20a，即，所述货叉组件100a包括多组所述叉臂组件20a，其中，一组所述叉臂组件20a为一级设置。多组所述叉臂组件20a彼此平行层叠设置，每相邻两组所述叉臂组件20a彼此滑动连接，并且可相对彼此沿所述第二参考线S3做往复直线运动。位于多组所述叉臂组件20a的上端的一组所述叉臂组件20a滑动安装于所述支承板13朝向所述基座主体11的一面，并且可相对所述支承板13做往复直线运动。所述勾件31a滑动安装于位于多组所述叉臂组件20的下端的一组所述叉臂组件20，并且所述勾件31a可相对所述叉臂组件20做往复直线运动。通过以上结构，可增加所述货叉组件100的取货深度，使得所述货叉组件100能适应不同的仓储环境。
请参阅图10，本申请再一实施例提供一种搬运机器人600a，包括移动底盘200、存储货架300、升降装置400以及所述货叉组件100a。所述存储货架300安装于所述移动底盘200，所述升降装置400安装于所述存储货架300，所述存储货架300上设置有多个存储货板，所述存储货板用于放置货箱500a，所述货叉组件100a通过所述支架主体511安装于所述升降装置400，所述移动底盘200用于驱动所述搬运机器人600a到达指定地点，所述升降装置400用于控制所述货叉组件100a的水平高度，以使得所述机器人货叉组件100a可从固定货架上将货箱500a取出后放置于所述存储货架300。需要说明的是，在本实施例中，货箱500a的底部不需要设置有用于被所述勾件31a勾取的沟槽，所述勾件31a直接对货箱500a的上边缘进行勾取。
所述搬运机器人600a从固定货架上取货的步骤具体如下：
第一步，通过所述移动底盘200使所述搬运机器人600a沿指定路径移动至 放置有货箱500a的固定货架处，所述移动底盘200相对于所述固定货架静止。
第二步，通过所述升降装置400驱动所述货叉组件100a相对于所述固定货架沿竖直方向移动，使所述货叉组件100a的叉臂组件20a位于距货箱500a的顶部预设距离的水平面。
第三步，通过所述旋转组件50使所述货叉组件100a绕所述旋转轴线S2旋转，使所述货叉组件100a的叉臂组件20a的伸出方向与货箱500a的正面相对。
第四步，所述叉臂组件20a相对于所述支承板13沿所述第二参考线S3伸出，同时带动所述勾取组件30a滑向所述叉臂组件20a的一端。
其中，所述第一驱动装置41通过所述第一同步带驱动所述丝杠42沿第一旋转方向同步转动，同时，所述移动块43相对于所述丝杠沿第一水平方向同步移动，所述移动块43带动所述一级叉臂组件200a的叉板21a相对于所述支承板13沿所述第一水平方向滑出，同时，所述一级叉臂组件200a的一组传动组件的滑索拉动所述二级叉臂组件202a的叉板21a沿所述第一水平方向滑出，同时，所述二级叉臂组件202a的一组传动组件的滑索拉动所述勾取组件30a的勾件31a沿所述第一水平方向向所述二级叉臂组件202a的叉板21a的末端的方向滑动，使得所述勾取组件30a的勾件31a位于货箱500a的顶部，并且所述勾件31a的槽口向下对准货箱500a的上边缘。所述第一方向与所述第二参考线S3平行。
第五步，通过所述升降装置400降低所述货叉组件100a，使得所述勾件勾31a住货箱500a的上边缘。
第六步，所述叉臂组件20相对于所述支承板13沿所述第二参考线S3回收，同时带动所述勾取组件30a滑向所述二级叉臂组件202a的另一端,此时货箱500a被拉取到所述基座主体11上。
其中，所述第一驱动装置41通过所述第一同步带驱动所述丝杠42沿第二旋转方向同步转动，同时，所述移动块43相对于所述丝杠42沿第二水平方向同步移动，所述移动块43带动所述一级叉臂组件200a的叉板21a相对于所述支承板13沿所述第二水平方向滑入，同时，所述一级叉臂组件200a的另一组传动组件的滑索拉动所述二级叉臂组件202a的叉板21a沿所述第二水平方向滑入，同时，所述二级叉臂组件202a的另一组传动组件的滑索拉动所述勾取组件30a的勾件31a沿所述第二水平方向滑向所述二级叉臂组件202a的叉板21a的 另一端，使得货箱500a被拉到所述基座主体11上。所述第二水平方向与所述第二参考线S3平行，并且所述第一水平方向与所述第二水平方向相反,所述第一旋转方向与第二旋转方向相反。
第七步，将位于所述基座主体11上的货箱推送至所述存储货架300上的一个存储货板。
其中，通过所述旋转组件50使所述货叉组件100a绕所述旋转轴线S2旋转，根据需要通过所述升降装置400调整所述货叉组件100a的水平高度，使得所述货叉组件100a的基座主体11与所述存储货架300上的一个存储货板相对，然后驱动所述叉臂组件20a相对所述支承板13滑出，同时所述勾件31a在一组所述传动组件的驱动下滑向所述二级叉臂组件202a的一端，所述勾件31a将位于所述基座主体11上的货箱500a推送至所述存储货板。再通过所述升降装置400提升所述货叉组件100a，使得所述勾件31脱离货箱500的上边缘，然后驱动所述叉臂组件20a以及所述勾件31沿所述第二参考线S3回收。
在本实施例中，所述勾件31a相对所述支承板13沿所述第二参考线S3滑出的位移包括第一位移段以及第二位移段，所述第二位移段减去所述第二位移段的差值等于前后相邻的两个货箱500a之间的深度。即，当所述勾件31a相对所述支承板13沿所述第二参考线S3滑出第一位移段时，可进行第一深位的勾取动作，将前后相邻的两个货箱500a的前面一个取出；当所述勾件31a相对所述支承板13沿所述第二参考线S3滑出第二位移段时，可进行第二深位的勾取动作，将位于之后的一个货箱500a取出，以实现双深位取货的功能。
可以理解的是，在一些其他的实施例中，可对所述勾件31a相对所述支承板13的位移设为多段，例如所述位移包括第一位移段、第二位移段以及第三段位移，通过三段位移的设置可将位于固定支架上的前后分别相邻的三个货箱500a按序取出，实现进一步的多段勾取动作。
在本实施例中，所述货叉组件100a为双深位的卧式结构，所述支承板13安装于所述基座主体11的一侧，所述一级叉臂组件200a滑动安装于所述支承板13朝向所述基座主体11的一面，所述二级叉臂组件202a滑动安装于所述一级叉臂组件200a朝向所述基座主体11的一面，所述勾件31a滑动安装于所述二级叉臂组件202a。通过以上结构，使得所述货叉组件100a可从货箱500a的正面的顶部对其进行拉取、搬运，无需伸入货箱500a两侧，节省了所述货叉组 件100a的作业空间，使得仓储的货箱500a可紧挨着摆放，提高了仓库的存储密度，同时，延长了所述勾件31a的运动行程，使得所述货叉组件100a的取货范围更大，并且，所述货叉组件100a可进行双深位的取货动作，将位于固定支架上的前后相邻的两个货箱500a分别取出。
以上所述仅为本申请的实施方式，并非因此限制本申请的专利范围，凡是利用本申请说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本申请的专利保护范围内。

Claims (29)

  1. 一种搬运机器人，其特征在于，包括：
    移动底盘；
    存储货架，安装于所述移动底盘上，所述存储货架包括分布在不同高度的多个层板组件，各层板组件包括用于放置货物的层板；
    搬运装置，包括货叉，所述货叉用于将货物搬运至一个与所述货叉位于同一高度的层板上，或者用于将货物从一个与所述货叉位于同一高度的层板上搬出；以及
    升降组件，用于驱动所述搬运装置相对于所述存储货架升降，以使得所述货叉与一个层板位于同一高度。
  2. 根据权利要求1所述的搬运机器人，其特征在于，所述移动底盘包括底座和驱动轮组件，所述驱动轮组件包括：
    铰链支架，所述铰链支架铰接于所述底座；
    驱动轮，所述驱动轮安装于所述铰链支架，所述驱动轮可相对于所述铰链支架转动，以使得所述移动底盘移动；以及
    减震器组件，所述减震器组件的一端铰接于所述铰链支架，所述减震器的另一端与所述底座相铰接，所述减震器组件包括减震器，所述减震器用于减少经由所述铰链支架传递至所述底座的震动。
  3. 根据权利要求2所述的搬运机器人，其特征在于，所述减震器组件还包括调节臂；
    所述减震器的一端铰接于所述铰链支架，所述减震器的另一端与所述底座相铰接，所述调节臂的一端铰接于所述减震器的另一端，所述调节臂的另一端铰接于所述底座，所述调节臂与所述底座相抵，以使得所述调节臂不能相对于所述底座朝第一方向转动；
    所述减震器提供将所述调节臂抵接于所述底座，并且提供阻碍所述调节臂相对于所述底座朝第二方向转动的弹力，所述第二方向与所述第一方向相反。
  4. 根据权利要求3所述的搬运机器人，其特征在于，所述调节臂设有止挡部，所述止挡部位于所述调节臂朝向所述第一方向的一侧。
  5. 根据权利要求3所述的搬运机器人，其特征在于，所述调节臂与所述减 震器呈第一夹角设置，所述第一夹角的开口朝向与所述第二方向同向；
    在所述减震器装配时，所述减震器与所述调节臂呈第二夹角设置，所述第二夹角的开口朝向与所述第一方向同向，所述减震器两端的长度可伸长，以使得所述减震器提供的弹力变小。
  6. 根据权利要求1至5任一项所述的搬运机器人，其特征在于，所述搬运装置还包括货叉托架，所述货叉安装于所述货叉托架；
    所述升降组件用于驱动所述货叉托架相对于所述存储货架升降，所述货叉可绕竖直方向相对于所述货叉托架旋转。
  7. 根据权利要求6所述的搬运机器人，其特征在于，所述搬运装置还包括旋转驱动装置；
    所述旋转驱动装置包括旋转驱动电机、光轮、货叉同步带轮以及货叉同步带；
    所述光轮固定安装于所述货叉托架，所述货叉同步带轮可转动地安装于所述货叉，所述货叉同步连接所述货叉同步带轮和所述光轮，所述旋转驱动电机用于驱动所述货叉同步带轮相对于所述货叉转动，以使得所述货叉绕竖直方向相对于所述货叉托架转动。
  8. 根据权利要求7所述的搬运机器人，其特征在于，所述光轮在其外轮面上凸设有同步带压块，所述同步带压块与所述货叉同步带相抵，以使得所述货叉同步带张紧。
  9. 根据权利要求7所述的搬运机器人，其特征在于，所述货叉设有第一锁孔，所述货叉托架设有第二锁孔，可通过将锁销同时插入所述第一锁孔和所述第二锁孔，以使得所述货叉不能绕竖直方向相对于所述货叉托架转动。
  10. 根据权利要求1至5任一项所述的搬运机器人，其特征在于，所述存储货架包括用于支承各层板组件的竖梁；
    所述层板具有沿水平分布的两端，所述层板的一端靠近所述竖梁，所述层板的另一端悬空并且远离所述竖梁。
  11. 根据权利要求10所述的搬运机器人，其特征在于，各层板组件还包括与所述竖梁相连的横梁；
    所述层板背向所述移动底盘的一面用于放置货物，所述横梁位于所述层板朝向所述移动底盘的一侧，并且所述横梁靠近层板的一端；
    所述横梁与所述层板朝向移动底盘的一面通过板托相连。
  12. 根据权利要求1至5任一项所述的搬运机器人，其特征在于，各层板组件还包括限位结构；
    所述限位结构用于挡住位于所述层板上的货物。
  13. 根据权利要求12所述的搬运机器人，其特征在于，所述限位结构为围板；
    所述层板的边缘朝远离所述移动底盘的方向延伸有所述围板。
  14. 根据权利要求13所述的搬运机器人，其特征在于，所述围板包括围板主体和翻边体；
    所述翻边体延伸于所述围板主体背离所述层板的边缘，并且所述翻边体贴合于所述围板主体，以使得所述翻边体与所述围板主体的连接处成型为弧形过渡。
  15. 根据权利要求14所述的搬运机器人，其特征在于，所述翻边体与所述层板位于所述围板主体的同一侧。
  16. 根据权利要求13所述的搬运机器人，其特征在于，各层板组件包括多个所述围板；
    所述层板的边缘具有多个侧边，各围板延伸于所述层板的一个侧边，每两个相邻的围板之间的缝隙处设有衔接结构；
    所述衔接结构分别与两个相邻的围板相衔接，以使得在两个相邻的围板的转角处成型圆弧角。
  17. 根据权利要求16所述的搬运机器人，其特征在于，所述衔接结构具有两个卡槽；
    两个相邻的围板的侧边分别嵌入两个卡槽。
  18. 根据权利要求17所述的搬运机器人，其特征在于，所述层板与所述衔接结构通过螺钉进行固定连接。
  19. 根据权利要求1至5任一项所述的搬运机器人，其特征在于，所述存储货架还包括竖梁，所述竖梁可拆卸地与所述移动底盘相连；
    所述升降组件包括同步带轮机构和升降驱动电机，所述升降驱动电机用于通过所述同步带轮机构驱动所述搬运装置相对于所述存储货架升降；
    所述同步带轮机构安装于所述竖梁。
  20. 根据权利要求19所述的搬运机器人，其特征在于，所述竖梁设有安装槽，所述同步带轮机构安装于所述安装槽内。
  21. 根据权利要求20所述的搬运机器人，其特征在于，所述竖梁设置有竖直导槽，所述搬运装置设有滑动件，所述滑动件安装于所述竖直导槽；
    所述滑动件可沿所述竖直导槽移动，以使得所述搬运装置相对于所述存储货架升降。
  22. 根据权利要求21所述的搬运机器人，其特征在于，所述竖直导槽与所述安装槽相连通并且形成一个闭合回路；
    所述同步带轮机构的同步带位于所述闭合回路内，所述同步带轮机构的同步带与所述滑动件相连。
  23. 根据权利要求22所述的搬运机器人，其特征在于，所述竖梁在所述竖直导槽的末端处设有缓冲垫。
  24. 根据权利要求23所述的搬运机器人，其特征在于，所述缓冲垫伸入所述竖直导槽内并与所述同步带轮机构的同步带相抵。
  25. 根据权利要求23所述的搬运机器人，其特征在于，所述缓冲垫由海绵材质或者橡胶材质制得。
  26. 根据权利要求19所述的搬运机器人，其特征在于，所述升降组件还包括制动装置；
    所述制动装置包括制动盘、导向底座以及插销；
    所述制动盘与所述同步带轮机构的主动轮同轴固定，所述制动盘设有一个或多个销孔，所述导向底座设于所述竖梁，所述导向底座设有插槽，所述插销插入所述插槽；
    所述插销可沿所述插槽移动，以使得所述插销的一端插入所述销孔，并且所述制动盘和所述主动轮皆不能转动。
  27. 根据权利要求26所述的搬运机器人，其特征在于，所述制动装置还包括凸轮；
    所述凸轮位于所述导向底座背离所述制动盘的一侧，所述插销的另一端与所述凸轮转动连接，所述凸轮的轮面与所述导向底座背向所述制动盘的一面相抵，以使得所述凸轮转动时带动所述插销沿所述插槽移动。
  28. 根据权利要求27所述的搬运机器人，其特征在于，所述制动装置还包 括弹性件；
    所述插销两端之间的中部凸设有第一挡圈，所述插槽的槽壁凸设有第二挡圈，所述弹性件抵接于所述第一挡圈和所述第二挡圈之间，所述弹性件用于提供使所述凸轮与所述导向底座相抵接，并且提供使所述插销保持静止的压紧力。
  29. 根据权利要求28所述的搬运机器人，其特征在于，所述弹性件为压簧；
    所述压簧套设于所述插销。
PCT/CN2020/073623 2019-01-31 2020-01-21 一种搬运机器人及其货叉组件 WO2020156393A1 (zh)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2021544672A JP2022520736A (ja) 2019-01-31 2020-01-21 搬送ロボット及びその搬送アセンブリ
KR1020217025194A KR102673077B1 (ko) 2019-01-31 2020-01-21 핸들링 로봇 및 이의 핸들링 어셈블리
EP20748101.1A EP3919413A4 (en) 2019-01-31 2020-01-21 TRANSPORT ROBOT AND FORK ASSEMBLY THEREOF
US17/389,183 US11932487B2 (en) 2019-01-31 2021-07-29 Handling robot and handling assembly thereof

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201920182152.6U CN209522153U (zh) 2019-01-31 2019-01-31 一种搬运机器人及其货叉组件
CN201920182152.6 2019-01-31

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US17/389,183 Continuation US11932487B2 (en) 2019-01-31 2021-07-29 Handling robot and handling assembly thereof

Publications (1)

Publication Number Publication Date
WO2020156393A1 true WO2020156393A1 (zh) 2020-08-06

Family

ID=68230272

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/073623 WO2020156393A1 (zh) 2019-01-31 2020-01-21 一种搬运机器人及其货叉组件

Country Status (6)

Country Link
US (1) US11932487B2 (zh)
EP (1) EP3919413A4 (zh)
JP (1) JP2022520736A (zh)
KR (1) KR102673077B1 (zh)
CN (1) CN209522153U (zh)
WO (1) WO2020156393A1 (zh)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113562379A (zh) * 2021-08-11 2021-10-29 西北电子装备技术研究所(中国电子科技集团公司第二研究所) 存取超深货架立体库托盘的四立柱堆垛机上的挂取机构
CN113955467A (zh) * 2021-11-18 2022-01-21 布谷鸟(山东)智能科技有限公司 一种具有定位功能的汽车散热器生产线用长封边送料装置
EP4032665A1 (en) * 2021-01-22 2022-07-27 Kimball Electronics Indiana, Inc. Telescoping linear extension robot
US20220258658A1 (en) * 2021-02-16 2022-08-18 Toyota Jidosha Kabushiki Kaisha Transport system and transport method
EP4201544A4 (en) * 2020-08-19 2024-02-21 Amada Co., Ltd. WHEELED WORKPIECE TRANSPORT PLATFORM AND WORK SYSTEM

Families Citing this family (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN209522153U (zh) 2019-01-31 2019-10-22 深圳市海柔创新科技有限公司 一种搬运机器人及其货叉组件
US11542135B2 (en) 2019-02-01 2023-01-03 Hai Robotics Co., Ltd. Handling robot
US11597598B2 (en) 2019-02-01 2023-03-07 Hai Robotics Co., Ltd. Handling robot
CN209758195U (zh) * 2019-02-01 2019-12-10 深圳市海柔创新科技有限公司 一种搬运机器人
USD918281S1 (en) * 2019-03-13 2021-05-04 Shenzhen Hairou Innovation Technology Co., Ltd. Warehouse robot
CN211197466U (zh) * 2019-11-19 2020-08-07 深圳市海柔创新科技有限公司 一种搬运装置及具有此搬运装置的搬运机器人
CN116654501A (zh) * 2020-05-12 2023-08-29 深圳市海柔创新科技有限公司 货箱取出装置及方法、搬运机器人
WO2021227986A1 (zh) * 2020-05-12 2021-11-18 深圳市海柔创新科技有限公司 货箱取出机构、装置及方法、搬运机器人
CN115417053A (zh) * 2020-05-12 2022-12-02 深圳市海柔创新科技有限公司 搬运机器人及转移货箱的方法
CN111762486A (zh) * 2020-06-18 2020-10-13 北京洺楠汇科技有限公司 一种智能货叉装置
CN112429447B (zh) * 2020-11-10 2022-07-01 中国兵器装备集团自动化研究所有限公司 一种用于危险场所的自平衡仓储机器人
CN114684744A (zh) * 2020-12-30 2022-07-01 深圳市海柔创新科技有限公司 货叉组件及搬运机器人
CN112830418B (zh) * 2020-12-31 2022-09-30 杭州海康机器人技术有限公司 一种搬运装置及货物搬运方法
CN215905812U (zh) * 2021-05-12 2022-02-25 深圳市海柔创新科技有限公司 货叉装置及搬运机器人
EP4368540A1 (en) * 2021-07-09 2024-05-15 Beijing Geekplus Technology Co., Ltd. Box picking apparatus and robot
CN113602814B (zh) * 2021-08-30 2023-03-24 济南翼菲自动化科技有限公司 一种玻璃搬运传送设备
CN114084668B (zh) * 2022-01-21 2022-07-05 中国科学院自动化研究所 一种装卸机械手与装卸装置
CN114873209A (zh) * 2022-05-05 2022-08-09 苏州赛腾精密电子股份有限公司 载具翻转夹紧机构
CN115477114A (zh) * 2022-07-27 2022-12-16 杭州慧仓信息科技有限公司 一种用于仓储机器人的搬运机构、仓储机器人及运作方法
CN115744227A (zh) * 2022-11-18 2023-03-07 湖北三赢兴光电科技股份有限公司 空料盒存储箱以及全自动刷板清洁设备
CN117401430B (zh) * 2023-11-10 2024-08-20 湖南工程学院 储能电池装配送料部件、装配机器人以及装配系统
CN117871265B (zh) * 2024-03-11 2024-05-10 西南交通大学烟台新一代信息技术研究院 道路桥梁支座检测装置
CN118061157B (zh) * 2024-03-25 2024-08-09 江苏汉邦车业有限公司 一种车架翻转定位机械手

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9469477B1 (en) * 2014-09-19 2016-10-18 Amazon Technologies, Inc. Inventory holder load detection and/or stabilization
CN207551834U (zh) * 2017-12-08 2018-06-29 库卡智能机械江苏有限公司 一种搬运机器人
CN108408316A (zh) * 2018-04-26 2018-08-17 北京极智嘉科技有限公司 搬运设备
CN108408315A (zh) * 2018-04-26 2018-08-17 北京极智嘉科技有限公司 搬运设备
CN208150249U (zh) * 2018-04-26 2018-11-27 北京极智嘉科技有限公司 搬运设备
CN209522153U (zh) * 2019-01-31 2019-10-22 深圳市海柔创新科技有限公司 一种搬运机器人及其货叉组件
CN209758195U (zh) * 2019-02-01 2019-12-10 深圳市海柔创新科技有限公司 一种搬运机器人

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5033595B2 (zh) * 1972-02-03 1975-10-31
DE3020791C2 (de) * 1980-05-31 1982-11-25 psb GmbH Förderanlagen und Lagertechnik, 6780 Pirmasens Regalbediengerät für Hochregallager
JPS60133808U (ja) * 1984-02-15 1985-09-06 株式会社ダイフク 物品移載装置
JPH0568920U (ja) * 1992-03-03 1993-09-17 村田機械株式会社 収納システム
JP2566530B2 (ja) * 1994-01-21 1996-12-25 日本ファイリング株式会社 コンテナ格納装置
JP3674912B2 (ja) * 2000-12-01 2005-07-27 日本輸送機株式会社 ローリフトトラック
AT500280B1 (de) * 2003-12-22 2008-06-15 Tgw Transportgeraete Gmbh Teleskopierbare lasttragvorrichtung
CN109809333B (zh) * 2016-05-23 2020-11-27 克朗设备公司 用于在仓库环境中使用物料搬运车辆的系统和方法

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9469477B1 (en) * 2014-09-19 2016-10-18 Amazon Technologies, Inc. Inventory holder load detection and/or stabilization
CN207551834U (zh) * 2017-12-08 2018-06-29 库卡智能机械江苏有限公司 一种搬运机器人
CN108408316A (zh) * 2018-04-26 2018-08-17 北京极智嘉科技有限公司 搬运设备
CN108408315A (zh) * 2018-04-26 2018-08-17 北京极智嘉科技有限公司 搬运设备
CN208150249U (zh) * 2018-04-26 2018-11-27 北京极智嘉科技有限公司 搬运设备
CN209522153U (zh) * 2019-01-31 2019-10-22 深圳市海柔创新科技有限公司 一种搬运机器人及其货叉组件
CN209758195U (zh) * 2019-02-01 2019-12-10 深圳市海柔创新科技有限公司 一种搬运机器人

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4201544A4 (en) * 2020-08-19 2024-02-21 Amada Co., Ltd. WHEELED WORKPIECE TRANSPORT PLATFORM AND WORK SYSTEM
EP4032665A1 (en) * 2021-01-22 2022-07-27 Kimball Electronics Indiana, Inc. Telescoping linear extension robot
US20220238369A1 (en) * 2021-01-22 2022-07-28 Kimball Electronics Indiana, Inc. Telescoping linear extension robot
US11955364B2 (en) 2021-01-22 2024-04-09 Kimball Electronics Indiana, Inc. Telescoping linear extension robot
US20220258658A1 (en) * 2021-02-16 2022-08-18 Toyota Jidosha Kabushiki Kaisha Transport system and transport method
US12030715B2 (en) * 2021-02-16 2024-07-09 Toyota Jidosha Kabushiki Kaisha Transport system and transport method
CN113562379A (zh) * 2021-08-11 2021-10-29 西北电子装备技术研究所(中国电子科技集团公司第二研究所) 存取超深货架立体库托盘的四立柱堆垛机上的挂取机构
CN113955467A (zh) * 2021-11-18 2022-01-21 布谷鸟(山东)智能科技有限公司 一种具有定位功能的汽车散热器生产线用长封边送料装置

Also Published As

Publication number Publication date
US11932487B2 (en) 2024-03-19
CN209522153U (zh) 2019-10-22
EP3919413A1 (en) 2021-12-08
US20210354920A1 (en) 2021-11-18
EP3919413A4 (en) 2022-03-30
JP2022520736A (ja) 2022-04-01
KR102673077B1 (ko) 2024-06-10
KR20210112371A (ko) 2021-09-14

Similar Documents

Publication Publication Date Title
WO2020156393A1 (zh) 一种搬运机器人及其货叉组件
WO2020156392A1 (zh) 一种搬运机器人
KR102488994B1 (ko) 운반 로봇 및 운반 로봇에 기반한 픽업 방법
JP2023500175A (ja) 搬送装置及び当該搬送装置を備える搬送ロボット
US12054339B2 (en) Fork and carrying robot
US11597598B2 (en) Handling robot
US11542135B2 (en) Handling robot
CN109625727A (zh) 一种带锁的货物搬运机器人
CN215249394U (zh) 货叉及搬运机器人
CN110775509A (zh) 一种具有自动调整功能的变胞抓取机构
CN211225001U (zh) 一种具有自动调整功能的变胞抓取机构
CN221625790U (zh) 一种双向移载机构
CN115648167B (zh) 一种物料转运储存多功能机器人
CN215326690U (zh) 一种装卸升降机的升降驱动机构
CN219792390U (zh) 货叉组件及仓储机器人
CN219155453U (zh) 调整机器人提升机构水平度的装置及仓储机器人
CN219584051U (zh) 一种重物运输用缓冲装置
CN118083565A (zh) 一种具有抓取机构的物料搬运设备
TWM618836U (zh) 搬運機器人
CN109607018A (zh) 存储设备及具有其的立体库

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20748101

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2021544672

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 20217025194

Country of ref document: KR

Kind code of ref document: A

ENP Entry into the national phase

Ref document number: 2020748101

Country of ref document: EP

Effective date: 20210831