WO2022134722A1 - 搬运装置、仓储物流系统及托盘搬运方法 - Google Patents

搬运装置、仓储物流系统及托盘搬运方法 Download PDF

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Publication number
WO2022134722A1
WO2022134722A1 PCT/CN2021/121728 CN2021121728W WO2022134722A1 WO 2022134722 A1 WO2022134722 A1 WO 2022134722A1 CN 2021121728 W CN2021121728 W CN 2021121728W WO 2022134722 A1 WO2022134722 A1 WO 2022134722A1
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WO
WIPO (PCT)
Prior art keywords
vehicle body
pallet
arm
fork arm
fork
Prior art date
Application number
PCT/CN2021/121728
Other languages
English (en)
French (fr)
Inventor
王国鹏
薛宁波
Original Assignee
北京京东乾石科技有限公司
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 北京京东乾石科技有限公司 filed Critical 北京京东乾石科技有限公司
Priority to US18/023,850 priority Critical patent/US20240025716A1/en
Priority to JP2023516175A priority patent/JP2023540634A/ja
Priority to EP21908723.6A priority patent/EP4194365A1/en
Publication of WO2022134722A1 publication Critical patent/WO2022134722A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • 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
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/122—Platforms; Forks; Other load supporting or gripping members longitudinally movable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements

Definitions

  • the present application relates to the technical field of warehousing and logistics, for example, to a handling device, a warehousing and logistics system, and a pallet handling method.
  • handling devices with self-service mobile functions are widely used in many aspects of the warehousing and logistics industry to achieve efficient automatic handling of materials.
  • the pallet is a carrier configured to carry materials in warehousing and logistics. After the material is placed on the pallet, it is moved to the location of the pallet by the handling device. Handling of materials carried on pallets.
  • the tray is usually divided into a Japanese-shaped tray, a Sichuan-shaped tray and a field-shaped tray.
  • the equipment for transporting pallets usually includes electric trucks, automatic forklifts, etc.
  • the pallets are transported by inserting the fork arms of the electric trucks and automatic forklifts into the fork holes.
  • the fork arm of the automatic forklift can be lifted vertically, so that different types of pallets can be transported, but it usually has the disadvantages of large volume, large turning radius, and large floor space; electric ground cattle can only achieve Sichuan-shaped pallets.
  • the transportation of Japanese-shaped pallets and Tian-shaped pallets cannot be carried out, and the scope of use is limited.
  • the present application provides a handling device, a warehousing logistics system and a pallet handling method, so as to reduce the space occupied by the handling device and the turning radius when handling the pallet, and improve the flexibility and versatility of the handling device.
  • a handling device configured to handle pallets, includes:
  • a vehicle body configured to move autonomously
  • a mounting frame which is horizontally slidably arranged on the vehicle body
  • a fork arm the first end of the fork arm is connected to the mounting bracket, the fork arm is configured to extend horizontally with the movement of the mounting bracket to be inserted into the fork hole of the pallet, and relative to the vehicle
  • the body is lifted and lowered to lift the pallet, and in the case where the fork arm lifts the pallet, the vehicle body and the mounting bracket are configured to cause the vehicle body and the mounting bracket to be caused by relative movement of the vehicle body and the mounting bracket.
  • the tray is located above the vehicle body.
  • a warehousing logistics system includes the above-mentioned handling device.
  • a pallet handling method using the above-mentioned handling device to carry the pallet, comprising:
  • the mounting frame of the conveying device moves horizontally relative to the vehicle body of the conveying device, so that the fork arm of the conveying device extends into the fork hole of the pallet;
  • the fork arm moves vertically relative to the vehicle body to lift the tray;
  • the mounting bracket is horizontally moved relative to the vehicle body, so that the tray is located directly above the vehicle body.
  • Embodiment 1 is a schematic structural diagram of a handling device provided in Embodiment 1 of the present application in an initial state;
  • FIG. 2 is a schematic structural diagram of a handling device provided in Embodiment 1 of the present application in a state where a fork arm is extended;
  • FIG. 3 is a schematic structural diagram of a tray provided in Embodiment 1 of the present application.
  • FIG. 4 is a schematic diagram of the front structure of a vehicle body provided in Embodiment 1 of the present application.
  • FIG. 5 is a schematic view of the rear structure of a vehicle body provided in Embodiment 1 of the present application.
  • FIG. 6 is a schematic structural diagram of a translation drive mechanism provided in Embodiment 1 of the present application.
  • FIG. 7 is a schematic structural diagram of a fork arm provided in Embodiment 1 of the present application.
  • FIG. 8 is a schematic structural diagram of a lift drive mechanism provided in Embodiment 1 of the present application.
  • FIG. 9 is a schematic diagram of the cooperation between the fork arm and the mounting frame when the fork arm is in an initial state according to Embodiment 1 of the present application;
  • FIG. 10 is a schematic view of the mechanism after the structure in FIG. 9 is removed from the arm body;
  • FIG. 11 is a schematic diagram of the arrangement of a fork arm and a mounting frame when a fork arm is in a lifted state according to Embodiment 1 of the present application;
  • Figure 12 is a schematic structural diagram of the structure in Figure 11 after removing the arm body
  • FIG. 13 is a schematic diagram of docking with a pallet when a handling device provided in Embodiment 2 of the present application is in an initial state;
  • Figure 14 is a front view of the structure in Figure 13;
  • Fig. 15 is a schematic diagram of docking with a pallet when a handling device provided in the second embodiment of the present application is in a state where the fork arm is extended;
  • FIG. 16 is a schematic diagram of docking with a pallet when a handling device provided in Embodiment 2 of the present application is in a state where the fork arm is extended and lifted;
  • FIG. 17 is a schematic diagram of docking with a pallet when a handling device provided in Embodiment 2 of the present application is in a retracted and lifted state of the fork arm;
  • FIG. 18 is a schematic diagram of docking with a pallet when a transport device provided in the second embodiment of the present application is in a docking position.
  • Handling device 20. Pallet; 201. Fork hole;
  • Vehicle body 11. Housing; 111. Bearing surface; 112. Receiving groove; 1121. Limiting groove wall; 113. X-guiding groove; 114. First guide roller; 12. Driving wheel; 13. Universal direction wheel;
  • Translation drive mechanism 31. Mounting frame; 311, bracket part; 3111, side plate; 3112, connecting part; 3113, Z guide groove; 3114, hinge hole; 312, connecting frame part; 32, electric drum; 321, rolling element; 322, installation shaft; 33, elastic element; 34, second guide roller.
  • connection should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integral body; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between the two elements.
  • connection may be a fixed connection, a detachable connection, or an integral body; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between the two elements.
  • a first feature "on” or “under” a second feature may include the first and second features in direct contact, or may include the first and second features not directly in contact The contact is made through additional features between them.
  • the first feature being “above”, “over” and “above” the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is level higher than the second feature.
  • the first feature is “below”, “below” and “below” the second feature includes the first feature being directly below and diagonally below the second feature, or simply means that the first feature is level less than the second feature.
  • the present embodiment provides a handling device 10 , which can be applied to a warehousing and logistics system to carry out fork lift handling for pallets 20 configured to carry materials, so as to improve the efficiency of material handling and portability.
  • the handling device 10 provided in this embodiment may be an automated guided vehicle (Automated Guided Vehicle, AGV) type handling device, or an autonomous mobile robot (Autonomous Mobile Robot, AMR) type handling device, or any other type of handling device capable of Or the form of a conveying device that conveys the pallet 20 .
  • AGV Automated Guided Vehicle
  • AMR Autonomous Mobile Robot
  • the handling device 10 includes a vehicle body 1, a mounting frame 31 and a fork arm 2.
  • the vehicle body 1 can move autonomously; the fork arm 2 is arranged on the vehicle body 1, and the mounting frame 31 is arranged on the vehicle body 1 in a horizontal sliding manner; the fork arm 2
  • the first end of the fork arm 2 is connected with the mounting frame 31, the fork arm 2 is configured to be able to extend horizontally with the movement of the mounting frame 31 to be inserted into the fork hole 201 of the tray 20, and to be able to rise and fall relative to the vehicle body 1 to lift the tray 20, and
  • the fork arm 2 lifts the pallet 20
  • the relative movement of the vehicle body 1 and the mounting bracket 31 enables the pallet 20 to be positioned above the vehicle body 1 .
  • the fork arm 2 by setting the fork arm 2 that can move horizontally and vertically relative to the vehicle body 1, when the pallet 20 needs to be transported, the fork arm 2 can be moved horizontally relative to the vehicle body 1 to partially move the fork arm 2 first.
  • the tray 20 is lifted by the lifting of the fork arm 2 relative to the vehicle body 1, so that the tray 20 is lifted up and off the ground;
  • the fork arm 2 is retracted relative to the vehicle body 1, so that the vehicle body 1 can at least partially enter the bottom of the pallet 20; after that, the pallet 20 is supported as a whole by the lowering of the fork arm 2 on the body 1 and/or the fork arm 2.
  • the handling device 10 by setting the fork arm 2 that can move horizontally and vertically relative to the vehicle body 1, when the handling device 10 initially carries the pallet 20 and docking it, only the fork arm 2 needs to extend into the fork hole.
  • the vehicle body 1 In 201, the vehicle body 1 is located outside the pallet 20, and when the pallet 20 is lifted to a preset height, the vehicle body 1 can partially enter the bottom of the pallet 20, so as to ensure that the transport device 10 can lift the pallet 20 while making the pallet 20 forklift.
  • the pallet In the process of carrying the pallet 20 by the carrying device 10 , the pallet is located above the vehicle body 1 , so that the size of the carrying device 10 along the extension direction of the fork arm 2 can be reduced during the carrying process of the pallet 20 , thereby reducing the size of the carrying device 10 when carrying the pallet 20 .
  • the radius of gyration and the footprint increase the flexibility of the handling device 10; at the same time, since one end of the fork arm 2 is connected to the mounting frame 31, the mounting frame 31 is slidably arranged on the vehicle body 1, so that the fork arm 2 extends relative to the vehicle body 1 After being pulled out, the part of the fork arm 2 that is not connected with the mounting frame 31 can be set in the air, and even for a field-shaped pallet or a Japanese-shaped pallet with a bottom beam, the fork arm 2 can cross the bottom beam and enter the fork hole 201 without hindrance. , so that the conveying device 10 is suitable for conveying a variety of different types of pallets, and has high flexibility in use and a wide range of use.
  • the above-mentioned tray 20 can be the field-shaped tray shown in FIG. 3 , or can be a Japanese-shaped tray, a Sichuan-shaped tray or a tray with other structures, as long as the tray 20 has a fork hole 201 into which the fork arm 2 can be inserted. That is, the present embodiment does not limit the structure of the pallet 20 that can be conveyed by the conveying device 10 .
  • the structure of the handling device 10 is introduced by taking the field-shaped pallet with the national standard of 1200 ⁇ 1000 ⁇ 153 m as an example.
  • the handling of other types of pallets 20 by the handling device 10 may refer to the handling of the field-shaped pallet 20 , and this embodiment will not describe them one by one. Repeat.
  • a coordinate system is established in the direction shown in FIG. 1 , wherein the X direction is the extension direction of the fork arm 2 , the Z direction is the height direction, and the Y direction is determined according to the right-hand rule.
  • the state when the transport device 10 is not docked with the pallet 20 is taken as the initial state
  • the state in which the fork arm 2 is extended relative to the vehicle body 1 in the X direction and is not raised is the extended state of the fork arm 2
  • the state of the fork arm 2 is taken as the extended state. 2.
  • the state in which the fork arm 2 is extended relative to the vehicle body 1 and raised to a certain height relative to the vehicle body 1 is called the extended and lifted state of the fork arm 2.
  • the fork arm 2 is retracted to the horizontal initial position and raised to a certain height relative to the vehicle body 1
  • the state of the fork arm 2 is called the retracted and lifted state of the fork arm 2
  • the state of the fork arm 2 when the transport device 10 completes the docking with the pallet 20 is called the docking position state. That is, starting from the carrier device 10 docking with the pallet 20 to docking with the pallet 20 in place, the carrier device 10 sequentially passes through the initial state, the extended state, the extended and lifted state, the retracted and lifted state, and then the docked in-position state.
  • a plurality of fork arms 2 are provided at intervals along the Y direction.
  • there are two fork holes 201 on the tray 20 that is, two fork arms 2 are correspondingly provided.
  • the size of the material is relatively large, so that there may be three or more fork holes 201 on the tray 20 , three or more fork arms 2 may be correspondingly provided.
  • the upper surface of the vehicle body 1 is formed with a bearing surface 111 configured to carry the pallet 20 , and the bearing surface 111 corresponds to the fork arm 2
  • the accommodating groove 112 extends along the X direction and one end penetrates through the corresponding side wall of the vehicle body 1, and the other end forms a limit groove wall 1121, which restricts the fork arm 2 to protrude out of the vehicle in the opposite direction. outside of body 1.
  • the fork arm 2 is at least partially accommodated in the accommodating groove 112 .
  • the arrangement of the accommodating groove 112 can reduce the overall thickness of the conveying device 10 along the Z direction, improve the compactness of the structure, and facilitate the sliding of the fork arm 2 along the X direction.
  • the groove depth of the accommodating groove 112 is greater than the thickness of the fork arm 2 along the Z direction, and when the conveying device 10 is in the initial state, the upper surface of the fork arm 2 is lower than the upper surface of the vehicle body 1 .
  • This arrangement enables the pallet 20 to be fully supported on the vehicle body 1 after the transport device 10 is docked with the pallet 20 , thereby avoiding fatigue damage caused by the fork arm 2 supporting the pallet 20 for a long time, improving the service life of the fork arm 2 , and The support stability of the tray 20 can be improved.
  • the upper surface of the fork arm 2 may be higher than the upper surface of the vehicle body 1 or the upper surface of the fork arm 2 may be flush with the upper surface of the vehicle body 1 .
  • the length of the accommodating groove 112 along the X direction is greater than the length of the fork arm 2 , and when the carrying device 10 is in the initial state, the fork arm 2 is completely accommodated in the accommodating groove 112 .
  • first guide rollers 114 are provided on two opposite groove walls of the accommodating groove 112 extending along the X direction.
  • the first guide rollers 114 are arranged on Near the opening of the accommodating slot 112 , when the fork arm 2 is slidably disposed in the accommodating slot 112 , the fork arm 2 is supported on the first guide roller 114 .
  • the arrangement of the first guide rollers 114 can support and guide the sliding of the fork arm 2 in the accommodating groove 112 , and can also avoid interfering with the lifting movement of the fork arm 2 relative to the vehicle body 1 .
  • the vehicle body 1 in order to realize the autonomous movement function of the vehicle body 1 , the vehicle body 1 includes a casing 11 and a driving wheel mechanism, and the above-mentioned accommodating groove 112 is formed on the surface of the casing 11 .
  • the driving wheel mechanism includes a driving wheel 12 and a driving motor configured to drive the driving wheel 12 to rotate.
  • the driving wheel 12 is provided at the bottom of the housing 11 , and the driving motor is provided inside the housing 11 .
  • two driving wheels 12 are symmetrically arranged with respect to the central longitudinal axis to improve driving stability.
  • the vehicle body 1 further includes universal wheels 13 , four universal wheels 13 are provided, and the four universal wheels 13 are distributed in a rectangular shape, and each driving wheel 12 is arranged between the two universal wheels 13 .
  • the number and position of the driving wheels 12 and the universal wheels 13 can be set according to requirements, and the driving form of the driving wheel mechanism can be differential drive or other driving forms, as long as the handling device can be realized Movements such as forward, backward, turning, in-situ rotation, etc. of 10 are sufficient, and the present application does not limit the structure of the driving wheel mechanism.
  • the vehicle body 1 is arranged symmetrically with respect to the central longitudinal axis, and the two fork arms 2 are arranged symmetrically with respect to the central longitudinal axis, so as to improve the running stability and structural compactness of the handling device 10 .
  • the handling device 10 further includes a translation drive mechanism 3 , which is respectively connected with the two fork arms 2 to drive the two fork arms 2 to move in the X direction synchronously.
  • a translation drive mechanism 3 which is respectively connected with the two fork arms 2 to drive the two fork arms 2 to move in the X direction synchronously.
  • This arrangement can reduce the driving cost, improve the conveying efficiency of the conveying device 10 , and ensure the synchronization of the translation of the two fork arms 2 .
  • each fork arm 2 may also be provided with a translation drive mechanism 3 independently.
  • the translational drive mechanism 3 includes the above-mentioned mounting frame 31 and a horizontal drive unit arranged on the mounting frame 31.
  • the mounting frame 31 is slidingly matched with the groove wall of the accommodating groove 112, and one end of the fork arm 2 close to the limiting groove wall 1121 is connected to the mounting frame. 31 is connected, and the horizontal drive unit drives the mounting frame 31 to move relative to the vehicle body 1 along the X direction.
  • the movement of the mounting frame 31 drives the two fork arms 2 to move synchronously, the structure is compact, and the arrangement is convenient.
  • the fixed end of the horizontal driving unit may also be fixed relative to the vehicle body 1 , and the driving end of the horizontal driving unit is connected with the fork arm 2 to drive the fork arm 2 to move.
  • the mounting frame 31 has two bracket parts 311 spaced along the Y direction.
  • the groove walls of the placement groove 112 are slidably connected, and the horizontal driving unit is connected between the two bracket parts 311 .
  • the accommodating groove 112 can be used as a guide groove of the mounting frame 31 at the same time, so as to ensure the accuracy and stability of the horizontal movement direction of the fork arm 2 .
  • At least one groove wall of the accommodating groove 112 extending along the X direction is provided with an X guide groove 113 , and the X guide groove 113 extends along the X direction and penetrates the side of the vehicle body 1 away from the limit groove wall 1121 ,
  • the bracket portion 311 is provided with a guide portion corresponding to the X guide groove 113 , and the guide portion extends into the corresponding X guide groove 113 and is connected with the groove wall of the X guide groove 113 by rolling or sliding.
  • the arrangement of the X guide groove 113 and the guide portion can enable the mounting bracket 31 to be inserted into the accommodating groove 112 from the open end of the accommodating groove 112 while preventing the mounting frame 31 from being separated from the accommodating groove 112 along the Z direction, with a simple structure and low cost .
  • X guide groove structures can also be provided to realize the sliding connection between the mounting frame 31 and the vehicle body 1 , for example, a guide rail is provided on the groove wall of the accommodating groove 112 , and the mounting frame 31 is connected with the guide rail. sliders, etc.
  • the guide portion is the second guide roller 34 , and the second guide roller 34 is in rolling fit with the X guide groove 113 to reduce friction.
  • the guide portion may also be a slider or the like.
  • the bracket portion 311 includes two side plates 3111 which are arranged at intervals along the Y direction.
  • the outer sides of the two side plates 3111 are respectively provided with second guide rollers 34.
  • the accommodating grooves 112 are oppositely arranged along the Y direction.
  • the walls are provided with X guide grooves 113 to improve the stability of the movement of the mounting frame 31 along the X direction.
  • Each side plate 3111 is provided with a plurality of second guide rollers 34 along the X direction.
  • the bracket part 311 further includes a connection part 3112 connected between the lower ends of the side plates 3111 to enhance the structural strength and rigidity of the bracket part 311.
  • the connection part 3112 can be, but is not limited to, a plate like structure.
  • the mounting frame 31 also includes a frame top plate 313 connected to the top ends of the two bracket portions 311 , the frame top plate 313 extends along the Y direction, and the upper end of the side plate 3111 is vertically connected to the frame top plate 313 , so that the bracket portion 311 and the frame top plate 313 are formed. There is space for connecting the wishbones 2.
  • the horizontal drive unit adopts the form of rolling drive to realize the sliding of the mounting frame 31 relative to the vehicle body 1 .
  • the rolling element 321 is located above the vehicle body 1 and is in rolling contact with the upper surface of the vehicle body 1.
  • the mounting shaft 322 extends along the Y direction and is connected to the mounting frame 31 at both ends.
  • the horizontal drive motor is configured to drive the rolling element 321 to rotate around the mounting shaft 322. , so as to realize the movement of the mounting bracket 31 relative to the vehicle body 1 along the X direction.
  • the translation drive mechanism 3 adopts a rolling drive method to realize the movement relative to the frame in the X direction, so that multiple structures of the horizontal drive unit are arranged on the mounting frame 31, so that the horizontal drive unit has a compact structure, small footprint, and transmission efficiency. high and stable operation. And this kind of driving form in which the fork arm 2 is extended is more beneficial to the vehicle body 1 when the fork arm 2 is extended relative to the vehicle body 1 and the pallet 20 is lifted, so that the vehicle body 1 can be kept stationary. 1 moves to the bottom of the tray 20 autonomously, reducing the driving force requirement for the horizontal driving unit, thereby reducing the overall volume of the horizontal driving unit, and making the structure of the translation driving mechanism 3 and the conveying device 10 more compact.
  • other driving structures capable of realizing the movement of the mounting frame 31 in the X direction may also be adopted, such as a rotary motor with a rack and pinion structure, a rotary motor with a lead screw nut mechanism, and the like.
  • the rolling element 321 is a roller
  • the horizontal driving unit adopts the structure of an electric drum 32 .
  • the mounting shaft 322 of the electric drum 32 extends along the Y direction and is connected to the mounting frame 31 at both ends.
  • the electric drum 32 is located above the vehicle body 1 . and pressed against the upper surface of the vehicle body 1 .
  • the horizontal driving motor can be hidden inside the rolling element 321 , so that the structure of the horizontal driving unit is more compact and the floor space is smaller, which is beneficial to the miniaturized design of the conveying device 10 .
  • a connecting frame portion 312 is also provided between the two bracket portions 311, and two connecting frame portions 312 are arranged at intervals along the Y direction, and the upper end of the connecting frame portion 312 is connected with the frame top plate 313.
  • the lower end of the frame portion 312 is higher than the upper surface of the vehicle body 1 , and the electric drum 32 is sandwiched between the two connecting frame portions 312 .
  • an installation groove 3121 is defined on the side of each connecting frame portion 312 facing the electric drum 32 , and the installation shaft 322 of the electric drum 32 is inserted into the installation groove 3121 .
  • the mounting frame 31 is further provided with an elastic member 33 configured to elastically press the electric drum 32 against the upper surface of the vehicle body 1 .
  • the elastic member 33 is a spring vertically arranged in the installation groove 3121, the upper end of the spring is connected to the upper groove wall of the installation groove 3121, the lower end of the spring is pressed against the installation shaft 322, and the spring is always in compression state.
  • the elastic member 33 can also be other elements capable of providing elastic pressing force, such as elastic gaskets and the like.
  • the first end of the fork arm 2 is located between the two side plates 3111 , and the fork arm 2 is slidably connected to the mounting frame 31 and can be raised and lowered relative to the mounting frame 31 along the Z direction.
  • the driving transmission structures for driving the fork arm 2 horizontally and for lifting and lowering can be concentrated on the fork arm 2 and the mounting frame 31 , simplifying the structural arrangement on the vehicle body 1 and improving the compactness of the structure.
  • the mounting frame 31 can also be lifted and lowered relative to the vehicle body 1 , so as to drive the two fork arms 2 to lift and lower through the lifting and lowering of the mounting frame 31 .
  • the mounting bracket 31 is located near the opening of the accommodating groove 112 .
  • the fork arm 2 is configured to be able to switch between being supported on the ground and being off the ground, so that the fork arm 2 can be disconnected from the ground.
  • the ground crosses the bottom beam of the pallet 20
  • the fork arm 2 located inside the fork hole 201 is partially supported on the ground.
  • the fork arm 2 includes an arm body 21 extending along the X direction, a support member 23 and a lift drive mechanism 22 disposed on the arm body 21 .
  • the lift drive mechanism 22 is connected to the support member 23 and is configured as The supporting member 23 is driven to vertically lift relative to the arm body 21, so that the supporting member 23 can be lowered to a position where it can be supported on the ground, so that when the carrying device 10 is in the fork arm 2 extending state and the fork arm 2 extending and lifting state , the fork arm 2 can be supported by the mounting frame 31 and the support member 23 at the same time, which improves the use stability and load stability of the fork arm 2 , prevents the fork arm 2 from being bent or broken, and improves the service life of the fork arm 2 .
  • the accommodating groove 112 is away from the limiting groove
  • One end of the wall 1121 penetrates through the lower surface of the vehicle body 1 , so that when the transport device 10 is in a retracted and lifted state, the support member 23 can contact the ground and provide support for the fork arm 2 .
  • the lift drive mechanism 22 includes two first links 222 and a first drive assembly, one end of each first link 222 is hinged with the support 23 , and the other end of each first link 222 is hinged One end is connected with the first drive assembly, and the first drive assembly is configured to drive the other ends of the two first links 222 to approach or move away from each other to lift the support 23 .
  • the first drive assembly includes a lead screw 221, two first nut seats 223 and a lift drive motor 227.
  • the lead screw 221 includes a first threaded section 2211 and a second threaded section 2212 with opposite directions of rotation; the two first nut seats 223 are respectively Sleeved on the first threaded section 2211 and the second threaded section 2212 , the other ends of the two first connecting rods 222 are hinged with the two first nut seats 223 respectively.
  • the lift driving motor 227 is configured to drive the lead screw 221 to rotate, so as to drive the two first nut bases 223 to move toward each other or backward along the lead screw 221 .
  • the arrangement of the above-mentioned lift drive mechanism 22 can ensure that the support member 23 can only move in the vertical direction, restrict the movement of the support member 23 along the X direction, ensure the accuracy of the position of the support member 23, and shorten the first nut seat 223 relative to the wire The stroke of the lever 221 movement.
  • one of the first nut seats 223 can also be replaced with a fixed seat fixed relative to the arm body 21 , and the sliding of the other first nut seat 223 along the lead screw 221 drives the two first connecting rods 222 to stretch relative to each other. Open and close.
  • the support member 23 not only has a displacement amount in the Z direction, but also has a displacement amount in the X direction.
  • Two sets of first connecting rods 222 are respectively provided on opposite sides of the lead screw 221 along the Y direction, and the two sets of first connecting rods 222 are respectively hinged with both ends of the axle of the support member 23 to improve the connection and support of the support member 23 stability.
  • only one set of the first connecting rods 222 may be provided, for example, only one set directly below the lead screw 221.
  • the first nut seat 223 includes a sleeve part and a connecting plate part protruding on the outer surface of the sleeve part, and the inner wall of the sleeve part is provided with corresponding threads. Thread for segment adaptation.
  • the connecting plate portion extends along the Y direction, and both ends are hinged with the two first links 222 respectively. The upper side of the connecting plate portion is attached to the arm body 21 to prevent the first nut seat 223 from rotating relative to the arm body 21 .
  • the supporting member 23 is a supporting roller, and the axle of the supporting roller extends along the Y direction, so as to ensure that the fork arm 2 can move in the X direction while being supported by the supporting member 23, so as to improve the smoothness of translation of the fork arm 2 and facilitate the adjustment of the fork arm. 2 to make adjustments.
  • the support member 23 includes a wheel axle and at least two wheel bodies arranged on the wheel axle at intervals. At least two wheel bodies are respectively located on opposite sides of the lead screw 221, and when the fork arm 2 is in the initial state, the upper end of the wheel body is higher than the lower side of the lead screw 221, so as to shorten the distance between the wheel shaft and the lead screw 221 and improve the Compactness.
  • the lead screw 221 is also rotatably sleeved with a lead screw seat 226 , the lead screw seat 226 is provided with a light hole for the lead screw 221 to pass through, and the lead screw seat 226 is connected with the arm body 21 .
  • the lead screw 221 includes a first optical axis segment 2214 located between the first thread segment 2211 and the second thread segment 2212, and the lead screw seat 226 is sleeved at the first optical axis segment 2214 to prevent the two first nut seats 223 collide with each other, and avoid wear on the threads on the lead screw 221 .
  • the two lead screw seats 226 are respectively disposed at both ends of the first optical axis segment 2214 , and when the conveying device 10 is in the initial state, the support member 23 is located between the two lead screw seats 226 .
  • This arrangement can avoid the collision between the first nut seat 223 and the support member 23, and limit the relative movement stroke of the first nut seat 223; 2
  • the support 23 is sandwiched between the two screw bases 226, and in the initial state, the gap between the lead screw 221 and the support 23 is shortened, thereby reducing the fork arm 2 along the Z direction in the initial state
  • the overall thickness of the structure improves the compactness of the structure.
  • One end of the first threaded section 2211 away from the screw seat 226 is sleeved with a limiting sleeve 229, and one end of the second threaded section 2212 away from the screw seat 226 is in contact with the arm body 21, so as to realize the corresponding first nut seat 223 when it moves back. travel limit.
  • the lift drive mechanism 22 can also synchronously drive the arm body 21 to vertically lift relative to the mounting frame 31 , thereby simplifying the setting of the drive structure on the fork arm 2 , reducing the cost and improving the compactness of the structure.
  • the lift drive mechanism 22 includes a second link 225 and a second drive assembly.
  • the first end of the second link 225 is hinged with the mounting bracket 31, and the other end supports the arm body 21.
  • the second drive assembly is configured to drive the second link.
  • the lever 225 is rotated to lift and lower the arm body 21 .
  • the second drive assembly includes the above-mentioned lead screw 221 and the lift drive motor 227, and also includes a second nut seat 224.
  • the lead screw 221 includes a third threaded section 2213, and the second nut seat 224 is rotatably sleeved on the On the third threaded section 2213 , the second end of the second connecting rod 225 is hinged with the second nut seat 224 .
  • the first drive assembly and the second drive assembly share the lead screw 221 and the lift drive motor 227, which reduces cost and simplifies the structure.
  • the first drive assembly and the second drive assembly can be provided independently.
  • the first end of the second connecting rod 225 is hinged to the bottom end of the bracket portion 311 , and the second connecting rod 225 is located on the side of the second nut seat 224 facing the mounting bracket 31 , and the third threaded section 2213 is connected to the The rotation directions of the second threaded segments 2212 are the same.
  • the lead screw 221 is higher than the first end of the second connecting rod 225 , and the second connecting rod 225 extends upwards obliquely along the direction from the first end to the second end.
  • the second nut seat 224 includes The threaded sleeve portion 2241 and the sliding seat portion 2243 slidably sleeved on the threaded sleeve portion 2241, the threaded sleeve portion 2241 and the third threaded segment 2213 are in driving cooperation, and the threaded sleeve portion 2241 is provided with two limiting sliding strokes of the sliding seat portion 2243.
  • the limiting seat portion 2242 and the second link 225 are hinged to the sliding seat portion 2243 .
  • each second connecting rod 225 there are two second connecting rods 225 , the two second connecting rods 225 are located on opposite sides of the lead screw 221 respectively, and the upper end of each second connecting rod 225 is hinged with the sliding seat portion 2243 .
  • This arrangement can effectively realize the synchronous lifting and lowering of both ends of the second connecting rod 225 and improve the stability of the lifting and lowering movement of the arm body 21 .
  • the fork arm 2 further includes a hinge shaft 25 , the hinge shaft 25 extends along the Y direction, and the lower ends of the two second links 225 are both hinged with the hinge shaft 25 .
  • a hinge hole 3114 is formed on the side plate 3111 of the mounting frame 31 , and both ends of the hinge shaft 25 are respectively inserted into the two hinge holes 3114 .
  • the lead screw 221 further includes a second optical shaft segment 2215 located between the first threaded segment 2211 and the third threaded segment 2213 , and the lift drive motor 227 is drive-connected to the second optical shaft segment 2215 through a reducer 228 .
  • the setting of the speed reducer 228 can reduce the rotational speed of the lead screw 221 and increase the torque of the lead screw 221 , thereby improving the running stability of the elevating drive mechanism 22 .
  • the lift drive mechanism 22 for driving the support member 23 to vertically lift and the lift drive mechanism 22 for the drive arm body 21 to vertically lift relative to the mounting frame 31 can be separately provided, and the two sets of lift drive mechanisms 22 can both use motors.
  • the drive structure such as sprocket chain drive, screw nut mechanism, crank slider mechanism or connecting rod mechanism, or use linear drive structure such as linear motor, hydraulic cylinder, etc., and the above-mentioned various linear drive structures are relatively common, here No longer.
  • the arm body 21 has a long box-like structure with an open lower end, which forms a cavity with an open lower end.
  • the lead screw 221, the lift drive motor 227 and the reducer 228 are accommodated in the cavity to protect the lift drive mechanism 22. Moreover, the compactness of the structure and the aesthetic appearance of the fork arm 2 are improved.
  • Z guide grooves 3113 are provided on the inner sides of the two side plates 3111 of the bracket portion 311 , and the Z guide grooves 3113 extend in the Z direction.
  • Guide members are provided on opposite sides of the arm body 21 along the Y direction. The guide members extend into the corresponding Z guide grooves 3113 and slide or roll with the groove walls of the Z guide grooves 3113 .
  • the guide member is a third guide roller 24 , and at least two third guide rollers 24 are provided along the Z direction.
  • This embodiment also provides a warehousing and logistics system, including a pallet 20 and the above-mentioned handling device 10.
  • a warehousing and logistics system including a pallet 20 and the above-mentioned handling device 10.
  • this embodiment provides a pallet conveying method, which uses the conveying device 10 in the first embodiment to convey the pallet 20 .
  • step S1 the conveying device 10 runs to the front of the pallet 20 , and makes the fork arm 2 of the conveying device 10 face the fork hole 201 of the pallet 20 directly.
  • the handling device 10 automatically runs to the front of the pallet 20 through the navigation system, and the setting of the automatic navigation of the handling device 10 can be performed according to the related art.
  • step S2 the horizontal driving unit runs in the forward direction, and the mounting frame 31 is driven to move relative to the vehicle body 1 in the X direction, so that the fork arm 2 extends into the insertion fork hole 201 in the X direction.
  • the electric drum 32 rotates to drive the mounting frame 31 to move in the X direction.
  • step S3 when the free end of the fork arm 2 extends out of the vehicle body 1 by a set distance, the lift drive mechanism 22 moves forward, and drives the support member 23 to descend relative to the arm body 21 to contact the ground.
  • the supporting member 23 can be supported on the ground to provide auxiliary support for the fork arm 2 and prevent the fork arm 2 from being bent.
  • Step S4 after the fork arm 2 continues to extend forward to the maximum distance, the horizontal drive unit stops running.
  • Step S5 the lift drive mechanism 22 runs forward to raise the arm body 21 relative to the mounting frame 31 , and meanwhile, the support member 23 lowers relative to the arm body 21 until the bottom of the tray 20 is raised by a preset height relative to the ground.
  • the rotation of the lead screw 221 drives the two first nut seats 223 to move toward each other, and drives the support member 23 to descend relative to the arm body 21; at the same time, the second nut seat 224 slides in the direction close to the mounting frame 31 and drives The second link 225 is turned upward around the hinge shaft 25 .
  • step S6 the driving wheel mechanism is actuated, and the vehicle body 1 is moved to the bottom of the pallet 20 along the X direction under the premise that the fork arm 2 and the mounting frame 31 are kept stationary.
  • step S7 the lift drive mechanism 22 moves in the reverse direction to drive the arm body 21 to descend relative to the mounting frame 31 and the support member 23 to rise relative to the arm body 21 , until the arm body 21 drives the tray 20 to descend to contact the upper surface of the vehicle body 1 .
  • the lead screw 221 rotates in the reverse direction, the two first nut seats 223 run backward, and the height between the support 23 and the lead screw 221 is reduced;
  • the second connecting rod 225 is turned downward around the hinge shaft 25 , driving the arm body 21 to move downward, thereby driving the tray 20 carried on the arm body 21 to descend.
  • step S8 the lead screw 221 continues to move in the reverse direction, the sliding seat portion 2243 is fixed and slides relative to the limiting seat portion 2242, the support member 23 moves upward until it is out of contact with the ground, and the carrying device 10 reaches the docking position.
  • step S9 the transport device 10 carries the pallet 20 to a predetermined destination.
  • step S10 the elevating drive mechanism 22 moves forward to drive the lead screw 221 to rise to a set height, and at the same time, the support member 23 moves downward relative to the arm body 21 until it contacts the ground.
  • step S11 the driving wheel mechanism 12 moves in the reverse direction, so that the vehicle body 1 moves relative to the mounting frame 31 and the fork arm 2 to below the removal tray 20 .
  • step S12 the lift drive mechanism 22 moves in the reverse direction to drive the lead screw 221 to descend, so that the arm body 21 drives the tray 20 to descend to contact the ground, and at the same time, the support member 23 moves upward relative to the arm body 21 .
  • step S13 the horizontal drive unit moves in reverse to move the mounting bracket 31 and the fork arm 2 relative to the vehicle body 1 until the fork arm 2 is separated from the fork hole 201, until the mounting bracket 31 and the fork arm 2 return to the initial position.
  • step S14 the lead screw 221 rotates in the reverse direction, and drives the support member 23 to continue to move in the direction toward the arm body 21 until the support member 23 leaves the ground.
  • Step S13 and step S14 may be performed synchronously, or may be performed sequentially.
  • the flexibility and applicability of handling the pallet 20 can be improved, and the turning radius and space occupied during the handling of the pallet 20 can be reduced.
  • This embodiment provides a pallet handling method, which uses the handling device 10 in the first embodiment to transport the pallet 20, and the pallet handling method provided in this embodiment is basically the same as the pallet handling method provided in the second embodiment, and only a part of the pallet handling method is provided. There are differences in the steps, and the same steps as those in the second embodiment will not be repeated in this embodiment.
  • the pallet handling method includes the following steps:
  • steps S1 to S5 reference may be made to the second embodiment.
  • Step S6 the vehicle body 1 remains stationary, the horizontal drive unit rotates in the opposite direction, and drives the mounting frame 31 and the fork arm 2 to move backward relative to the vehicle body 1 until the fork arm 2 returns to the top of the vehicle body 1 .
  • steps S7-S10 reference may be made to the second embodiment.
  • step S11 the vehicle body 1 remains stationary, and the horizontal drive unit rotates forwardly to drive the mounting frame 31 and the fork arm 2 to extend forward until the vehicle body 1 is separated from the bottom of the tray 20 .
  • steps S12 to S14 reference may be made to the second embodiment.
  • step S6 may adopt step S6 in the second embodiment
  • step S11 may adopt step S11 in the third embodiment
  • step S6 may adopt step S6 in the third embodiment
  • step S11 adopts the second embodiment In step S11, as long as the relative operation between the fork arm 2 and the vehicle body 1 is realized.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

一种搬运装置（10）、仓储物流系统及托盘（20）搬运方法，搬运装置（10）被配置为搬运托盘（20），包括：车体（1），被配置为自主移动；安装架（31），水平滑动地设置于车体（1）上；叉臂（2），叉臂（2）的第一端与安装架（31）连接，叉臂（2）被配置为随安装架（31）的运动水平伸出以插入托盘（20）的叉孔（201）中，以及相对车体（1）升降以举升托盘（20），当叉臂（2）举升托盘（20）时，车体（1）与安装架（31）被配置为通过车体（1）与安装架（31）的相对运动使托盘（20）位于车体（1）上方。

Description

搬运装置、仓储物流系统及托盘搬运方法
本申请要求在2020年12月25日提交中国专利局、申请号为202011563802.5的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本申请涉及仓储物流技术领域，例如涉及一种搬运装置、仓储物流系统及托盘搬运方法。
背景技术
随着仓储物流行业的高效化和自动化发展，具备自助移动功能的搬运装置被广泛应用于仓储物流行业的多个环节，以实现对物料的高效自动化搬运。
托盘是仓储物流中被配置为承载物料的载具，物料放置在托盘上后，由搬运装置运行至托盘所在位置，与托盘上的叉孔进行对接后，对托盘进行叉举搬运，从而实现对承载在托盘上的物料的搬运。根据托盘上的叉孔的开设方式，托盘通常分为日字型托盘、川字型托盘和田字形托盘等。
对托盘进行搬运的设备通常有电动地牛、自动叉车等，通过电动地牛、自动叉车的叉臂插入叉孔中进行托盘的搬运。自动叉车的叉臂能够竖直升降，从而可以实现对不同类型的托盘的搬运，但其通常具有体积大、回转半径大、占地空间大等缺点；电动地牛仅能实现对川字型托盘的搬运，无法对日字型托盘和田字形托盘进行搬运，使用范围受限。
发明内容
本申请提供一种搬运装置、仓储物流系统及托盘搬运方法，以减小搬运装置对托盘进行搬运时的占地空间和回转半径，提高搬运装置的使用灵活性和通用性。
一种搬运装置，被配置为搬运托盘，包括：
车体，被配置为自主移动；
安装架，水平滑动地设置于所述车体上；
叉臂，所述叉臂的第一端与所述安装架连接，所述叉臂被配置为随所述安装架的运动水平伸出以插入所述托盘的叉孔中，以及相对所述车体升降以举升所述托盘，且在所述叉臂举升所述托盘的情况下，所述车体与所述安装架被配 置为通过所述车体与所述安装架的相对运动使所述托盘位于所述车体上方。
一种仓储物流系统，包括如上所述的搬运装置。
一种托盘搬运方法，采用如上所述的搬运装置对托盘进行搬运，包括：
所述搬运装置的安装架相对所述搬运装置的车体水平移动，以使所述搬运装置的叉臂伸入所述托盘的叉孔；
所述叉臂相对所述车体竖向移动以托举所述托盘；
所述安装架与所述车体相对水平移动，以使所述托盘位于所述车体的正上方。
附图说明
图1是本申请实施例一提供的一种搬运装置处于初始状态下的结构示意图；
图2是本申请实施例一提供的一种搬运装置处于叉臂伸出状态下的结构示意图；
图3是本申请实施例一提供的一种托盘的结构示意图；
图4是本申请实施例一提供的一种车体的正面结构示意图；
图5是本申请实施例一提供的一种车体的背面结构示意图；
图6是本申请实施例一提供的一种平移驱动机构的结构示意图；
图7是本申请实施例一提供的一种叉臂的结构示意图；
图8是本申请实施例一提供的一种升降驱动机构的结构示意图；
图9是本申请实施例一提供的一种叉臂处于初始状态时叉臂与安装架的配合示意图；
图10是图9中结构去掉臂本体后的机构示意图；
图11是本申请实施例一提供的一种叉臂处于举升状态时时叉臂与安装架的配示意图；
图12是图11中结构去掉臂本体后的结构示意图；
图13是本申请实施例二提供的一种搬运装置处于初始状态时与托盘的对接示意图；
图14是图13中结构的主视图；
图15是本申请实施例二提供的一种搬运装置处于叉臂伸出状态时与托盘的对接示意图；
图16是本申请实施例二提供的一种搬运装置处于叉臂伸出举升状态时与托盘的对接示意图；
图17是本申请实施例二提供的一种搬运装置处于叉臂回缩举升状态时与托盘的对接示意图；
图18是本申请实施例二提供的一种搬运装置处于对接到位状态时与托盘的对接示意图。
图中标记如下：
10、搬运装置；20、托盘；201、叉孔；
1、车体；11、壳体；111、承载面；112、容置槽；1121、限位槽壁；113、X向导槽；114、第一导向滚轮；12、驱动轮；13、万向轮；
2、叉臂；21、臂本体；22、升降驱动机构；221、丝杠；2211、第一螺纹段；2212、第二螺纹段；2213、第三螺纹段；2214、第一光轴段；2215、第二光轴段；222、第一连杆；223、第一螺母座；224、第二螺母座；2241、螺套部；2242、限位座部；2243、滑座部；225、第二连杆；226、丝杠座；227、升降驱动电机；228、减速器；229、限位套；23、支撑件；24、第三导向滚轮；25、铰接轴；
3、平移驱动机构；31、安装架；311、支架部；3111、侧板；3112、连接部；3113、Z向导槽；3114、铰接孔；312、连接架部；3121、安装槽；313、架顶板；32、电动滚筒；321、滚动件；322、安装轴；33、弹性件；34、第二导向滚轮。
具体实施方式
下面结合附图和实施例对本申请进行说明。
在本申请的描述中，除非另有规定和限定，术语“相连”、“连接”、“固定”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。可以根据情况理解上述术语在本申请中的具体含义。
在本申请中，除非另有规定和限定，第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下 面”包括第一特征在第二特征正下方和斜下方，或仅仅表示第一特征水平高度小于第二特征。
在本实施例的描述中，术语“上”、“下”、“右”、等方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述和简化操作，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，术语“第一”、“第二”仅仅用于在描述上加以区分，并没有特殊的含义。
如图1-3所示，本实施例提供了一种搬运装置10，其可应用于仓储物流系统中，对被配置为承载物料的托盘20进行叉举式搬运，以提高对物料搬运的效率和搬运便利性。本实施例提供的搬运装置10，可以为自动导引车(Automated Guided Vehicle，AGV)式搬运装置，也可以是自主式移动机器人(Autonomous Mobile Robot，AMR)式搬运装置，或其他能够实现对物料或托盘20进行搬运的搬运装置形式。
搬运装置10包括车体1、安装架31和叉臂2，车体1能够自主移动；叉臂2设于车体1上，安装架31能水平滑动地设置于车体1上；叉臂2的第一端与安装架31连接，叉臂2被配置为能够随安装架31的运动水平伸出以插入托盘20的叉孔201中，以及能相对车体1升降以举升托盘20，且当叉臂2举升托盘20时，车体1与安装架31的相对运动能使托盘20位于车体1上方。
本实施例提供的搬运装置10，通过设置能够相对车体1水平移动和竖直升降的叉臂2，当需要对托盘20进行搬运时，可以首先使叉臂2相对车体1水平移动以部分伸出车体1外部，从而使叉臂2插入托盘20的叉孔201中；然后通过叉臂2相对车体1的升高对托盘20进行举升，从而使托盘20抬高并脱离地面；当托盘20被抬高一定高度后，使叉臂2相对车体1回缩，从而使车体1至少部分能够进入到托盘20底部；其后再通过叉臂2的下降，使托盘20整体支承于车体1和/或叉臂2上。
本实施例提供的搬运装置10，通过设置能够相对车体1水平移动和竖直升降的叉臂2，能够在搬运装置10对托盘20进行搬运初始对接时，仅需叉臂2伸入叉孔201中，车体1位于托盘20外部，且当托盘20被举升至预设高度后，车体1能够部分进入托盘20底部，从而在保证搬运装置10实现对托盘20叉举的同时，使搬运装置10在搬运托盘20过程中，托盘位于车体1上方，从而能够减小托盘20搬运过程中，搬运装置10沿叉臂2延伸方向的尺寸，减小搬运装置10在搬运托盘20时的回转半径和占地空间，提高搬运装置10的使用灵活性；同时，由于叉臂2的一端与安装架31连接，安装架31滑动设置在车体1上，使叉臂2相对车体1伸出后，叉臂2未与安装架31连接的部分可以悬空设 置，即使对于具有底梁的田字形托盘或日字型托盘，叉臂2也能毫无阻碍地越过底梁进入叉孔201中，从而使搬运装置10适用于多种不同类型的托盘的搬运，使用灵活性高，使用范围广。
上述的托盘20可以为图3所示的田字形托盘，也可以为日字型托盘、川字型托盘或具有其他结构的托盘，只要满足托盘20上具有能够供叉臂2插入的叉孔201即可，本实施例不对搬运装置10能够搬运的托盘20的结构进行限制。且本实施例以国标1200x1000x153m的田字形托盘为例对搬运装置10的结构进行介绍，搬运装置10对其他类型托盘20的搬运可以参考其对田字形托盘20的搬运，本实施例不再一一赘述。
为方便描述，以图1所示方向建立坐标系，其中X方向为叉臂2的延伸方向，Z方向为高度方向，Y方向根据右手法则确定。
为方便描述，以搬运装置10未与托盘20对接时的状态为初始状态，以叉臂2相对车体1沿X方向伸出且不升高的状态为叉臂2伸出状态，以叉臂2相对车体1伸出且相对车体1升高至一定高度的状态称为叉臂2伸出举升状态，以叉臂2回缩至水平初始位置且相对车体1升高至一定高度的状态称为叉臂2回缩举升状态，以搬运装置10完成与托盘20的对接时叉臂2的状态称为对接到位状态。即从搬运装置10开始与托盘20对接至与托盘20对接到位，搬运装置10依次经过初始状态、伸出状态、伸出举升状态、回缩举升状态后与对接到位状态。
为提高对托盘20的搬运稳定性，叉臂2沿Y方向间隔设置有多个。通常托盘20上的叉孔201设置有两个，即，叉臂2对应设置为两个。当物料尺寸较大，导致托盘20上的叉孔201可能存在三个或更多个时，叉臂2也可以对应设置三个或更多个。
如图4所示，为提高搬运装置10的结构紧凑性，减小搬运装置10的体积，车体1的上表面形成有被配置为承载托盘20的承载面111，承载面111对应叉臂2的位置开设有容置槽112，容置槽112沿X方向延伸且一端贯通车体1对应侧壁，另一端形成限位槽壁1121，限位槽壁1121限制叉臂2反方向伸出车体1外部。当叉臂2处于初始状态时，叉臂2至少部分容纳于容置槽112中。容置槽112的设置，能够减小搬运装置10沿Z方向的整体厚度，提高结构紧凑性，且有利于为叉臂2沿X方向的滑动进行导向。
容置槽112的槽深大于叉臂2沿Z方向的厚度，且当搬运装置10处于初始状态时，叉臂2的上表面低于车体1的上表面。该种设置，能够在搬运装置10与托盘20完成对接后，使托盘20完全支承于车体1上，避免叉臂2长时间支撑托盘20造成的疲劳损坏，提高叉臂2的使用寿命，且能够提高对托盘20的 支撑稳定性。在其他实施例中，也可以是叉臂2的上表面高于车体1的上表面或叉臂2的上表面与车体1的上表面平齐。容置槽112沿X方向的长度大于叉臂2的长度，且当搬运装置10处于初始状态时，叉臂2完全容置于容置槽112中。
在本实施例中，为提高叉臂2沿X方向伸出的平稳性，容置槽112沿X方向延伸的相对两槽壁上均设置有第一导向滚轮114，第一导向滚轮114设置于靠近所述容置槽112开口的位置，当叉臂2滑动设置于容置槽112时，叉臂2支承于所述第一导向滚轮114上。第一导向滚轮114的设置，能够为叉臂2在容置槽112中的滑动进行支撑和导向的同时，还能够避免干涉叉臂2相对车体1的升降运动。
如图4和5所示，为实现车体1的自主移动功能，车体1包括壳体11和驱动轮机构，壳体11的表面开设有上述容置槽112。驱动轮机构包括驱动轮12和被配置为驱动驱动轮12转动的驱动电机，驱动轮12设置在壳体11的底部，驱动电机设置于壳体11内部。本实施例中，驱动轮12相对中纵轴线对称设置有两个，以提高驱动稳定性。车体1还包括万向轮13，万向轮13设置有四个，且四个万向轮13呈矩形分布，每一驱动轮12均设置在两万向轮13之间。
在其他实施例中，驱动轮12和万向轮13的个数和位置可以根据需求进行设置，且驱动轮机构的驱动形式可以为差速驱动，也可以为其他驱动形式，只要能够实现搬运装置10的前进、后退、转弯、原地自转等的运动即可，本申请对驱动轮机构的结构不做限制。
车体1相对中纵轴线对称设置，且两个叉臂2相对该中纵轴线对称设置，以提高搬运装置10的运行平稳性和结构紧凑性。
如图1、图2和图6所示，搬运装置10还包括平移驱动机构3，平移驱动机构3分别与两个叉臂2连接，以驱动两个叉臂2同步沿X方向运动。该种设置，能够降低驱动成本，且提高搬运装置10的搬运效率，保证两个叉臂2平移的同步性。在其他实施例中，也可以是每个叉臂2单独设置一个平移驱动机构3。
平移驱动机构3包括上述的安装架31和设置在安装架31上的水平驱动单元，安装架31与容置槽112的槽壁滑动配合，叉臂2靠近限位槽壁1121的一端与安装架31连接，水平驱动单元驱动安装架31相对车体1沿X方向移动。该种设置形式，通过安装架31的移动带动两个叉臂2同步运动，结构紧凑，且设置方便。在其他实施例中，也可以是水平驱动单元的固定端相对车体1固定，水平驱动单元的驱动端与叉臂2连接以驱动叉臂2运动。
为提高安装架31与车体1滑动连接稳定性，安装架31具有沿Y方向间隔 设置的两个支架部311，两个支架部311的下端分别伸入两个容置槽112中并与容置槽112的槽壁滑动连接，水平驱动单元连接于两个支架部311之间。该种设置，能够使容置槽112同时作为安装架31的导向槽使用，保证叉臂2水平移动的方向的准确性和稳定性。
如图4所示，容置槽112沿X方向延伸的至少一个槽壁上开设有X向导槽113，X向导槽113沿X方向延伸且贯通车体1远离限位槽壁1121的一侧，支架部311对应X向导槽113设置有导向部，导向部伸入对应的X向导槽113中并与X向导槽113的槽壁滚动或滑动连接。X向导槽113和导向部的设置，能够使安装架31从容置槽112的开口端插入容置槽112内的同时，防止安装架31沿Z方向脱离容置槽112，结构简单，成本较低。
在其他实施例中，也可以设置其他的X向导槽结构实现安装架31与车体1的滑动连接，如在容置槽112的槽壁上设置导轨，在安装架31上连接与导轨配合的滑块等。在本实施例中，如图6所示，导向部为第二导向滚轮34，第二导向滚轮34与X向导槽113滚动配合，减小摩擦。在其他实施例中，导向部也可以是滑块等。
支架部311包括两个沿Y方向相对间隔设置的侧板3111，两个侧板3111的外侧面分别设置有第二导向滚轮34，对应地，容置槽112沿Y方向相对设置的两个槽壁上均开设有X向导槽113，以提高安装架31沿X方向运动的平稳性。每个侧板3111上沿X方向设置有多个第二导向滚轮34。
为避免两个侧板3111末端产生相对位移，支架部311还包括连接于侧板3111下端之间的连接部3112，以增强支架部311的结构强度和刚度，连接部3112可以但不限定为板状结构。
安装架31还包括连接于两个支架部311顶端的架顶板313，架顶板313沿Y方向延伸，侧板3111的上端与架顶板313垂直连接，从而使支架部311与架顶板313之间形成有连接叉臂2的空间。
在本实施例中，水平驱动单元采用滚动驱动的形式实现安装架31相对车体1的滑动，其包括滚动件321、安装滚动件321的安装轴322及驱动滚动件321转动的水平驱动电机。滚动件321位于车体1上方并与车体1上表面滚动接触，安装轴322沿Y方向延伸且两端分别与安装架31连接，水平驱动电机被配置为驱动滚动件321绕安装轴322转动，从而实现安装架31相对车体1沿X方向的运动。
平移驱动机构3采用滚动驱动的方式实现相对车架沿X方向的移动，使水平驱动单元的多个结构均布置于安装架31上，使水平驱动单元具有结构紧凑、 占地空间小、传动效率高、运行平稳等优点。且该种叉臂2伸出的驱动形式，更加有利于在叉臂2相对车体1伸出并举升有托盘20时，使车体1能够在叉臂2保持静止的情况下，使车体1自主移动至托盘20底部，减小对水平驱动单元的驱动力需求，从而可以减小水平驱动单元的整体体积，使平移驱动机构3和搬运装置10结构更加紧凑。在其他实施例中，还可以采用其他能够实现安装架31沿X方向运动的驱动结构形式，如旋转电机配合齿轮齿条结构、旋转电机配合丝杠螺母机构等。
为简化结构，滚动件321为滚筒，水平驱动单元采用电动滚筒32的结构形式，电动滚筒32的安装轴322沿Y方向延伸且两端分别与安装架31连接，电动滚筒32位于车体1上方并抵压于车体1上表面。通过将水平驱动单元设置成电动滚筒32，能够将水平驱动电机藏于滚动件321的内部，使水平驱动单元的结构更加紧凑、占地空间更小，有利于搬运装置10的小型化设计。
为方便电动滚筒32的安装，两个支架部311之间还设置有连接架部312，连接架部312沿Y方向间隔设置有两个，且连接架部312的上端与架顶板313连接，连接架部312的下端高于车体1上表面，电动滚筒32夹装于两个连接架部312之间。
为方便对电动滚筒32的安装，每个连接架部312朝向电动滚筒32的一侧开设有安装槽3121，电动滚筒32的安装轴322插设在安装槽3121中。为防止电动滚筒32相对车体1表面打滑，安装架31上还设置有弹性件33，弹性件33被配置为将电动滚筒32弹性抵压于所述车体1的上表面上。
在本实施例中，弹性件33为竖直设置于安装槽3121中的弹簧，弹簧的上端与安装槽3121的上槽壁连接，弹簧的下端抵压于安装轴322上，且弹簧始终处于压缩状态。在其他实施例中，弹性件33也可以为其他能够提供弹性压紧力的元件，如弹性垫片等。
为提高结构紧凑性，叉臂2的第一端位于两个侧板3111之间，且叉臂2与安装架31滑动连接并能相对安装架31沿Z方向升降。该种设置，能够使驱动叉臂2水平和升降运行的驱动传动结构均集中于叉臂2和安装架31上，简化车体1上的结构设置，提高结构紧凑性。在其他实施例中，也可以是安装架31能够相对车体1升降，以通过安装架31的升降带动两个叉臂2升降。
如图2所示，在本实施例中，当搬运装置10处于叉臂2伸出状态时，安装架31位于靠近容置槽112的开口位置。为避免叉臂2伸出长度过长而导致叉臂2自由端下垂或变形，所述叉臂2被配置为能够在支撑于地面和脱离地面之间切换，以使所述叉臂2在脱离地面时越过所述托盘20的底梁，且在所述叉臂2部分插入所述叉孔201后，位于所述叉孔201内部的所述叉臂2部分支撑于地面。 该种设置，使叉臂2能够越过田字形托盘或日字型托盘的底梁时，能够使支撑件23对叉臂2起到辅助支撑的作用。
如图7-8所示，叉臂2包括沿X方向延伸的臂本体21及设置在臂本体21上的支撑件23和升降驱动机构22，升降驱动机构22连接于支撑件23并被配置为驱动支撑件23相对臂本体21竖直升降，以使支撑件23能够下降至能够支承于地面的位置，从而使当搬运装置10处于叉臂2伸出状态和叉臂2伸出举升状态时，叉臂2能够同时由安装架31和支撑件23支撑，提高叉臂2的使用稳定性和载物稳定性，避免叉臂2发生弯折或者折断，提高叉臂2的使用寿命。
如图2和图4所示，由于支撑件23设置于靠近叉臂2第二端的位置且能够向下运动至与地面接触，为实现对支撑件23的避让，容置槽112远离限位槽壁1121的一端贯通车体1的下表面，以使搬运装置10处于回缩举升状态时，支撑件23能够接触地面并为叉臂2提供支撑。
如图7-12所示，升降驱动机构22包括两个第一连杆222和第一驱动组件，每个第一连杆222的一端与支撑件23铰接，每个第一连杆222的另一端与第一驱动组件连接，第一驱动组件被配置为驱动两个第一连杆222的另一端相互靠近或远离以升降支撑件23。
第一驱动组件包括丝杠221、两个第一螺母座223和升降驱动电机227，丝杠221包括旋向相反的第一螺纹段2211和第二螺纹段2212；两个第一螺母座223分别套设于第一螺纹段2211和第二螺纹段2212上，两个第一连杆222的另一端分别与两个第一螺母座223铰接。升降驱动电机227，被配置为驱动丝杠221转动，以驱动两个第一螺母座223沿丝杠221相向或向背移动。
该种设置，当丝杠221转动时，两个第一螺母座223相向或向背同步运动，从而带动两个第一连杆222的第二端沿相互靠近或远离的方向运动，从而带动支撑件23竖直升降。
上述升降驱动机构22的设置，能够保证支撑件23仅能够沿竖直方向运动，限制支撑件23沿X方向的移动，保证支撑件23位置的准确性，且减短第一螺母座223相对丝杠221移动的行程。在其他实施例中，其中一个第一螺母座223也可以替换成相对臂本体21固定的固定座，通过另一第一螺母座223沿丝杠221的滑动带动两个第一连杆222相对张开和合拢。但是，该种设置下，支撑件23不仅具有沿Z方向的位移量，还具有沿X方向的位移量。
丝杠221沿Y方向的相对两侧分别设置有两组第一连杆222，两组第一连杆222分别与支撑件23的轮轴的两端铰接，以提高对支撑件23的连接和支撑稳定性。在其他实施例中，第一连杆222也可以仅设置一组，如仅设置于丝杠 221的正下方。
为实现第一螺母座223与第一连杆222的连接，第一螺母座223包括套筒部和凸设在套筒部外表面的连接板部，套筒部的内壁开设有与对应的螺纹段适配的螺纹。连接板部沿Y方向延伸且两端分别与两个第一连杆222铰接。连接板部的上侧面与臂本体21贴合，以防止第一螺母座223相对臂本体21转动。
支撑件23为支撑滚轮，支撑滚轮的轮轴沿Y方向延伸，以保证叉臂2在被支撑件23支撑的同时，还能够沿X方向移动，提高叉臂2的平移顺畅性，方便对叉臂2进行调节。
为提高支撑件23对臂本体21的支撑稳定性，支撑件23包括轮轴和间隔设置在轮轴上的至少两个轮本体。至少两个轮本体分别位于丝杠221的相对两侧，且叉臂2处于初始状态时，轮本体的上端高于丝杠221的下侧，以缩短轮轴与丝杠221之间的间距，提高结构紧凑性。
丝杠221上还转动套设有丝杠座226，丝杠座226上开设有供丝杠221穿过的光孔，且丝杠座226与臂本体21连接。丝杠221包括位于第一螺纹段2211和第二螺纹段2212之间的第一光轴段2214，丝杠座226套设于第一光轴段2214处，能够防止两个第一螺母座223相互碰撞，且避免对丝杠221上的螺纹产生磨损。
两个丝杠座226分别设置于第一光轴段2214的两端，且当搬运装置10处于初始状态时，支撑件23位于两个丝杠座226之间。该种设置，可以避免第一螺母座223与支撑件23发生碰撞，并对第一螺母座223的相向运动行程进行限位；同时，还能抬高支撑件23的初始安装位置，使叉臂2处于初始状态时，支撑件23夹设在两个丝杠座226之间，缩短初始状态时，丝杠221与支撑件23之间的间隙，从而减小初始状态时叉臂2沿Z方向的整体厚度，提高结构紧凑性。
第一螺纹段2211远离丝杠座226的一端套设有限位套229，第二螺纹段2212远离丝杠座226的一端与臂本体21抵接，实现对应的第一螺母座223向背运动时的行程限位。
升降驱动机构22还能够同步驱动臂本体21相对安装架31竖直升降，从而简化叉臂2上的驱动结构设置，降低成本，提高结构紧凑性。
升降驱动机构22包括第二连杆225和第二驱动组件，第二连杆225的第一端与安装架31铰接，另一端支撑臂本体21，第二驱动组件被配置为能够驱动第二连杆225转动以升降臂本体21。通过设置第二连杆225的转动带动臂本体21升降，能够提高转动稳定性，且减小升降驱动机构22在竖直方向上的占地空间， 降低成本。
在本实施例中，第二驱动组件包括上述的丝杠221和升降驱动电机227，还包括第二螺母座224，丝杠221包括第三螺纹段2213，第二螺母座224，转动套设于第三螺纹段2213上，第二连杆225的第二端与第二螺母座224铰接。该种设置，使第一驱动组件和第二驱动组件共用丝杠221和升降驱动电机227，降低成本，简化结构，在其他实施例中，第一驱动组件和第二驱动组件可以单独设置。
在本实施例中，第二连杆225的第一端铰接于支架部311的底端，且第二连杆225位于第二螺母座224朝向安装架31的一侧，第三螺纹段2213与第二螺纹段2212的旋向相同。且当叉臂2处于初始状态时，丝杠221高于第二连杆225的第一端，第二连杆225沿第一端至第二端的方向倾斜向上延伸。该种设置，当臂本体21需要升高时，第二螺母座224沿朝向安装架31的方向运动，第二连杆225的第二端绕其第一端向上翻转，从而带动丝杠221抬高。
由于搬运装置10具有叉臂2伸出状态和叉臂2伸出举升状态，为保证支撑件23在伸出状态和伸出举升状态时均能够下降至与地面接触，第二螺母座224包括螺套部2241和滑动套设在螺套部2241上的滑座部2243，螺套部2241与第三螺纹段2213传动配合，螺套部2241上设置有限制滑座部2243滑动行程的两个限位座部2242，第二连杆225与滑座部2243铰接。
以图8所示方向为例进行说明，当搬运装置10处于初始状态时，滑座部2243与右侧的限位座部2242具有一定间隙，由此，在第二螺母座224沿丝杠221移动的初始阶段，滑座部2243相对螺套部2241滑动，滑座部2243不动，第一连杆222不动作，即丝杠221不产生升降，仅支撑件23升降；当滑座部2243滑动至与右侧的限位座部2242抵接后，螺套部2241沿丝杠221的继续移动带动滑座部2243沿丝杠221移动，进而带动第一连杆222动作，使丝杠221升高。在叉臂2处于初始状态时，滑座部2243与右侧的限位座部2242之间的间隙可以根据支撑件23距离地面的高度进行设置。
在本实施例中，第二连杆225设置有两个，两个第二连杆225分别位于丝杠221的相对两侧，每个第二连杆225的上端与滑座部2243铰接。该种设置，能够有效实现第二连杆225两端的同步升降，提高臂本体21升降运动的平稳性。
为提高第二连杆225与安装架31的铰接便利性，叉臂2上还包括铰接轴25，铰接轴25沿Y方向延伸，两个第二连杆225的下端均与铰接轴25铰接。如图10所示，安装架31的侧板3111上开设有铰接孔3114，铰接轴25的两端分别插设于两个铰接孔3114中。
丝杠221还包括位于第一螺纹段2211和第三螺纹段2213之间的第二光轴段2215，升降驱动电机227通过减速器228与第二光轴段2215传动连接。减速器228的设置，能够降低丝杠221的转速，增大丝杠221的扭矩，从而提高升降驱动机构22的运行平稳性。
在其他实施例中，驱动支撑件23竖直升降的升降驱动机构22和驱动臂本体21相对安装架31竖直升降的升降驱动机构22可以分离设置，且两套升降驱动机构22均可以采用电机配合链轮链条驱动、丝杠螺母机构、曲柄滑块机构或连杆机构等驱动结构形式，或采用直线电机、液压缸等直线驱动结构形式，且上述多种直线驱动结构均较为常见，此处不再赘述。
臂本体21呈下端开口的长条盒状结构，其形成有下端开口的空腔，丝杠221、升降驱动电机227及减速器228容置于空腔中，以对升降驱动机构22进行保护，且提高结构紧凑性和叉臂2的外形美观性。
如图12所示，为提高臂本体21相对安装架31滑动的稳定性，支架部311的两个侧板3111内侧均设置有Z向导槽3113，Z向导槽3113沿Z方向延伸。臂本体21沿Y方向的相对两侧均设置有导向件，导向件伸出对应的Z向导槽3113中并与Z向导槽3113的槽壁滑动或滚动配合。如图7所示，在本实施例中，导向件为第三导向滚轮24，且第三导向滚轮24沿Z方向设置有至少两个。
本实施例还提供了一种仓储物流系统，包括托盘20和上述的搬运装置10，通过采用上述的搬运装置10对托盘20进行搬运，能够提高对托盘20搬运的便利性和灵活性，提高仓储物流系统的运行效率，降低仓储物流系统的运行成本。
实施例二
如图13-18所述，本实施例提供了一种托盘搬运方法，其采用实施例一中的搬运装置10对托盘20进行搬运。
本实施例提供的托盘搬运方法包括以下步骤：
步骤S1、搬运装置10运行至托盘20正前方，并使搬运装置10的叉臂2与托盘20的叉孔201正对。
搬运装置10通过导航系统自动运行至托盘20正前方，且搬运装置10自动导航的设置可以根据相关技术进行。
步骤S2、水平驱动单元正向运行，驱动安装架31相对车体1沿X方向运动，以使叉臂2沿X方向伸出至插入叉孔201中。
在本实施例中，电动滚筒32转动，带动安装架31沿X方向运动。
步骤S3、当叉臂2的自由端伸出车体1设定距离后，升降驱动机构22正向 动作，带动支撑件23相对臂本体21下降至与地面接触。
当叉臂2的自由端伸出车体1设定距离后，通过使支撑件23支撑于地面，能够为叉臂2提供辅助支撑，避免叉臂2发生弯折。
步骤S4、叉臂2继续向前伸出至最大距离后，水平驱动单元停止运行。
步骤S5、升降驱动机构22正向运行，使臂本体21相对安装架31升高，同时，支撑件23相对臂本体21下降，直至使托盘20底部相对地面抬高预设高度。
在本实施例中，丝杠221转动，带动两个第一螺母座223相向运动，带动支撑件23相对臂本体21下降；同时，第二螺母座224向靠近安装架31的方向滑动，并带动第二连杆225绕铰接轴25向上翻转。
步骤S6、驱动轮机构动作，使叉臂2和安装架31保持不动的前提下，车体1沿X方向运动至托盘20底部。
步骤S7、升降驱动机构22反向动作，带动臂本体21相对安装架31下降且支撑件23相对臂本体21上升，直至臂本体21带动托盘20下降至与车体1上表面接触。
在本实施例中，丝杠221反向转动，两个第一螺母座223向背运行，支撑件23与丝杠221之间的高度减小；同时，第二螺母座224沿远离安装架31的方向滑动，使第二连杆225绕铰接轴25向下翻转，带动臂本体21向下运动，从而带动承载在臂本体21上的托盘20下降。
步骤S8、丝杠221继续反向运动，滑座部2243固定相对限位座部2242滑动，支撑件23向上运动至与地面脱离接触，搬运装置10达到对接到位状态。
步骤S9、搬运装置10携带托盘20运行至预定目的地。
步骤S10、升降驱动机构22正向动作，带动丝杠221升高至设定高度，同时，支撑件23相对臂本体21向下运动至接触地面。
步骤S11、驱动轮机构12反向动作，使车体1相对安装架31和叉臂2运动至移出托盘20下方。
步骤S12、升降驱动机构22反向动作，带动丝杠221下降，使臂本体21带动托盘20下降至与地面接触，同时，支撑件23相对臂本体21向上运动。
步骤S13、水平驱动单元反向动作，使安装架31和叉臂2相对车体1移动至叉臂2脱离叉孔201，直至安装架31和叉臂2回复至初始位置。
步骤S14、丝杠221反向转动，带动支撑件23继续沿朝向臂本体21的方向运动至支撑件23脱离地面。
步骤S13和步骤S14可以同步进行，也可以先后进行。
本实施例提供的托盘搬运方法，通过采用上述的搬运装置10对托盘20进行搬运，能够提高对托盘20搬运的灵活性和适用性，减小托盘20搬运过程中的回转半径和占地空间。
实施例三
本实施例提供了一种托盘搬运方法，其采用实施例一中的搬运装置10对托盘20进行搬运，且本实施例提供的托盘搬运方法与实施例二提供的托盘搬运方法基本相同，仅部分步骤存在差异，本实施例不再对与实施例二相同的步骤进行赘述。
托盘搬运方法包括以下步骤：
步骤S1-步骤S5可参考实施例二。
步骤S6、车体1保持不动，水平驱动单元反向转动，带动安装架31和叉臂2相对车体1向后运动至叉臂2回复至车体1上方。
步骤S7-步骤S10可参考实施例二。
步骤S11、车体1保持不动，水平驱动单元正向转动，带动安装架31和叉臂2向前伸出至车体1脱离托盘20底部。
步骤S12至步骤S14可参考实施例二。
在具体实施中，还可以是步骤S6采用实施例二中的步骤S6，步骤S11采用实施例三中的步骤S11，或步骤S6采用实施例三中的步骤S6，而步骤S11采用实施例二中的步骤S11，只要实现叉臂2和车体1之间的相对运行即可。

Claims (25)

  1. 一种搬运装置，被配置为搬运托盘(20)，包括：
    车体(1)，被配置为自主移动；
    安装架(31)，水平滑动地设置于所述车体(1)上；
    叉臂(2)，所述叉臂(2)的第一端与所述安装架(31)连接，所述叉臂(2)被配置为随所述安装架(31)的运动水平伸出以插入所述托盘(20)的叉孔(201)中，以及相对所述车体(1)升降以举升所述托盘(20)，且在所述叉臂(2)举升所述托盘(20)的情况下，所述车体(1)与所述安装架(31)被配置为通过所述车体(1)与所述安装架(31)的相对运动使所述托盘(20)位于所述车体(1)上方。
  2. 根据权利要求1所述的搬运装置，其中，所述搬运装置还包括：
    水平驱动单元，设置于所述安装架(31)上，被配置为驱动所述安装架(31)相对所述车体(1)水平移动。
  3. 根据权利要求2所述的搬运装置，其中，所述水平驱动单元包括：
    滚动件(321)，所述滚动件(321)转动设置于所述安装架(31)上并与所述车体(1)的上表面滚动接触；
    水平驱动电机，被配置为驱动所述滚动件(321)转动。
  4. 根据权利要求3所述的搬运装置，其中，所述安装架(31)上还设置有弹性件(33)，所述弹性件(33)被配置为将所述滚动件(321)弹性抵压于所述车体(1)的上表面上。
  5. 根据权利要求1所述的搬运装置，其中，所述车体(1)上表面开设有容置槽(112)，所述叉臂(2)容置于所述容置槽(112)中。
  6. 根据权利要求5所述的搬运装置，其中，所述安装架(31)被配置为沿所述容置槽(112)的槽壁移动。
  7. 根据权利要求1所述的搬运装置，其中，所述车体(1)的上表面形成有被配置为承载所述托盘(20)的承载面(111)，在所述托盘(20)移动至所述车体(1)正上方的情况下，所述承载面(111)被配置为支承所述托盘(20)。
  8. 根据权利要求1-7任一项所述的搬运装置，其中，在所述叉臂(2)相对所述车体(1)伸出并举升有所述托盘(20)的情况下，所述车体(1)被配置为在所述安装架(31)静止的前提下相对所述叉臂(2)自主移动至所述托盘(20)底部。
  9. 根据权利要求1-7任一项所述的搬运装置，其中，所述叉臂(2)沿所述 叉臂(2)的宽度方向间隔设置有两个，所述车体(1)具有沿所述宽度方向对称设置的至少一对驱动轮(12)，所述两个叉臂(2)相对所述至少一对驱动轮(12)的对称轴对称设置。
  10. 根据权利要求1-7任一项所述的搬运装置，其中，所述叉臂(2)被配置为在支撑于地面和脱离地面之间切换，以使所述叉臂(2)在脱离地面的情况下越过所述托盘(20)的底梁，且在所述叉臂(2)部分插入所述叉孔(201)后，位于所述叉孔(201)内部的所述叉臂(2)部分支撑于地面。
  11. 根据权利要求10所述的搬运装置，其中，所述叉臂(2)包括：
    臂本体(21)，所述臂本体(21)的一端与所述安装架(31)连接；
    支撑件(23)，设置于所述臂本体(21)上且与所述安装架(31)间隔，所述支撑件(23)被配置为相对所述臂本体(21)向下伸出以支撑所述叉臂(2)及向上缩回以使所述叉臂(2)脱离地面。
  12. 根据权利要求11所述的搬运装置，其中，所述叉臂(2)还包括升降驱动机构(22)，被配置为驱动所述支撑件(23)相对所述臂本体(21)升降，以及驱动所述臂本体(21)相对所述安装架(31)升降。
  13. 根据权利要求12所述的搬运装置，其中，所述升降驱动机构(22)包括：
    两个第一连杆(222)，每个第一连杆(222)的一端与所述支撑件(23)铰接；
    第一驱动组件，每个第一连杆(222)的另一端与所述第一驱动组件连接，所述第一驱动组件被配置为驱动所述两个第一连杆(222)的另一端相互靠近或远离以升降所述支撑件(23)。
  14. 根据权利要求13所述的搬运装置，其中，所述第一驱动组件包括：
    丝杠(221)，所述丝杠(221)包括旋向相反的第一螺纹段(2211)和第二螺纹段(2212)；
    两个第一螺母座(223)，分别套设于所述第一螺纹段(2211)和所述第二螺纹段(2212)上，所述两个第一连杆(222)的另一端分别与所述两个第一螺母座(223)铰接；
    升降驱动电机(227)，被配置为驱动所述丝杠(221)转动，以驱动所述两个第一螺母座(223)沿所述丝杠(221)相向或向背移动。
  15. 根据权利要求12所述的搬运装置，其中，所述升降驱动机构(22)包括：
    第二连杆(225)，所述第二连杆(225)的第一端与所述安装架(31)铰接，第二端支撑所述臂本体(21)；
    第二驱动组件，被配置为驱动所述第二连杆(225)转动以升降所述臂本体(21)。
  16. 根据权利要求15所述的搬运装置，其中，所述第二驱动组件包括：
    丝杠(221)，所述丝杠(221)包括第三螺纹段(2213)；
    第二螺母座(224)，转动套设于所述第三螺纹段(2213)上，所述第二连杆(225)的第二端与所述第二螺母座(224)铰接；
    升降驱动电机(227)，被配置为驱动所述丝杠(221)转动，以驱动所述第二螺母座(224)移动。
  17. 根据权利要求16所述的搬运装置，其中，所述第二螺母座(224)包括螺套部(2241)和滑动套设在所述螺套部(2241)上的滑座部(2243)，所述螺套部(2241)与所述第三螺纹段(2213)传动配合，所述螺套部(2241)上设置有被配置为限制所述滑座部(2243)滑动行程的两个限位座部(2242)，所述第二连杆(225)与所述滑座部(2243)铰接。
  18. 一种仓储物流系统，，包括如权利要求1-17任一项所述的搬运装置。
  19. 一种托盘搬运方法，采用如权利要求1-17任一项所述的搬运装置对托盘(20)进行搬运，包括：
    所述搬运装置的安装架(31)相对所述搬运装置的车体(1)水平移动，以使所述搬运装置的叉臂(2)伸入所述托盘(20)的叉孔(201)；
    所述叉臂(2)相对所述车体(1)竖向移动以托举所述托盘(20)；
    所述安装架(31)与所述车体(1)相对水平移动，以使所述托盘(20)位于所述车体(1)的正上方。
  20. 根据权利要求19所述的托盘搬运方法，其中，所述安装架(31)与所述车体(1)相对水平移动，包括：
    所述安装架(31)保持静止，所述车体(1)移动至所述托盘(20)的底部。
  21. 根据权利要求19所述的托盘搬运方法，其中，所述叉臂(2)包括臂本体(21)和被配置为相对所述臂本体(21)竖直升降的支撑件(23)，所述支撑件(23)与所述安装架(31)间隔设置；
    所述托盘搬运方法还包括：
    在所述叉臂(2)伸入所述叉孔(201)设定深度后，所述支撑件(23)相对所述臂本体(21)向下运动至支承于地面。
  22. 根据权利要求21所述的托盘搬运方法，还包括：
    在所述支撑件(23)相对所述臂本体(21)向下伸出的情况下，所述叉臂(2)继续向所述叉孔(201)内部深入。
  23. 根据权利要求21所述的托盘搬运方法，其中，所述叉臂(2)还包括升降驱动机构(22)；
    所述托盘搬运方法还包括：
    在所述叉臂(2)插入所述叉孔(201)到位后，所述升降驱动机构(22)驱动所述臂本体(21)相对所述安装架(31)上升以抬高所述托盘，且同步驱动所述支撑件(23)相对所述臂本体(21)向下伸出以持续抵压于地面。
  24. 根据权利要求21所述的托盘搬运方法，还包括：
    在所述托盘(20)位于所述车体(1)上方的情况下，所述叉臂(20)相对所述车体(1)下降，以使所述托盘(20)与所述车体(1)接触；
    所述支撑件(23)向上回缩至脱离地面。
  25. 根据权利要求19-24任一项所述的托盘搬运方法，还包括：
    所述搬运装置携带托盘(20)运行至目标点；
    所述叉臂(2)相对所述车体(1)升高，所述托盘(20)与所述车体(1)脱离接触；
    所述车体(1)相对所述安装架(31)水平移动，以使所述车体(1)退出所述托盘(20)的底部；
    所述叉臂(2)相对所述车体(1)下降，以放下所述托盘(20)；
    所述安装架(31)携带所述叉臂(2)相对所述车体(1)回缩运动，以使所述叉臂(2)退出所述叉孔(201)，且所述搬运装置复位。
PCT/CN2021/121728 2020-12-25 2021-09-29 搬运装置、仓储物流系统及托盘搬运方法 WO2022134722A1 (zh)

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