WO2023045777A1 - 货叉机构及搬运机器人 - Google Patents

货叉机构及搬运机器人 Download PDF

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Publication number
WO2023045777A1
WO2023045777A1 PCT/CN2022/117927 CN2022117927W WO2023045777A1 WO 2023045777 A1 WO2023045777 A1 WO 2023045777A1 CN 2022117927 W CN2022117927 W CN 2022117927W WO 2023045777 A1 WO2023045777 A1 WO 2023045777A1
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WO
WIPO (PCT)
Prior art keywords
base
tray
fork mechanism
carrier
assembly
Prior art date
Application number
PCT/CN2022/117927
Other languages
English (en)
French (fr)
Inventor
杨成龙
詹庆鑫
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.)
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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
Publication of WO2023045777A1 publication Critical patent/WO2023045777A1/zh

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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
    • 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
    • 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
    • B66F9/08—Masts; Guides; Chains
    • 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
    • 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
    • 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
    • B66F9/19—Additional means for facilitating unloading
    • 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
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • 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
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems

Definitions

  • the invention relates to the technical field of intelligent storage, in particular to a fork mechanism and a handling robot.
  • the handling robot is one of the main equipment that can realize the automatic handling operation of intelligent logistics terminals. Through the handling robot, it can Reduce the heavy physical labor of human beings and improve the efficiency of handling operations.
  • Existing handling robots usually include a mobile base, a lifting mechanism and a fork mechanism, the mobile base is used to carry the lifting mechanism and the fork mechanism, and the lifting mechanism is used to drive the fork mechanism to lift.
  • the fork mechanism is used for loading and unloading operations on logistics equipment.
  • the fork mechanism includes a base, a fork body, a mechanical arm assembly, a drive assembly and a rotating assembly.
  • the fork body is rotatably fixed on the base through the rotating assembly.
  • the fork body has a cargo inlet and outlet, and the mechanical arm assembly is located on the fork body. on, and can be stretched relative to the fork body to drive goods in and out of the fork body.
  • Both the drive assembly and the rotation assembly are provided with a drive motor as a power source.
  • cables are provided on the fork body to supply power to these power sources and transmit control signals.
  • these drive motors are all arranged on the side of the fork body away from the import and export of goods, and, due to the existence of these cables, the fork body cannot rotate 360° relative to the base.
  • the drive motor is located on the side of the fork body away from the import and export of goods, so the goods can only enter and exit the fork body from the direction of the import and export of goods, and the fork body cannot rotate relative to the base.
  • there must be a blind area for picking up goods In order to solve this problem, it can only be realized by rotating the handling robot, so the efficiency of picking up and placing goods is low.
  • the embodiment of the present application provides a fork mechanism and a handling robot, which have high efficiency in picking and placing goods.
  • the first aspect of the present application provides a fork mechanism, including: a base, a base body, a pallet capable of carrying goods, two mounting plates, and a mechanical arm assembly located on the mounting plate, the base body is rotatably connected On the base, the mounting plate and the tray are arranged on the base body, the tray and the base are located on opposite sides of the base body, and the two mounting plates are located on two opposite sides of the tray;
  • the fork mechanism also includes a first drive assembly and a second drive assembly arranged on the base, the first drive assembly includes a first power unit and a first transmission unit, and the first power unit is used to drive the first transmission unit to drive the mechanical arm assembly Extending the edge of the mounting plate toward the first direction or the second direction, the second drive assembly includes a second power unit and a second transmission unit, the second power unit is used to drive the second transmission unit to drive the base to rotate relative to the base;
  • Both the first power unit and the second power unit are located between the tray and the base.
  • the arrangement positions of the top ends of the first transmission unit and the second transmission unit relative to the bottom end of the base are lower than the arrangement positions of the bottom end of the tray relative to the base.
  • the base body includes a base plate, and both the first power unit and the second power unit are disposed on the base plate.
  • the mechanical arm assembly includes at least one mechanical arm, the mechanical arm protrudes from the edge of the mounting plate along the direction in which goods enter and exit the pallet, and the mechanical arm is located on a side of the pallet away from the base.
  • the second transmission unit includes a rotating bearing and a gear
  • the gear is linked with the output shaft of the second power unit
  • the inner side wall of the inner ring of the rotating bearing is provided with teeth that mesh with the gear
  • the swivel bearing is located between the base and the base body, the inner ring of the swivel bearing is connected to the base, the outer ring of the swivel bearing is connected to the base body, and the gear is used to rotate under the drive of the second power unit and rotate around the center of the inner ring of the swivel bearing , so that the base and the base rotate relative to each other.
  • a mounting groove is provided on the top surface of the base, the rotary bearing is located in the mounting groove, the bottom end surface of the inner ring of the rotary bearing is fixed on the groove bottom surface of the mounting groove, and the top surface of the outer ring of the rotary bearing Protruding from the top surface of the base, the base is supported and fixed on the top surface of the outer ring of the rotary bearing;
  • the output shaft of the second power unit passes through the base body and extends into the inner side of the inner ring of the bearing.
  • the base body is provided with a through hole, and the inner diameter of the through hole is greater than or equal to the inner diameter of the inner ring of the rotary bearing and smaller than or equal to the inner diameter of the outer ring of the rotary bearing.
  • a mounting block is also provided on the mounting plate, and the two ends of the mounting block are respectively connected to the base body and the mounting plate, and one end of the mounting block connected to the mounting plate is located on the corresponding mechanical arm assembly of the mounting plate bottom side of the .
  • the tray includes a first tray, the first tray is slidably arranged on the base body, at least one protruding component is provided between the first tray and the base body, and the The protruding component between the first tray and the base is used to make the first tray protrude from the edge of the base toward the first direction;
  • the direction of goods entering and exiting the pallet includes opposite first and second directions.
  • the fork mechanism includes a first bearing body and a second bearing body respectively located on the bottom side and the top side of the same extension assembly, and the second bearing body is slidably arranged on the first bearing body ;
  • the base body forms the first carrier and the tray forms the second carrier.
  • the tray further includes a second tray, the second tray is slidably arranged on the first tray, and the second tray is located on the side of the first tray away from the base; the first tray and the second tray At least one protruding component is also provided between the pallets, and the protruding component located between the first pallet and the second pallet is used to make the second pallet protrude from the edge of the first pallet toward the second direction.
  • the fork mechanism includes a first bearing body and a second bearing body respectively located on the bottom side and the top side of the same extension assembly, and the second bearing body is slidably arranged on the first bearing body ;
  • the base body When the protruding assembly between the base body and the first tray is in operation, the base body forms a first carrier, and the tray forms a second carrier;
  • the first tray forms the first carrier
  • the second tray forms the second carrier
  • the protruding component includes:
  • the elastic force applying component is arranged between the first carrier and the second carrier, and is used to apply an elastic force toward the third direction to the second carrier;
  • the locking assembly is arranged on the first bearing body, and the locking assembly includes a locking piece, and the locking piece is blocked on the sliding path of the second bearing body;
  • An unlocking part is linked with the mechanical arm assembly, and the unlocking part is used to push the locking part to move in the third direction when the mechanical arm assembly moves in the third direction, so that the second carrier can apply the elastic force of the assembly under the elastic force Protrudes toward a third direction under action, wherein the third direction is one of the first direction and the second direction.
  • the elastic force applying assembly includes a tension spring, the first end of the tension spring is arranged on the first carrier, and the second end of the extension spring is arranged on the second carrier, wherein the first end is the end of the extension spring in the third direction, and the second end is the end of the extension spring in the fourth direction, wherein the fourth direction is opposite to the third direction.
  • the elastic force applying assembly includes two end plates, the two end plates are respectively arranged on the opposite surfaces of the first carrier and the second carrier, and the two end plates have In the overlapping part, the first end and the second end of the tension spring are respectively connected to the two end plates.
  • the locking assembly further includes a support seat, the support seat is arranged on the first carrier, the locking member is passed through the support seat, and can slide relative to the support seat along the direction of cargo entering and leaving the pallet.
  • the base body includes a base plate, a support plate, and a support column supported between the base plate and the support plate, and the support plate is located on a side of the base plate away from the base;
  • the support seat is arranged on the support plate.
  • the second carrier includes a slide block arranged at the bottom, and the top of the first carrier is provided with a slide rail, the slide rail extends along the direction in which goods enter and exit the pallet, and the slide block can slide along the slide rail, to limit the sliding direction of the second carrier relative to the first carrier;
  • the locking piece is located between the slide rail and the mechanical arm assembly, the locking piece is provided with a stop arm protruding toward the slide rail, and the stop arm is set on the side of the slide block facing the third direction.
  • an extending arm extending toward the mechanical arm assembly is further provided on a side of the locking member away from the stop arm, and the extending arm is arranged on a moving path of the unlocking member.
  • the locking assembly further includes an elastic reset member, and the two ends of the elastic reset member are respectively arranged on the extension arm and the support seat, and are used to apply force to the locking member when the mechanical arm assembly moves toward the third direction. The restoring force towards the fourth direction.
  • the mechanical arm assembly includes a mechanical arm and a connecting rod
  • the mechanical arm can extend out of the edge of the mounting plate along the direction in which goods enter and exit the pallet
  • the first transmission unit includes a sprocket assembly
  • the sprocket assembly includes a chain
  • Two sprockets are arranged at intervals in the direction of goods entering and leaving the pallet.
  • the two sprockets are arranged on the mounting plate and are located on the bottom side of the mechanical arm assembly on the mounting plate.
  • the sprockets can be rotated under the drive of the first power unit.
  • the chain is stretched on the two sprockets, and the connecting rod is linked with the chain.
  • the connecting rod is used to drive the mechanical arm to move when the chain is running, and the connecting rod forms an unlocking part.
  • one end of the connecting rod facing the chain has engaging teeth, and the engaging teeth can engage with links of the chain.
  • the number of mounting plates is two, and the two mounting plates are arranged opposite to each other, and are respectively located at both ends of the width direction of the fork mechanism, wherein the width direction of the fork mechanism is perpendicular to the first direction;
  • the two extension assemblies are arranged at intervals in the width direction of the fork mechanism, and have the same height relative to the center of the fork mechanism. Pitch.
  • the second aspect of the present application provides a handling robot, including: a mobile chassis, a lifting mechanism, a column, and the above-mentioned fork mechanism, the mobile chassis is used to carry the lifting mechanism, the column, and the fork mechanism, and the base of the lifting mechanism and the fork mechanism Fixed connection, so as to drive the fork mechanism to move up and down along the column.
  • the fork mechanism and the handling robot of the present application includes: a base, a base body, a pallet capable of carrying goods, two mounting plates, and a mechanical arm assembly located on the mounting plate.
  • the base body is rotatably connected to the base, and the mounting plate and the pallet are arranged on the base body.
  • the pallet and the base are located on opposite sides of the base, and the two mounting plates are located on two opposite sides of the pallet;
  • the fork mechanism also includes a first drive assembly and a second drive assembly arranged on the base, and the first drive assembly includes a first power unit and the first transmission unit, the first power unit is used to drive the first transmission unit to drive the mechanical arm assembly to protrude from the edge of the mounting plate in the first direction or the second direction, and the second drive assembly includes the second power unit and the second transmission unit
  • the second power unit is used to drive the second transmission unit to drive the base to rotate relative to the base; the first power unit and the second power unit are both located between the tray and the base.
  • the two mounting plates are located on two opposite sides of the pallet, so that the mounting plate and the pallet jointly define an accommodating space for accommodating goods, and form two cargo entrances and exits. Since the first power unit and the second power unit are located between the pallet and the base, the first power unit and the second power unit are not blocked on the path of goods entering and leaving the pallet, and the mechanical arm assembly can move toward the first direction or The second direction protrudes from the edge of the mounting plate, so that the goods can enter and exit the pallet from at least two sides of the pallet. Compared with the prior art, the goods can only enter the pallet from one direction, and there is one more path for entering and exiting the pallet.
  • the pick-up angle range of the manipulator assembly in this application is obviously twice the pick-up range in the prior art, which can minimize the pick-up blind area of the manipulator assembly without having to pass through
  • the rotary handling robot picks up the goods, and the efficiency of picking and placing the goods is high.
  • Fig. 1 is the schematic structural diagram of the pallet fork mechanism provided by the embodiment of the present application.
  • Fig. 2 is a structural schematic diagram of another angle of the fork mechanism provided by the embodiment of the present application.
  • FIG. 3 is a schematic diagram of an exploded structure of a fork mechanism provided in an embodiment of the present application.
  • Fig. 4 is a structural schematic diagram of a structure of a fork mechanism provided in an embodiment of the present application.
  • Fig. 5 is a structural schematic diagram of another structure of the fork mechanism provided by the embodiment of the present application.
  • FIG. 6 is a schematic structural view of the first carrier and the second carrier in the fork mechanism provided by the embodiment of the present application;
  • Fig. 7 is a schematic diagram of an exploded structure of the fork mechanism provided by the embodiment of the present application.
  • Fig. 8 is a schematic diagram of an exploded structure from another angle of the fork mechanism provided by the embodiment of the present application.
  • FIG. 9 is a schematic diagram of the overall structure of the handling robot provided by the embodiment of the present application.
  • 100-fork mechanism 10-base; 11-installation groove; 20-base; 21-base plate; 211-through hole; 22-support plate; 23-support column; 40-installation plate; 41-installation block; 412-second connecting part; 50-mechanical arm assembly; 51-mechanical arm; 52-moving part; 53, 54, 55-connecting rod; 62-the first transmission unit; 63-sprocket assembly; 631-sprocket; 632-chain; 64-the first reducer; 65-drive shaft; 70-the second drive assembly; 71-the second power unit; 72 - second reducer; 80 - second transmission unit; 81 - gear; 82 - rotary bearing; 821 - inner ring; 822 - outer ring;
  • the fork mechanism of the prior art has the problem of low pick-and-place efficiency of goods.
  • driving motors for driving the rotation of the base and the fork body and a motor for driving the expansion and contraction of the mechanical arm assembly. drive motor, etc.
  • These driving motors are located on the side of the fork body away from the cargo import and export.
  • the cargo can only enter and exit the cargo fork body from the direction of cargo import and export.
  • the fork body cannot rotate 360° relative to the base, if you want to The large pick-up range can only be realized by rotating the handling robot body, so the pick-and-place efficiency is low.
  • the first power unit and the second power unit are located between the pallet and the base, so that the first power unit and the second power unit are not blocked on the path of the goods entering and leaving the pallet, and the goods can
  • the pallet is entered and exited from at least two sides of the pallet, and the pick-and-place efficiency is high.
  • the opposite first direction F and second direction S are defined along the direction of goods entering and leaving the pallet 120, and the direction perpendicular to the direction of goods entering and leaving the pallet 120 is defined as , that is, the relative direction of the two mounting plates 40 is defined as the width direction W of the fork mechanism 100 .
  • one of the first direction F and the second direction S is defined as a third direction T, and the other of the first direction F and the second direction S is defined as a fourth direction E.
  • Fig. 1 is a schematic structural diagram of a fork mechanism provided in an embodiment of the present application
  • Fig. 2 is a schematic structural diagram of another angle of the fork mechanism provided in an embodiment of the present application.
  • the fork mechanism 100 provided by the embodiment of the present application includes: a base 10, a base 20, a pallet 120 capable of carrying goods, two mounting plates 40, and a mechanical arm assembly 50 disposed on the mounting plate 40 , the base 20 is rotatably connected to the base 10, the mounting plate 40 and the tray 120 are both arranged on the base 20, the two mounting plates 40 are located on two opposite sides of the tray 120, the tray 120 and the base 10 are located on the opposite side of the base 20 side;
  • the fork mechanism 100 also includes a first drive assembly 60 and a second drive assembly 70 arranged on the base 20, the first drive assembly 60 includes a first power unit 61 and a first transmission unit 62, the first power unit 61 is used to drive The first transmission unit 62 drives the mechanical arm assembly 50 to extend out of the edge of the mounting plate 40 toward the first direction F or the second direction S.
  • the second drive assembly 70 includes a second power unit 71 and a second transmission unit 80. The second power unit 71 is used to drive the second transmission unit 80 to drive the base body 20 to rotate relative to the base 10;
  • Both the first power unit 61 and the second power unit 71 are located between the tray 120 and the base 10 .
  • the two mounting plates 40 are located on two opposite sides of the pallet 120, such that the mounting plates 40 and the pallet 120 jointly define a storage space for accommodating goods, and, on the mounting plate 40 along the path K Two cargo inlets and outlets are formed between the end and the pallet. Since the first drive assembly 60 and the second drive assembly 70 are located between the pallet 120 and the base 10, the first power unit 61 and the second power unit 71 are not blocked on the path K of the goods entering and leaving the pallet 120, and the mechanical The arm assembly 50 can protrude from the edge of the mounting plate 40 toward the first direction F or the second direction S, so that goods can enter and leave the tray 120 from at least two sides of the tray 120, unlike the prior art that goods can only enter the tray 120 from one direction.
  • the picking angle range of the mechanical arm assembly 50 in this application is obviously the picking range in the prior art Twice as much as possible, the blind area of picking up the mechanical arm assembly 50 can be reduced as far as possible, the rotation of the handling robot can be reduced, and the efficiency of picking up and placing goods is high.
  • both the first power unit 61 and the second power unit 71 are located between the tray 120 and the base 10, it may mean that the first power unit 61 and the second power unit 71 are to be located in the area facing the tray 120 and the base 10 , may also mean that the partial structures of the first power unit 61 and the second power unit 71 are located outside the area directly facing between the tray 120 and the base 10, but it must be satisfied that both the first power unit 61 and the second power unit 71 are relative to The setting position of the bottom of the base 10 is lower than that of the bottom of the tray 120 relative to the base 10 , so that the first power unit 61 and the second power unit 71 will not affect the movement of the mechanical arm assembly 50 to drive goods in and out of the tray 120 .
  • the base 10 as a supporting component of the fork mechanism 100 can be located at the bottom of the entire fork mechanism 100 , and the base 10 can be connected to the following lifting mechanism 202 , which is used to drive the fork mechanism 100 to lift.
  • the base body 20 is rotatably connected to the base 10
  • the mounting plate 40 is disposed on the base body 20
  • the mechanical arm assembly 50 is disposed on the mounting plate 40 .
  • the tray 120 and the base 10 can be located on opposite sides of the base 20, for example, the tray 120 is located on the top side of the drawing in FIG. Set in sequence.
  • two mounting plates 40 are used as an example for illustration, and the two mounting plates 40 are respectively located at the side ends of the pallet 120 in the width direction (the width direction W of the pallet fork assembly), and are arranged oppositely, so that the two mounting plates 40 A path K for goods entering and exiting the pallet 120 is defined between the mounting plates 40 .
  • the number of the manipulator assembly 50 is two, and each mounting plate 40 is connected with a manipulator assembly 50, as mentioned above, the two mounting plates 40 are arranged oppositely, and They are respectively located at both ends of the width direction W of the fork mechanism 100 .
  • the tray 120 and the base body 20 can be arranged between the two installation boards 40 , and the first driving assembly 60 and the second driving assembly 70 are also located between the two installation boards 40 .
  • the mounting plate 40 is also provided with a mounting block 41, the two ends of the mounting block 41 are respectively connected to the base body 20 and the mounting plate 40, and one end of the mounting block 41 connected to the mounting plate 40 is located at the corresponding mechanical arm assembly 50 of the mounting plate 40 bottom side of the . This can prevent the installation block 41 from affecting the movement of the robot arm assembly 50 .
  • the mounting block 41 has a first connecting portion 411 and a second connecting portion 412 connected to each other.
  • the first connecting portion 411 and the second connecting portion 412 can be connected to the mounting plate 40 and the base body 20 respectively.
  • the portions 412 may be perpendicular to each other, so that the installation board 40 is vertically installed on the base 20 .
  • the number of mounting blocks 41 can be set as required, for example, corresponding to each mounting plate 40, two mounting blocks 41 can be provided, and the two mounting blocks 41 are arranged at intervals on the path K.
  • the mechanical arm assembly 50 can be disposed on the installation board 40 , for example, on opposite surfaces of the two installation boards 40 .
  • the robot arm assembly 50 may be located on the side of the tray 120 facing away from the base 10. In FIG. 1 , the robot arm assembly 50 may be located on the top side of the tray 120.
  • the mechanical arm assembly 50 may include at least one mechanical arm 51, the mechanical arm 51 protrudes from the edge of the mounting plate 40 along the direction in which the goods enter and exit the pallet 120, and the mechanical arm 51 is located on the side of the pallet 120 away from the base 10, that is, the mechanical arm 51 is opposite
  • the installation height at the bottom of the base 10 is higher than the installation height of the tray 120 relative to the bottom of the base 10 .
  • the mechanical arm 51 is used to drive the goods to move through its own movement.
  • the mechanical arm 51 can move along the path K of the goods entering and leaving the pallet 120 driven by the first drive assembly 60. It can be understood that the mechanical arm 51 moves along the path K The movement will exceed the edge of the mounting plate 40, so that the goods can be separated from the pallet 120, or the goods outside the pallet 120 can be pulled back onto the pallet 120.
  • each mechanical arm assembly 50 may include two mechanical arms 51 that can move relative to each other, so that the entire mechanical arm assembly 50 is a retractable mechanical arm assembly.
  • the mechanical arm 51 is provided with at least one movable part 52, the movable part 52 can move relative to the mechanical arm 51, for example, the movable part 52 can be deployed relative to the mechanical arm 51 to block the side of the path K; Or the movable part 52 can be retracted relative to the robot arm 51 to open the path K.
  • the mechanical arm assembly 50 can be driven to move toward the first direction F or the second direction S, therefore, the movable member 52 can be respectively arranged at the end of the mechanical arm 51 along the first direction F and along the second direction S. the end of.
  • the movable part 52 when the movable part 52 is in the unfolded position, if the mechanical arm 51 moves toward the first direction F, the goods on the pallet 120 can be driven by the movable part 52 to move toward the first direction F, and be sent to the shelf or the robot. If the mechanical arm 51 moves toward the second direction S, the goods on the pallet 120 can move toward the second direction S under the drive of the movable part 52, and be sent to the shelf or the robot's back basket.
  • the first power unit 61 is used to drive the first transmission unit 62 to drive the mechanical arm assembly 50 to move along the path K, and the first power unit 61 includes a first drive motor.
  • the mechanical arm assembly 50 also includes a connecting rod 53 connected to the mechanical arm 51
  • the first transmission unit 62 may include a sprocket assembly 63
  • the sprocket assembly 63 includes a chain 632 and two chains arranged at intervals in the direction in which goods enter and exit the pallet 120 Wheel 631
  • two sprockets 631 are rotatably arranged on the mounting plate 40, and are positioned at the bottom side of the mechanical arm assembly 50 on the mounting plate 40
  • the sprocket 631 can rotate under the drive of the first driving motor
  • the chains 632 Located on the two sprockets 631, the connecting rod 53 is linked with the chain 632, and the connecting rod 53 is used to drive the mechanical arm 51 to move when the chain 632 is running.
  • the first drive motor can drive one of the sprocket wheels 631 to rotate, and the sprocket wheel 631 makes the other sprocket wheel 631 rotate through the chain 632, converting the rotation of the first drive motor into the linear movement of the chain 632.
  • the chain 632 when the chain 632 is arranged between two sprockets 631, the chain 632 is divided into a part located at the top side of the sprocket 631 and a part located at the bottom side of the sprocket 631, and there is an interval between the two, as mentioned above
  • the mounting blocks 41 can be located between the intervals, so that the space can be fully utilized and the height of the fork mechanism 100 can be reduced.
  • Both ends of the connecting rod 53 are connected to the chain 632 and the mechanical arm 51 respectively, and the mechanical arm 51 can move under the drive of the connecting rod 53 to realize loading and unloading of goods.
  • the mechanical arm assembly 50 can expand and contract toward the first direction F and the second direction S. Therefore, considering that one chain 632 corresponds to two connecting rods 53, the two connecting rods 53 can move in and out of the pallet 120 on the path K Upper interval layout.
  • the two connecting rods 53 can drive the mechanical arm 51 to move toward the first direction F when the chain 632 rotates counterclockwise, and the two connecting rods 53 can move along the chain 632.
  • the mechanical arm 51 is driven to move in the second direction S.
  • one end of the connecting rod 53 facing the chain 632 has engaging teeth, and the engaging teeth can be engaged with the links of the chain 632 .
  • one end of the connecting rod 53 is fixedly connected to the mechanical arm 51 , and the other end is movably connected to the chain 632 .
  • the extension and retraction process of the mechanical arm assembly 50 toward the first direction F is as follows: on any one of the mounting plates 40, when the chain 632 rotates counterclockwise, the connecting rod 54 and the connecting rod 55 can drive the mechanical arm 51 moves toward the first direction F.
  • the process of extending and retracting the mechanical arm assembly 50 toward the second direction S is as follows: on any one of the mounting plates 40, when the chain 632 rotates clockwise, the connecting rod 54 and the connecting rod 55 can drive the mechanical arm 51 toward the second direction.
  • Two directions S move, during this process, when the connecting rod 55 moves close to the sprocket 631 located at the end of the second direction S, it gradually disengages from the chain 632, and no longer drives the mechanical arm 51 to move in the second direction S,
  • the connecting rod 54 continues to drive the mechanical arm 51 to move toward the second direction S; when the chain 632 rotates counterclockwise, first the connecting rod 54 drives the mechanical arm 51 to move toward the first direction F.
  • the connecting rod 55 gradually Engaging with the chain 632 again, the connecting rod 54 and the connecting rod 55 together drive the mechanical arm 51 to move in the first direction S until it moves to the initial position.
  • the sprocket assembly 63 and the mechanical arm assembly 50 corresponding to one of the mounting plates 40 are used as examples for illustration above, and the movement process of the sprocket assembly 63 and the mechanical arm assembly 50 corresponding to the other mounting plate 40 is similar to this. And the two processes are carried out synchronously, which will not be repeated here.
  • the number of the mounting plate 40 and the mechanical arm assembly 50 are two, in order to drive the two mechanical arm assemblies 50, the number of the sprocket assembly 63 can also be two, respectively One-to-one correspondence with the mounting plate 40 .
  • each mounting plate 40 is mounted with a sprocket assembly 63 , and the sprocket assembly 63 is located between the mechanical arm assembly 50 and the base 10 .
  • the two sprockets 631 in the same sprocket assembly 63 are connected to the same mounting plate 40 .
  • the first transmission unit 62 also includes a drive shaft 65, the drive shaft 65 extends along the opposite direction of the two mounting plates 40 (the width direction W of the pallet fork assembly), and each sprocket assembly 63 has a sprocket 631 is connected to the two ends of the drive shaft 65, so that when the drive shaft 65 rotates, the two sprockets 631 can be driven to rotate synchronously, so as to drive the chains 632 in the respective sprocket assemblies 63 to run synchronously.
  • both ends of the drive shaft 65 are supported between the two mounting plates 40 through the sprockets 631 connected thereto.
  • the first transmission unit 62 may further include a first reducer 64 through which the first drive motor may be connected to the drive shaft 65 , so that the rotation of the first drive motor may be transmitted to the drive shaft 65 .
  • Both the first driving motor and the first reducer 64 are disposed on the base 20 .
  • the base 20 is rotatably connected to the base 10, which means that the base 20 can rotate relative to the base 10, and the second drive assembly 70 included in the fork mechanism 100 can drive the base 10 to rotate relative to the base 20 to The relative rotation of the base body 20 and the base 10 is realized.
  • the second driving assembly 70 includes a second power unit 71 and a second transmission unit 80 , and the second power unit 71 can be fixed on the base 20 .
  • the second transmission unit 80 includes a rotary bearing 82 and a gear 81, the gear 81 is linked with the output shaft of the second power unit 71, and the inner side wall of the inner ring 821 of the rotary bearing 82 is provided with gear teeth that mesh with the gear 81;
  • the swivel bearing 82 is located between the base 10 and the base body 20, the inner ring 821 of the swivel bearing 82 is connected to the base 10, the outer ring 822 of the swivel bearing 82 is connected to the base body 20, and the gear 81 is used to rotate under the drive of the second power unit 71 , and rotate around the center of the inner ring 821 of the rotary bearing 82, so that the base body 20 and the base 10 rotate relatively.
  • the linkage between the gear 81 and the output shaft of the second power unit 71 means that the output shaft of the second power unit 71 can drive the gear 81 to rotate.
  • the second power unit 71 includes a second drive motor
  • the second transmission unit 80 may also include a second speed reducer 72, the input shaft of the second speed reducer 72 is linked with the second drive motor, and the output shaft of the second speed reducer 72 It is connected with the gear 81, so that when the second drive motor is running, after being decelerated by the second speed reducer 72, the gear 81 is driven to rotate.
  • the inner ring 821 of the rotary bearing 82 is installed and fixed on the base 10, that is, the inner ring 821 of the rotary bearing 82 is relatively fixed to the base 10, and the second drive motor and the second reducer 72 can be fixed on the base 20,
  • the outer ring 822 of the rotary bearing 82 is installed and fixed on the base body 20.
  • the second driving motor drives the gear 81 to rotate
  • the gear teeth of the gear 81 and the gear teeth on the inner ring 821 of the rotary bearing 82 mesh with each other, and the gear teeth 81 rotates around the center of the inner ring 821 of the rotary bearing 82, and drives the second reducer 72, the second drive motor and the base 20 to rotate, so that the base 20 can rotate relative to the base 10.
  • the tray 120 is disposed on the base 20 , and when the base 20 rotates relative to the base 10 , the tray 120 and the goods carried thereon also rotate relative to the base 10 .
  • the radial directions of the inner ring 821 and the outer ring 822 of the rotary bearing 82 are parallel to the base 10 , and the output shaft of the second reducer 72 can extend along the height direction H of the fork mechanism 100 .
  • the second speed reducer 72 can be a right-angle speed reducer, and at the same time, the motor shaft of the second drive motor (the second power unit 71 output shaft) can be perpendicular to the height direction of the fork mechanism 100. This actually places the second drive motor transversely between the base body 20 and the base 10 .
  • a mounting groove 11 can be provided on the top surface of the base 10, and the rotating bearing 82 can be located in the mounting groove 11, and the inner ring 821 of the rotating bearing 82 is fixed in the mounting groove 11 of the base 10, attention should be paid to What is more, the inner ring 821 and the outer ring 822 of the rotary bearing 82 are rotatably connected to each other, so the outer ring 822 of the rotary bearing 82 is also rotatably supported on the base 10 .
  • the bottom surface of the inner ring 821 of the rotary bearing 82 is fixed on the bottom surface of the installation groove 11, the top surface of the outer ring 822 of the rotary bearing 82 protrudes from the top surface of the base 10, and the base body 20 is supported and fixed on the rotating surface.
  • On the top surface of the outer ring 822 of the bearing 82 when the base body 20 is fixed on the outer ring 822, there may be a certain gap between the base body 20 and the base 10 to prevent interference between the two when they rotate with each other.
  • a through hole 211 is provided on the base 20 , and the inner diameter of the through hole 211 is greater than or equal to the inner diameter of the inner ring 821 of the rotary bearing 82 and smaller than or equal to the inner diameter of the outer ring 822 of the rotary bearing 82 .
  • the through hole 211 can fully expose the inner ring 821 of the rotary bearing 82 to the top side of the base body 20 , and also facilitates the connection between the base body 20 and the outer ring 822 of the bearing.
  • the first power unit 61 (first driving motor) and the second power unit 71 (second driving motor) are located between the tray 120 and the base 10 .
  • the output shaft of the first power unit 61 is perpendicular to the height direction H of the fork mechanism 100, which means that the first power unit 61 is arranged laterally between the pallet 120 and the base 10, and the first power unit 61 can pass through the second A speed reducer 64 , a drive shaft 65 , a sprocket assembly 63 and the like transmit power to the mechanical arm assembly 50 .
  • the first power unit 61 and the second power unit 71 are both arranged laterally between the pallet 120 and the base 10 .
  • the output shaft of the first power unit 61 can be parallel to the width direction W of the base 20, and the output shaft of the second power unit 71 is perpendicular to the direction of the output shaft of the first power unit 61, so that the first power unit 61 and The second power units 71 are vertically arranged in the shape of an English letter "T". It can be understood that, in this application, the first power unit 61 and the second power unit 71 are arranged between the tray 120 and the base 10 , so that the space between the tray 120 and the base 10 can be fully and effectively utilized.
  • the base body 20 includes a base plate 21 , and both the first power unit 61 and the second power unit 71 may be disposed on the base plate 21 .
  • the setting positions of the top ends of the first transmission unit 62 and the second transmission unit 80 relative to the bottom end of the base 10 may be lower than the setting positions of the bottom end of the tray 120 relative to the base 10 .
  • the installation heights of the first transmission unit 62 and the second transmission unit 80 are also lower than the pallet 120 , and they will not interfere with the entry and exit of goods on the pallet 120 .
  • the installation heights of the first drive assembly 60 and the second drive assembly 70 relative to the base 10 are both lower than the installation heights of the mechanical arm 51 relative to the base 10 . high. In this way, the first driving assembly 60 and the second driving assembly 70 are not blocked on the extending path of the mechanical arm assembly 50 , nor are they blocked on the path of goods entering and exiting the pallet 120 .
  • the manipulator assembly 50 can extend to the first direction F and the second direction S to pick up goods. This is because the space in the direction in which the manipulator assembly 50 protrudes is completely released, and the base 20 is relative to the base 10. Rotating 180° can achieve full coverage of the pick-up operation in the circumferential direction, there is no blind area for pick-up, and the efficiency of picking and placing goods is high.
  • the pallet 120 is located on the top side of the base 20 and is used for carrying goods. It can be understood that when the handling robot approaches the target logistics equipment to carry the goods, there may be a certain distance between the pallet 120 and the storage unit of the logistics equipment, which may cause the goods to be stuck in the gap or Fall through the gap. At this time, it may be considered that the pallet 120 is configured as a structure that can protrude toward the logistics equipment, that is, the fork mechanism 100 includes at least one protruding component, and the protruding component is used to make the pallet 120 protrude toward the logistics equipment.
  • Fig. 4 is a schematic structural diagram of a structure of a fork mechanism provided in an embodiment of the present application
  • Fig. 5 is a schematic structural diagram of another structure of a fork mechanism provided in an embodiment of the present application.
  • a plurality of pallets 120 are sequentially stacked on the base body 20 in the height direction of the fork assembly, and each pallet 120 is slidably disposed on the pallet 120 located on its adjacent bottom side.
  • the number of trays 120 may be one as shown in FIG. 4 or multiple as shown in FIG. 5 .
  • the trays 120 include the first tray 121 closest to the base, and at least one extension assembly 131 is provided between the first tray 121 and the base 20 in the present application.
  • the first tray 121 is slidably disposed on the base 20 , and the protruding component 131 located between the first tray 121 and the base 20 is used to make the first tray 121 protrude from the edge of the base 20 toward the first direction F.
  • two protruding components 131 are taken as an example for illustration, but the application is not limited thereto, and the number of protruding components can be set according to actual needs.
  • the fork mechanism 100 When the load-bearing structure of the top side and the bottom side is defined based on the protruding component, the fork mechanism 100 includes a second carrier 112 and a first carrier 111 respectively located on the top and bottom sides of the same protruding component.
  • the carrier 112 is slidably disposed on the first carrier 111;
  • the base 20 forms the first carrier 111
  • the tray 120 forms the second carrier 112 .
  • the tray 120 when the number of trays 120 is greater than one, the tray 120 further includes a second tray 122 located on the top side of the first tray 121 and adjacent thereto.
  • the first tray 121 is slidably arranged on the base 20, at least one protruding component 131 is arranged between the first tray 121 and the base 20, and the protruding component between the first tray 121 and the base 20 131 is used to make the first tray 121 drive the second tray 122 to protrude toward the first direction F from the edge of the base body 20 .
  • the base body 20 and the first tray 121 when the protruding assembly 131 between the base body 20 and the first tray 121 works, the base body 20 forms the first carrier 111 , and the tray 120 forms the second carrier 112 .
  • the working of the protruding component 131 between the base body 20 and the first tray 121 refers to the state that the protruding component 131 between the base body 20 and the first tray 121 is not in a locked state, and at this time the first tray 121 can drive the second tray 122 to protrude toward the first direction F from the edge of the base body 20 .
  • the second tray 122 is slidably arranged on the first tray 121, and the second tray 122 is located on the side of the first tray 121 away from the base 20; that is, the second tray 122 is stacked on the first tray 121, At least one extension assembly 132 is also provided between the first tray 121 and the second tray 122, and the extension assembly 132 located between the first tray 121 and the second tray 122 is used to make the second tray 122 extend toward the second direction. out the edge of the first tray 121.
  • the first tray 121 and the second tray 122 when the protruding assembly 132 between the first tray 121 and the second tray 122 works, the first tray 121 forms the first carrier 111, and the second tray 122 forms the second tray 122. Carrier 112 . Similar to the above, the working of the protruding assembly 132 between the first tray 121 and the second tray 122 means that the protruding assembly 132 between the first tray 121 and the second tray 122 is not in a locked state, at this time , the second tray 122 can protrude toward the second direction S from the edge of the first tray 121 .
  • the fork mechanism 100 in this application defines the parts on the bottom side and the top side of the same extension assembly as the first carrier 111 and the second carrier 112 respectively, and the first carrier 111 and the second carrier Body 112 may refer to different components depending on which components protrude from the top and bottom sides of the assembly.
  • the extension assembly 130 may or may not be provided between other trays as required, which is not limited in the present application.
  • the connection between the first carrier 111 and the second carrier 112 will be described below as an example.
  • Fig. 6 is a schematic structural diagram of a structure of the first carrier 111 and the second carrier 112 in the fork mechanism provided by the embodiment of the present application.
  • the types of the first carrier 111 and the second carrier 112 are not limited in FIG.
  • the carrier 111 and the second carrier 112 may be a first tray 121 and a second tray 122 respectively.
  • the two extension assemblies 130 are arranged at intervals in the width direction W of the fork mechanism 100, and relative to the fork The centers of the fork mechanism 100 have the same spacing.
  • the protruding component 130 includes: an elastic force applying component 139, the elastic force applying component 139 is arranged between the first carrier 111 and the second carrier 112, and is used to apply the force to the second carrier 112 toward the third direction.
  • the locking assembly 150 is arranged on the first carrier 111, and the locking assembly 150 includes a locking member 154, and the locking member 154 is arranged on the sliding path of the second carrier 112;
  • the unlocking part 160, the unlocking part 160 is linked with the mechanical arm assembly 50, and the unlocking part 160 is used to push the locking part 154 to move in the third direction T when the mechanical arm assembly 50 moves in the third direction T, so that the second carrier 112 protrudes toward a third direction T under the action of the elastic force of the elastic force applying component 139 , wherein the third direction T is one of the first direction F and the second direction S.
  • the elastic force applying assembly 139 may include a tension spring 148 , the first end of the tension spring 148 is disposed on the first carrier 111 , and the second end of the tension spring 148 is disposed on the second carrier 112 .
  • the elastic force application assembly 139 also includes two end plates 142, 143, the two end plates 142, 143 are respectively arranged on the opposite surfaces of the first carrier 111 and the second carrier 112, and the two end plates 142, 143 are on There is an overlapping portion in the third direction T, and the first end and the second end of the tension spring 148 are respectively connected to the two end plates 142 , 143 .
  • extension spring 148 when the extension spring 148 is fixed on the two end plates 142 , 143 , it needs to be in a stretched state. In this way, the extension spring 148 always exerts an elastic force toward the third direction T on the second carrier 112 .
  • Fig. 7 is a schematic diagram of an exploded structure of the fork mechanism 100 provided by the embodiment of the present application
  • Fig. 8 is a schematic diagram of the exploded structure of the fork mechanism 100 provided by the embodiment of the present application from another angle.
  • the third direction T faces the first direction F
  • the fourth direction E faces the second direction S as an example.
  • the third direction T can also be the second direction S
  • the fourth direction E can also be the first direction. F, this is not limited here.
  • the unlocking member 160 may be the aforementioned connecting rod 53 .
  • the first end of the extension spring 141 is arranged on the first tray 121, and the second end of the extension spring is arranged On the second tray 122 , the first end is the end of the tension spring 141 located in the fourth direction E, and the second end is the end of the tension spring 141 located in the third direction T.
  • the elastic force applying assembly 139 also includes two end plates 146, 147, the two end plates 146, 147 are respectively arranged on the opposite surfaces of the first tray 121 and the second tray 122, and the two end plates 146 , 147 have overlapping portions in the third direction T, and the first end and the second end of the tension spring 141 are respectively connected to the two end plates 146, 147.
  • the specific positions of the two end plates 146 , 147 are as follows, one end plate 147 is located at the end of the second tray 122 in the third direction T, and the other end plate 146 is located at the side of the first tray 121 close to the fourth direction E. There is sufficient distance between the two end plates to keep the tension spring 141 in tension.
  • the height of the two end plates 146, 147 protruding from the first tray 121 or the second tray 122 can be selected according to actual needs, generally smaller than the gap between the first tray 121 and the second tray 122, so as not to interfere with the first tray 121 or the second tray 122.
  • the first tray 121 and the second tray 122 shall prevail.
  • extension spring 141 when the extension spring 141 is fixed on the two end plates 146 , 147 , it needs to be in a stretched state. In this way, the extension spring 141 always exerts an elastic force towards the fourth direction on the second tray 122 .
  • the first end of the tension spring is disposed on the base 20
  • the second end of the tension spring is disposed on the first tray 121 .
  • the elastic force applying assembly 139 also includes two end plates 144, 145, the two end plates 144, 145 are respectively arranged on the opposite surfaces of the base body 20 and the first tray 121, and the two end plates 144, 145 There is an overlapping portion in the third direction T, and the first end and the second end of the tension spring 140 are respectively connected to two end plates 144 , 145 .
  • the specific positions of the two end plates 144 , 145 are as follows, one end plate 145 is located at the end of the first tray 121 in the fourth direction E, and the other end plate 144 is located at the side of the base body 20 close to the third direction S. In addition, there needs to be a sufficient distance between the two end plates 144 , 145 so that the extension spring 140 maintains a stretched state, so that the extension spring 140 always exerts an elastic force toward the third direction T on the first tray 121 .
  • the height of the two end plates 144, 145 protruding from the first tray 121 or the base 20 can be selected according to actual needs, generally smaller than the gap between the base 20 and the first tray 121, so as not to interfere with the base 20 and the first tray 121.
  • Tray 121 prevails.
  • the distance between the base body 20 and the first tray 121 is relatively long, the height of the end plate 144 may be significantly higher than the height of the end plate 145, and the distance between the top end of the end plate 144 and the top end of the end plate 145 is in the third direction T There is an overlapping portion on the top to keep the tension spring 140 horizontally connected between the end plate 144 and the end plate 145 .
  • the second carrier 112 is slidably arranged on the first carrier 111.
  • the second carrier 112 can be arranged on the on a carrier 111 .
  • the second carrier 112 includes a slide block 113 arranged at the bottom, and the top of the first carrier 111 is provided with a slide rail 114, and the slide rail 114 extends along the direction in which goods enter and exit the pallet 120, and the slide block 113 can move along the slide rail. 114 to limit the sliding direction of the second carrier 112 relative to the first carrier 111 . Since the sliding block 113 must move along the sliding rail 114 , the sliding of the second carrier 112 relative to the first carrier 111 is limited to the extending direction of the sliding rail 114 .
  • the second pallet 122 includes a slider 116 arranged at the bottom, and the top of the first pallet 121 is provided with a slide rail 118, and the slide rail 118 passes in and out of the pallet 120 along the goods.
  • the sliding block 116 can slide along the sliding rail 118 to limit the sliding direction of the second tray 122 relative to the first tray 121 . Since the slider 116 must move along the slide rail 118 , the sliding of the second tray 122 relative to the first tray 121 is limited to the extending direction of the slide rail 118 .
  • the first pallet 121 includes a slider (not shown) arranged at the bottom, and the top of the base body 20 is provided with a slide rail 117, and the slide rail 117 passes in and out of the pallet 120 along the cargo.
  • the sliding block can slide along the sliding rail 117 to limit the sliding direction of the first tray 121 relative to the base 20 . Since the slider must move along the slide rail 117 , the sliding of the first tray 121 relative to the base 20 is limited to the extending direction of the slide rail 117 .
  • the locking assembly 150 further includes a support base 151, the support base 151 is arranged on the first carrier 111, and the locking member 154 is passed through the support base 151, and can be moved along the support base 151. The direction in which goods enter and exit the pallet 120 slides.
  • the locking member 154 is located between the slide rail 114 and the mechanical arm assembly 50.
  • the locking member 154 is provided with a stopper arm 1541 protruding toward the slide rail 114.
  • the stopper arm 1541 is set on a side of the slider 113 facing the third direction T. side.
  • an extending arm 1542 protruding toward the mechanical arm assembly 50 is further provided on the side of the locking member 154 away from the stop arm 1541 , and the extending arm 1542 is arranged on a moving path of the unlocking member 160 .
  • the locking assembly 150 may further include an elastic return member 157, the two ends of the elastic return member 157 respectively press against the extension arm 1542 and the support base 151, and are used for locking the mechanical arm assembly 50 toward the third direction T when the mechanical arm assembly 50 moves toward the third direction T.
  • the member 154 exerts a restoring force toward the fourth direction E.
  • the locking assembly 150 also includes a support seat 153, the support seat 153 is arranged on the first tray 121, and the locking member 156 is passed through the support seat 153, and can Sliding relative to the support seat 153 along the direction in which goods enter and exit the pallet 120 .
  • the locking member 156 is located between the slide rail 118 and the mechanical arm assembly 50.
  • the locking member 156 is provided with a stopper arm 1561 protruding toward the slide rail 118.
  • the stopper arm 1561 is set on a side of the slider 116 facing the fourth direction E. side.
  • an extending arm 1562 protruding toward the mechanical arm assembly 50 is further provided on the side of the locking member 156 away from the stop arm 1561 , and the extending arm 1562 is arranged on a moving path of the unlocking member 162 .
  • the locking assembly 150 may further include an elastic return member 159, and the two ends of the elastic return member 159 are respectively arranged on the extension arm 1562 and the support seat 153, and are used to move toward the locking member when the mechanical arm assembly 50 moves toward the fourth direction E. 156 exerts a restoring force towards the third direction T.
  • the locking assembly 150 also includes a support base 152, the support base 152 is arranged on the base body 20, and the locking member 155 is passed through the support base 152, and can be positioned relative to the support base. 152 slides along the direction that goods enter and exit pallet 120.
  • the base body 20 may include a base plate 21, a support plate 22, and a support column 23 supported between the base plate 21 and the support plate 22.
  • the support plate 22 is located on the side of the base plate 21 away from the base 10, between the first tray 121 and the support plate 22.
  • the support seat 152 is disposed on the support plate 22 .
  • the locking piece 155 may be located between the slide rail 117 and the mechanical arm assembly 50, the locking piece 155 is provided with a stop arm 1551 protruding toward the slide rail 117, and the stop arm 1551 is set on the slide block 116 toward the second Three-way side.
  • the side of the locking member 155 away from the stop arm 1551 is further provided with an extending arm 1552 extending toward the mechanical arm assembly 50 , and the extending arm 1552 is arranged on the moving path of the unlocking member 161 .
  • the locking assembly 150 may further include an elastic reset member 158, and the two ends of the elastic reset member 158 are respectively arranged on the extension arm 1552 and the support seat 152, and are used to move toward the locking member when the mechanical arm assembly 50 moves toward the third direction F. 155 exerts a restoring force towards the fourth direction E.
  • the tension spring 148 is installed between the two end plates 142, 143, and always applies a force towards the third direction T to the second carrier 112, At this time, since the slider 113 fixed at the bottom of the second carrier 112 is blocked by the stopper arm 1541, it cannot move toward the third direction T.
  • the extending arm 1542 drives the stopper arm 1541 to move in the third direction T, and the stopper arm 1541 releases the unlocking of the slider 113.
  • the third direction T protrudes.
  • the tension spring 140 is installed between the two end plates 144, 145, and always applies a force towards the third direction T to the first tray 121.
  • the block is blocked by the stopper arm 1551 and cannot move toward the third direction T.
  • the connecting rod 53 that is, the unlocking piece 161 moves toward the third direction and touches the extension arm 1552, and then stretches out.
  • the arm 1552 drives the stop arm 1551 to move in the third direction T (the first direction F), and the stop arm 1551 releases the unlocking of the slider.
  • the first tray 121 drives the second tray 122 under the elastic force of the tension spring 140 It protrudes toward the third direction T under the action.
  • the unlocking part 162 will be linked with the unlocking part 161 through the chain 632, that is, it will move toward the third direction T, but will not touch the protruding part.
  • the arm 1562 does not affect the locking between the first tray 121 and the second tray 122 by the locking member 156 .
  • the unlocking member 161 moves to the fourth direction E (second direction S)
  • the extension arm 1552 moves to the fourth direction E under the elastic force of the elastic return member 158, driving the stopper
  • the arm 1551 moves in the fourth direction E, and the stopper arm 1551 pushes the slider to bring the first tray 121 back to the initial position.
  • the tension spring 141 is installed between the two end plates 146, 147, and always applies a force towards the fourth direction E to the second tray 122.
  • the slider 116 fixed at the bottom of the tray 122 is blocked by the stopper arm 1561 and cannot move towards the fourth direction E.
  • the connecting rod that is, the unlocking piece 162 touches the extension arm 1562, and then stretches out.
  • the arm 1562 drives the stop arm 1561 to move in the fourth direction E, and the stop arm 1561 releases the unlocking of the slider 116 .
  • the second tray 122 protrudes toward the fourth direction E under the elastic force of the tension spring 141 .
  • the unlocking member 161 will be linked with the unlocking member 162 through the chain 632, that is, move toward the fourth direction E, and will not touch the extension arm 1552, that is, will not affect the locking member 155 The locking between the first tray 121 and the base body 20 .
  • FIG. 9 is a schematic diagram of the overall structure of the handling robot provided by the embodiment of the present application.
  • FIG. 9 another aspect of the present application also provides a handling robot 200, including: a mobile chassis 201, a lifting mechanism 202, a column 203 and the above-mentioned fork mechanism 100, the mobile chassis 201 is used to carry the lifting mechanism 202, the column 203 and The fork mechanism 100 and the lifting mechanism 202 are fixedly connected with the base 10 in the fork mechanism 100 , so as to drive the fork mechanism 100 to lift up and down along the column 203 .
  • a handling robot 200 including: a mobile chassis 201, a lifting mechanism 202, a column 203 and the above-mentioned fork mechanism 100, the mobile chassis 201 is used to carry the lifting mechanism 202, the column 203 and The fork mechanism 100 and the lifting mechanism 202 are fixedly connected with the base 10 in the fork mechanism 100 , so as to drive the fork mechanism 100 to lift up and down along the column 203 .
  • the mobile chassis 201 is movable, and drives the lifting mechanism 202, the column 203 and the fork mechanism 100 to move together.
  • the mobile chassis 201 can also be provided with a plurality of partitions 204, and the plurality of partitions 204
  • the height direction of the handling robot 200 is fixed on the columns 203 at intervals to form a multi-layer shelf, and any one layer of partitions 204 in the multi-layer shelf can be used for temporary storage of the cargo box, so that the handling robot 200 can be transported at one time. multiple cargo boxes, thereby improving the handling efficiency of the handling robot 200 .
  • the mobile chassis 201 drives the fork mechanism 100 to move, so that the fork mechanism 100 can carry the container between the multi-layer shelf and the storage shelf, and the lifting mechanism 202 is used to drive the fork mechanism 100 to lift along the column 203. In this way, The fork mechanism 100 can load and unload containers on any layer of the shelf 204 or on any layer of the storage rack.
  • the lifting mechanism 202 can be powered by a motor, etc., and the power is transmitted by a transmission mechanism, such as a sprocket mechanism.
  • a transmission mechanism such as a sprocket mechanism.
  • the sprocket mechanism can be omitted, and the lifting mechanism 202 is directly driven by the motor.
  • the motor is a linear motor.
  • the fork mechanism 100 is not limited to be applied to the handling robot 200, and the fork mechanism 100 can also be applied to shuttle vehicles, sorting platforms and other fields.
  • connection should be understood in a broad sense, for example, it can be fixedly connected, or it can be connected through the middle
  • the media is indirectly connected, which can be the internal communication of two elements or the interaction relationship between two elements.

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Abstract

本申请提供一种货叉机构及搬运机器人。货叉机构包括：底座、基体、可承载货物的托盘、两个安装板、以及设于安装板上的机械臂组件，基体可转动地连接在底座上，安装板和托盘均设置在基体上，托盘和底座位于基体的相反侧，两个安装板位于托盘的两个相对侧方；货叉机构还包括设于基体上的第一驱动组件和第二驱动组件，第一驱动组件包括第一动力单元和第一传动单元，第一动力单元用于驱动第一传动单元带动机械臂组件朝第一方向或第二方向伸出安装板的边缘，第二驱动组件包括第二动力单元和第二传动单元，第二动力单元用于驱动第二传动单元带动底座相对于基体旋转；第一动力单元和第二动力单元均位于托盘和底座之间。本申请货物的存放效率较高。

Description

货叉机构及搬运机器人
本申请要求于2021年9月24日提交于中国专利局、申请号为202111123002.6、申请名称为“货叉机构及搬运机器人”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及智能仓储技术领域，尤其涉及一种货叉机构及搬运机器人。
背景技术
随着人工智能技术、自动化技术、信息技术的飞速发展，末端物流的智能化程度也随之不断提高，而搬运机器人是可以实现智能物流终端进行自动化搬运作业的主要设备之一，通过搬运机器人能够减轻人类繁重的体力劳动，并提高搬运作业的效率。
现有搬运机器人通常包括移动底座、升降机构以及货叉机构，移动底座用于承载升降机构和货叉机构，升降机构用于驱动货叉机构进行升降。货叉机构作为搬运机器人中较为重要的机构，用于对物流设备进行货物的装卸操作。货叉机构包括底座、货叉本体、机械臂组件、驱动组件以及旋转组件，货叉本体通过旋转组件可旋转地固定在底座上，货叉本体具有货物进出口，机械臂组件设于货叉本体上，并可相对于货叉本体伸缩以带动货物进出货叉本体。在驱动组件和旋转组件中，均设有驱动电机以作为动力源，另外，货叉本体上还设有线缆等为这些动力源供电、传递控制信号等。为了尽量减小货叉机构的宽度，这些驱动电机均设置在货叉本体的背离货物进出口的一侧，并且，由于这些线缆的存在货叉本体相对于底座无法旋转360°。
然而，上述货叉机构中，驱动电机设于货叉本体的背离货物进出口的一侧，因此货物只能从货物进出口这一个方向进出货叉本体，在货叉本体相对于底座无法旋转360°的情况下，必然存在取货盲区，为了解决此问题，只能通过旋转搬运机器人来实现，因而对货物的取放效率较低。
发明内容
鉴于上述问题，本申请实施例提供一种货叉机构及搬运机器人，对货物的取放效率较高。
为了实现上述目的，本申请第一方面提供一种货叉机构，包括：底座、基体、可承载货物的托盘、两个安装板、以及设于安装板上的机械臂组件，基体可转动地连接在底座上，安装板和托盘均设置在基体上，托盘和底座位于基体的相反侧，两个安装板位于托盘的两个相对侧方；
货叉机构还包括设于基体上的第一驱动组件和第二驱动组件，第一驱动组件包括第一动力单元和第一传动单元，第一动力单元用于驱动第一传动单元带动机械臂组件朝第一方向或第二方向伸出所述安装板的边缘，第二驱动组件包括第二动力单元和第二传动单元， 第二动力单元用于驱动第二传动单元带动基体相对于底座旋转；
第一动力单元和第二动力单元均位于托盘和底座之间。
在一种可能的实施方式中，第一传动单元和第二传动单元的顶端相对于底座底端的设置位置低于托盘的底端相对于底座的设置位置。
在一种可能的实施方式中，基体包括基板，第一动力单元和第二动力单元均设置在基板上。
在一种可能的实施方式中，机械臂组件包括至少一个机械臂，机械臂沿货物进出托盘的方向伸出安装板边缘，机械臂位于托盘的背离底座的一侧。
在一种可能的实施方式中，机械臂组件的数量为两个，每个安装板上均连接有一个机械臂组件，第一驱动组件和第二驱动组件均位于两个安装板之间。
在一种可能的实施方式中，第二传动单元包括旋转轴承和齿轮，齿轮与第二动力单元的输出轴联动，旋转轴承的内圈内侧壁设有与齿轮相互啮合的轮齿；
旋转轴承位于底座和基体之间，旋转轴承的内圈和底座连接，旋转轴承的外圈和基体连接，齿轮用于在第二动力单元的驱动下转动，并围绕旋转轴承的内圈的中心转动，以使基体和底座相对转动。
在一种可能的实施方式中，底座的顶端面上设有安装槽，旋转轴承位于安装槽中，旋转轴承的内圈的底端面固定在安装槽的槽底面，旋转轴承的外圈的顶端面凸出于底座的顶端面，基体支撑并固定在旋转轴承的外圈的顶端面上；
第二动力单元的输出轴贯穿基体并伸入轴承内圈的内侧。
在一种可能的实施方式中，基体上设有贯穿孔，贯穿孔的内径大于或等于旋转轴承的内圈的内径，并且小于或等于旋转轴承的外圈的内径。
在一种可能的实施方式中，安装板上还设有安装块，安装块的两端分别连接在基体和安装板上，且安装块的与安装板连接的一端位于安装板对应的机械臂组件的底侧。
在一种可能的实施方式中，还包括至少一个伸出组件，托盘包括第一托盘，第一托盘可滑动地设置在基体上，第一托盘和基体之间设有至少一个伸出组件，位于第一托盘和基体之间的伸出组件用于使第一托盘朝向第一方向伸出基体的边缘；
其中，货物进出托盘的方向包括相反的第一方向和第二方向。
在一种可能的实施方式中，货叉机构包括分别位于同一个伸出组件底侧和顶侧的第一承载体和第二承载体，第二承载体可滑动地设置在第一承载体上；
至少一个伸出组件位于基体和第一托盘之间时，基体形成第一承载体，托盘形成第二承载体。
在一种可能的实施方式中，托盘还包括第二托盘，第二托盘可滑动地设置在第一托盘上，且第二托盘位于第一托盘的背离基体的一侧；第一托盘和第二托盘之间也设有至少一个伸出组件，位于第一托盘和第二托盘之间的伸出组件用于使第二托盘朝向第二方向伸出第一托盘的边缘。
在一种可能的实施方式中，货叉机构包括分别位于同一个伸出组件底侧和顶侧的第一承载体和第二承载体，第二承载体可滑动地设置在第一承载体上；
基体和第一托盘之间的伸出组件工作时，基体形成第一承载体，托盘形成第二承载体；
第一托盘和第二托盘之间的伸出组件工作时，第一托盘形成第一承载体，第二托盘形 成第二承载体。
在一种可能的实施方式中，伸出组件包括：
弹性力施加组件，弹性力施加组件设于第一承载体和第二承载体之间，并用于向第二承载体施加朝向第三方向的弹性力；
锁定组件，锁定组件设于第一承载体上，且锁定组件包括锁定件，锁定件挡设在第二承载体的滑动路径上；以及
解锁件，解锁件与机械臂组件联动，且解锁件用于在机械臂组件朝向第三方向移动时，推动锁定件向第三方向移动，以使第二承载体在弹性力施加组件的弹性力作用下朝向第三方向伸出，其中，第三方向是第一方向和第二方向的其中一者。
在一种可能的实施方式中，弹性力施加组件包括拉簧，拉簧的第一端设置在第一承载体上，拉簧的第二端设置在第二承载体上，其中，第一端是拉簧上位于第三方向的端部，第二端是拉簧上位于第四方向的端部，其中，第四方向与第三方向相反。
在一种可能的实施方式中，弹性力施加组件包括两个端板，两个端板分别设于第一承载体和第二承载体的相对的面上，两个端板在第三方向上具有重叠部分，拉簧的第一端和第二端分别连接于两个端板上。
在一种可能的实施方式中，锁定组件还包括支撑座，支撑座设于第一承载体上，锁定件穿设在支撑座中，并可相对于支撑座沿货物进出托盘的方向滑动。
在一种可能的实施方式中，基体包括基板、支撑板以及支撑在基板和支撑板之间的支撑柱，支撑板位于基板的背离底座的一侧；
第一托盘和基体之间具有伸出组件时，支撑座设置在支撑板上。
在一种可能的实施方式中，第二承载体包括设置在底部的滑块，第一承载体的顶部设有滑轨，滑轨沿货物进出托盘的方向延伸，滑块可沿滑轨滑动，以限制第二承载体相对于第一承载体的滑动方向；
锁定件位于滑轨和机械臂组件之间，锁定件上设有朝向滑轨伸出的止挡臂，止挡臂挡设在滑块朝向第三方向的一侧。
在一种可能的实施方式中，锁定件上背离止挡臂的一侧还设有朝向机械臂组件伸出的伸出臂，伸出臂设置在解锁件的移动路径上。
在一种可能的实施方式中，锁定组件还包括弹性复位件，弹性复位件两端分别设置在伸出臂和支撑座上，并用于在机械臂组件朝向第三方向移动时，向锁定件施加朝向第四方向的回复力。
在一种可能的实施方式中，机械臂组件包括机械臂和连接杆，机械臂能够沿货物进出托盘的方向伸出安装板边缘，第一传动单元包括链轮组件，链轮组件包括链条以及在货物进出托盘的方向上间隔布置的两个链轮，两个链轮设置在安装板上，并位于安装板上的机械臂组件的底侧，链轮可在第一动力单元的驱动下转动，链条张设在两个链轮上，连接杆与链条联动，连接杆用于在链条运转时带动机械臂移动，连接杆形成解锁件。
在一种可能的实施方式中，连接杆朝向链条的一端具有啮合齿，啮合齿可与链条的链环啮合。
在一种可能的实施方式中，安装板的数量为两个，两个安装板相对设置，且分别位于货叉机构的宽度方向两端，其中货叉机构的宽度方向垂直于第一方向；
第一承载体和第二承载体之间设有的伸出组件的数量为两个时，两个伸出组件在货叉机构的宽度方向上间隔布置，并相对于货叉机构的中心具有相同的间距。
本申请第二方面提供一种搬运机器人，包括：移动底盘、升降机构、立柱以及上述的货叉机构，移动底盘用于承载升降机构、立柱和货叉机构，升降机构与货叉机构中的底座固定连接，从而驱动货叉机构沿立柱升降。
本申请的货叉机构及搬运机器人。货叉机构包括：底座、基体、可承载货物的托盘、两个安装板、以及设于安装板上的机械臂组件，基体可转动地连接在底座上，安装板和托盘均设置在基体上，托盘和底座位于基体的相反侧，两个安装板位于托盘的两个相对侧方；货叉机构还包括设于基体上的第一驱动组件和第二驱动组件，第一驱动组件包括第一动力单元和第一传动单元，第一动力单元用于驱动第一传动单元带动机械臂组件朝第一方向或第二方向伸出安装板的边缘，第二驱动组件包括第二动力单元和第二传动单元，第二动力单元用于驱动第二传动单元带动底座相对于基体旋转；第一动力单元和第二动力单元均位于托盘和底座之间。两个安装板位于托盘的两个相对侧方，这样安装板和托盘共同限定出用于容置货物的容置空间，并形成两个货物进出口。由于第一动力单元和第二动力单元均位于托盘和底座之间，这样第一动力单元和第二动力单元并未挡设在货物进出托盘的路径上，并且机械臂组件能够朝第一方向或第二方向伸出安装板的边缘，使得货物能够从托盘的至少两侧进出托盘，与现有技术中货物只能从一个方向进入托盘相比，多了一个进出托盘的路径，这样在基体相对于底座旋转了相同角度的情况下，本申请中机械臂组件的取货角度范围，明显是现有技术中的取货范围的两倍，可以尽量减少机械臂组件的取货盲区，而不必通过旋转搬运机器人进行取货，取放货物的效率较高。
本发明的构造以及它的其他发明目的及有益效果将会通过结合附图而对优选实施例的描述而更加明显易懂。
附图说明
图1为本申请实施例提供的货叉机构的结构示意图；
图2为本申请实施例提供的货叉机构的另一个角度的结构示意图；
图3为本申请实施例提供的货叉机构的分解结构示意图；
图4为本申请实施例提供的货叉机构的一种结构的结构示意图；
图5为本申请实施例提供的货叉机构的另一种结构的结构示意图；
图6为本申请实施例提供的货叉机构中第一承载体和第二承载体的结构示意图；
图7为本申请实施例提供的货叉机构的分解结构示意图；
图8为本申请实施例提供的货叉机构的另一个角度的分解结构示意图；
图9为本申请实施例提供的搬运机器人的整体结构示意图。
附图标记说明：
100-货叉机构；10-底座；11-安装槽；20-基体；21-基板；211-贯穿孔；22-支撑板；23-支撑柱；40-安装板；41-安装块；411-第一连接部；412-第二连接部；50-机械臂组件；51-机械臂；52-活动件；53、54、55-连接杆；60-第一驱动组件；61-第一动力单元；62-第一传动单元；63-链轮组件；631-链轮；632-链条；64-第一减速器；65-驱动轴；70-第二驱动组件；71-第二动力单元；72-第二减速器；80-第二传动单元；81-齿轮；82-旋转轴承；821- 内圈；822-外圈；
111-第一承载体；112-第二承载体；113、116-滑块；114、117、118-滑轨；120-托盘；121-第一托盘；122-第二托盘；130、131、132-伸出组件；139-弹性力施加组件；148、140、141-拉簧；142、143、144、145、146、147-端板；150-锁定组件；151、152、153-支撑座；154、155、156-锁定件；157、158、159-弹性复位件；1541、1551、1561-止挡臂；1542、1552、1562-伸出臂；160、161、162-解锁件；
200-搬运机器人；201-移动底盘；202-升降机构；203-立柱；204-隔板。
具体实施方式
为使本发明的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
现有技术的货叉机构存在的货物的取放效率较低的问题，在现有的货叉机构中存在用于驱动底座和货叉本体旋转的驱动电机、以及用于驱动机械臂组件伸缩的驱动电机等。这些驱动电机位于货叉本体上背离货物进出口的一侧，货物只能从货物进出口这一个方向进出货叉本体，在货叉本体相对于底座无法旋转360°的情况下，要想增大取货范围，只能通过旋转搬运机器人本体实现，因此取放效率较低。
而本申请的货叉机构中，第一动力单元和第二动力单元均位于托盘和底座之间，这样第一动力单元和第二动力单元并未挡设在货物进出托盘的路径上，货物能够从托盘的至少两侧进出托盘，取放效率较高。
下面结合附图说明本申请实施例的货叉机构100及搬运机器人200。需要注意的是，本申请实施例中，为了便于说明，沿货物进出托盘120的方向定义出相反的第一方向F和第二方向S，并将与货物进出所述托盘120的方向垂直的方向，也即两个安装板40的相对方向定义为货叉机构100的宽度方向W。
另外，将第一方向F和第二方向S中的一者定义为第三方向T，将第一方向F和第二方向S中的另一者定义为第四方向E。
图1为本申请实施例提供的货叉机构的结构示意图，图2为本申请实施例提供的货叉机构的另一个角度的结构示意图。
参照图1、图2，本申请实施例提供的货叉机构100包括：底座10、基体20、可承载货物的托盘120、两个安装板40、以及设于安装板40上的机械臂组件50，基体20可转动地连接在底座10上，安装板40和托盘120均设置在基体20上，两个安装板40位于托盘120的两个相对侧方，托盘120和底座10位于基体20的相反侧；
货叉机构100还包括设于基体20上的第一驱动组件60和第二驱动组件70，第一驱动组件60包括第一动力单元61和第一传动单元62，第一动力单元61用于驱动第一传动单元62带动机械臂组件50朝第一方向F或第二方向S伸出安装板40的边缘，第二驱动组件70包括第二动力单元71和第二传动单元80，第二动力单元71用于驱动第二传动单元80带动基体20相对于底座10旋转；
第一动力单元61和第二动力单元71均位于托盘120和所述底座10之间。
上述方案中，两个安装板40位于托盘120的两个相对侧方，这样安装板40和托盘120共同限定出用于容置货物的容置空间，并且，在安装板40的沿路径K的端部和托盘之间形成两个货物进出口。由于第一驱动组件60和第二驱动组件70均位于托盘120和底座10之间，这样第一动力单元61和第二动力单元71并未挡设在货物进出托盘120的路径K上，并且机械臂组件50能够朝第一方向F或第二方向S伸出安装板40的边缘，使得货物能够至少从托盘120两侧进出托盘120，与现有技术中货物只能从一个方向进入托盘120相比，多了一个进出托盘120的路径，这样在基体20相对于底座10旋转了相同角度的情况下，本申请中机械臂组件50的取货角度范围，明显是现有技术中的取货范围的两倍，可以尽量减少机械臂组件50的取货盲区，减少搬运机器人的旋转，取放货物的效率较高。
其中，第一动力单元61和第二动力单元71均位于托盘120和底座10之间，可以指第一动力单元61和第二动力单元71要位于托盘120和底座10之间正对的区域中，也可以指第一动力单元61和第二动力单元71的部分结构位于托盘120和底座10之间正对的区域之外，但必须满足第一动力单元61和第二动力单元71均相对于底座10底端的设置位置低于托盘120的底端相对于底座10的设置位置，这样第一动力单元61和第二动力单元71不会影响到机械臂组件50带动货物进出托盘120的动作。
下面说明货叉机构100各部分的具体结构。
参照图1，底座10作为货叉机构100的支撑部件可以位于整个货叉机构100的最底侧，底座10可以与下述的升降机构202连接，升降机构202用于驱动货叉机构100升降。另外，如前所述，基体20可转动地连接在底座10上，安装板40设置在基体20上，机械臂组件50设置在安装板40上。
参照图1，托盘120和底座10可以位于基体20的相反侧，例如，托盘120位于图1的图面的顶侧，托盘120、基体20、底座10按照图1的从顶侧到底侧的顺序依次设置。另外，本申请中以安装板40为两个为例进行说明，两个安装板40分别位于托盘120的宽度方向(货叉组件的宽度方向W)侧方端部，并相对设置，这样两个安装板40之间限定出货物进出托盘120的路径K。
示例性的，参照图1、图2，机械臂组件50的数量为两个，每个安装板40上均连接有一个机械臂组件50，如前所述，两个安装板40相对设置，且分别位于货叉机构100的宽度方向W的两端。托盘120、基体20可以设置在两个安装板40之间，第一驱动组件60和第二驱动组件70也均位于两个安装板40之间。
安装板40上还设有安装块41，安装块41的两端分别连接在基体20和安装板40上，且安装块41的与安装板40连接的一端位于安装板40对应的机械臂组件50的底侧。这样可以防止安装块41对机械臂组件50的移动造成影响。安装块41具有相互连接的第一连接部411和第二连接部412，第一连接部411和第二连接部412可以分别与安装板40和基体20连接，第一连接部411和第二连接部412可以彼此垂直，以便于安装板40垂直安装在基体20上。
安装块41的数量可以根据需要设置，例如，对应于每个安装板40，可以设置两个安装块41，两个安装块41在路径K上间隔布置。
如前所述，机械臂组件50可以设置在安装板40上，例如分别位于两个安装板40的相对的表面上。机械臂组件50可以位于托盘120的背离底座10的一侧，在图1中，机械 臂组件50可以位于托盘120的顶侧。
机械臂组件50可以包括至少一个机械臂51，机械臂51沿货物进出托盘120的方向伸出安装板40的边缘，并且机械臂51位于托盘120的背离底座10的一侧，即机械臂51相对于底座10底端的设置高度高于托盘120相对于底座10底端的设置高度。机械臂51用于通过自身的移动带动货物移动，例如机械臂51可在第一驱动组件60的驱动下沿着货物进出托盘120的路径K移动，可以理解的是，机械臂51沿着路径K的移动要超出安装板40的边缘，以使货物能够脱离托盘120，或者能够将托盘120外的货物拉回到托盘120上。
示例性的，每个机械臂组件50可以包括两个机械臂51，这两个机械臂51可以相对移动，以使整个机械臂组件50为可伸缩的机械臂组件。
在一些示例中，机械臂51上设置有至少一个活动件52，活动件52可相对机械臂51移动，例如，活动件52可以相对于机械臂51展开，以挡设在路径K的侧方；或者活动件52可以相对于机械臂51回收，以开放路径K。可以理解的是，机械臂组件50可以带动朝向第一方向F或者第二方向S移动，因此，活动件52可以分别设置在机械臂51的沿第一方向F的端部和沿第二方向S的端部。
参照图1，活动件52处于展开位置时，若机械臂51朝向第一方向F移动，则托盘120上的货物可以在活动件52的带动下朝向第一方向F移动，被送至货架或者机器人的背篓上；若机械臂51朝向第二方向S移动，则托盘120上的货物可以在活动件52的带动下朝向第二方向S移动，被送至货架或者机器人的背篓上。
本申请实施例中，参照图2、图3，如前所述，第一动力单元61用于驱动第一传动单元62带动机械臂组件50沿路径K移动，第一动力单元61包括第一驱动电机。机械臂组件50还包括与机械臂51连接的连接杆53，第一传动单元62可以包括链轮组件63，链轮组件63包括链条632以及在货物进出托盘120的方向上间隔布置的两个链轮631，两个链轮631可转动地设置在安装板40上，并位于安装板40上的机械臂组件50的底侧，链轮631可在第一驱动电机的驱动下转动，链条632张设在两个链轮631上，连接杆53与链条632联动，连接杆53用于在链条632运转时带动机械臂51移动。像这样，第一驱动电机可以驱动其中一个链轮631转动，该链轮631通过链条632使另外一个链轮631转动，将第一驱动电机的转动转化为链条632的直线移动。
需要注意的是，链条632张设在两个链轮631之间时，链条632分为位于链轮631顶侧的部分和位于链轮631底侧的部分，这二者之间具有间隔，上述的安装块41可以位于该间隔之间，这样，可以充分利用空间，减小货叉机构100的高度。
连接杆53的两端分别连接链条632和机械臂51，机械臂51可以在连接杆53的带动下移动，实现对货物的装卸。
另外，如前所述，机械臂组件50可以朝向第一方向F和第二方向S伸缩，因此考虑一个链条632对应两个连接杆53，两个连接杆53可以在货物进出托盘120的路径K上间隔布置。例如参照图2所示，在其中一个安装板40上，两个连接杆53可以在链条632逆时针转动时，带动机械臂51朝向第一方向F移动，两个连接杆53可以在链条632顺时针转动时，带动机械臂51朝向第二方向S移动。
示例性的，连接杆53朝向链条632的一端具有啮合齿，啮合齿可与链条632的链环相啮合。这样，连接杆53的一端固定连接在机械臂51上，另一端与链条632活动连接。 参照图2，机械臂组件50朝向第一方向F的伸出和缩回过程如下：在其中任一个安装板40上，在链条632逆时针转动时，连接杆54和连接杆55可以带动机械臂51朝向第一方向F移动，在此过程中，当连接杆54移动到靠近位于第一方向端部的链轮631时，逐渐与链条632脱离啮合，不再带动机械臂51向第一方向F移动，而由连接杆55继续带动机械臂51继续朝向第一方向F移动；当链条632顺时针转动时，首先连接杆55带动机械臂51朝向第二方向S移动，在此过程中，连接杆54逐渐与链条632重新啮合，此时连接杆54与连接杆55一起带动机械臂51向第二方向S移动，直至移动到初始位置。
机械臂组件50朝向第二方向S的伸出和缩回的过程如下：在其中任一个安装板40上，在链条632顺时针转动时，连接杆54和连接杆55可以带动机械臂51朝向第二方向S移动，在此过程中，当连接杆55移动到靠近位于第二方向S端部的链轮631时，逐渐与链条632脱离啮合，不再带动机械臂51向第二方向S移动，而由连接杆54继续带动机械臂51继续朝向第二方向S移动；当链条632逆时针转动时，首先连接杆54带动机械臂51朝向第一方向F移动，在此过程中，连接杆55逐渐与链条632重新啮合，此时连接杆54与连接杆55一起带动机械臂51向第一方向S移动，直至移动到初始位置。
另外，上述以其中一个安装板40对应的链轮组件63、机械臂组件50为例进行说明，对应于另一个安装板40对应的链轮组件63、机械臂组件50的运动过程与此类似、并且两个过程同步进行，此处不再赘述。
本申请实施例中，如前所述，安装板40和机械臂组件50的数量均为两个，为了对两个机械臂组件50都进行驱动，链轮组件63的数量也可以两个，分别与安装板40一一对应。换言之，每个安装板40上都安装有一个链轮组件63，链轮组件63位于机械臂组件50和底座10之间。同一个链轮组件63中的两个链轮631均连接在同一个安装板40上。
参照图3，第一传动单元62还包括驱动轴65，驱动轴65沿两个安装板40的相对方向(货叉组件的宽度方向W)延伸，每个链轮组件63中各有一个链轮631连接在驱动轴65的两个端部，这样驱动轴65转动时可以同时驱动两个链轮631同步转动，以便带动各自链轮组件63中的链条632同步运行。当然，驱动轴65的两端通过与其连接的链轮631而支撑在两个安装板40之间。
参照图2，第一传动单元62还可以包括第一减速器64，第一驱动电机可以通过第一减速器64与驱动轴65连接，这样可以将第一驱动电机的转动传递至驱动轴65。第一驱动电机与第一减速器64均设置在基体20上。
本申请实施例中，基体20可转动地连接在底座10上，是指基体20可以相对于底座10转动，货叉机构100包括的第二驱动组件70可以驱动底座10相对于基体20旋转，以实现基体20和底座10的相对转动。
本申请实施例中，参照图3，第二驱动组件70包括第二动力单元71，和第二传动单元80，第二动力单元71可以固定在基体20上。
第二传动单元80包括旋转轴承82和齿轮81，齿轮81与第二动力单元71的输出轴联动，旋转轴承82的内圈821内侧壁设有与齿轮81相互啮合的轮齿；
旋转轴承82位于底座10和基体20之间，旋转轴承82的内圈821和底座10连接，旋转轴承82的外圈822和基体20连接，齿轮81用于在第二动力单元71的驱动下转动，并围绕旋转轴承82的内圈821的中心转动，以使基体20和底座10相对转动。
在上述方案中，齿轮81与第二动力单元71的输出轴联动是指，第二动力单元71的输出轴可以带动齿轮81转动。例如，第二动力单元71包括第二驱动电机，第二传动单元80还可以包括第二减速器72，第二减速器72的输入轴与第二驱动电机联动，第二减速器72的输出轴与齿轮81连接，这样第二驱动电机运行时，通过第二减速器72减速后，带动齿轮81转动。
需要注意的是，旋转轴承82的内圈821安装固定在底座10上，即旋转轴承82的内圈821与底座10相对固定，第二驱动电机和第二减速器72可以固定在基体20上，旋转轴承82的外圈822安装固定在基体20上，如前所述，第二驱动电机驱动齿轮81转动时，齿轮81的轮齿与旋转轴承82的内圈821上的轮齿相互啮合，齿轮81围绕旋转轴承82的内圈821的中心转动，并带动第二减速器72、第二驱动电机和基体20转动，这样可以使基体20相对于底座10旋转。此时托盘120设置在基体20上，基体20相对于底座10转动时，托盘120及其上承载的货物也相对于底座10转动。
需要注意的是，在上述方案中，旋转轴承82的内圈821和外圈822的径向都平行于底座10，第二减速器72的输出轴可以沿货叉机构100的高度方向H延伸。为了节省第二驱动组件70所占据的空间，尤其是减少第二驱动电机所占据的空间，第二减速器72可以为直角减速器，同时，第二驱动电机的电机轴(第二动力单元71的输出轴)可以垂直于货叉机构100的高度方向。这样实际上将第二驱动电机横向布置在基体20和底座10之间。
本申请实施例中，底座10的顶端面上可以设有安装槽11，旋转轴承82可以位于该安装槽11中，旋转轴承82的内圈821固定在底座10的该安装槽11中，需要注意的是，旋转轴承82的内圈821和外圈822彼此之间可转动地连接，因此旋转轴承82的外圈822也可转动地支撑在底座10上。
需要注意的是，旋转轴承82的内圈821的底端面固定在安装槽11的槽底面，旋转轴承82的外圈822的顶端面凸出于底座10的顶端面，基体20支撑并固定在旋转轴承82的外圈822的顶端面上，这样在基体20固定在外圈822上时，基体20和底座10之间可以具有一定间隙，防止二者相互转动时发生干涉。
另外，参照图2，由于第二动力单元71的输出轴与齿轮81连接，因此为了使齿轮81伸入到旋转轴承82的内圈821内侧，并与内圈821上的轮齿啮合，还需要使第二动力单元71的输出轴贯穿基体20并伸入轴承内圈821的内侧。
示例性的，在基体20上设有贯穿孔211，贯穿孔211的内径大于或等于旋转轴承82的内圈821的内径，并且小于或等于旋转轴承82的外圈822的内径。这样，贯穿孔211可以充分将旋转轴承82的内圈821暴露至基体20顶侧，并且也便于基体20与轴承外圈822连接。
本申请实施例中，如前所述，第一动力单元61(第一驱动电机)和第二动力单元71(第二驱动电机)均位于托盘120和底座10之间。
在此基础上，第一动力单元61的输出轴垂直于货叉机构100的高度方向H，相当于第一动力单元61横向布置在托盘120和底座10之间，第一动力单元61可以通过第一减速器64、驱动轴65、链轮组件63等将动力传递至机械臂组件50。
参照图3，若第二动力单元71的输出轴也垂直于货叉机构100的高度方向H，则第一动力单元61和第二动力单元71均横向布置在托盘120和底座10之间。示例性的，可以 使第一动力单元61的输出轴平行于基体20的宽度方向W，第二动力单元71的输出轴垂直于第一动力单元61的输出轴方向，这样第一动力单元61和第二动力单元71相互垂直布置，呈英文字母“T”字形。可以理解的是，本申请中将第一动力单元61和第二动力单元71均布置在托盘120和底座10之间，可以充分有效利用托盘120和底座10之间的空间。
示例性的，基体20包括基板21，第一动力单元61和第二动力单元71均可以设置在基板21上。
本申请实施例中，参照图2、图3，可以使第一传动单元62和第二传动单元80的顶端相对于底座10底端的设置位置低于托盘120的底端相对于底座10的设置位置。换言之，第一传动单元62和第二传动单元80的设置高度也低于托盘120，也不会对托盘120上货物的进出造成干涉。
另外，在机械臂51位于托盘120的背离底座10的一侧的情况下，第一驱动组件60和第二驱动组件70相对于底座10的设置高度均低于机械臂51相对于底座10的设置高度。这样第一驱动组件60和第二驱动组件70并未挡设在机械臂组件50的伸出路径上，也未挡设在货物进出托盘120的路径上。
参照图1，机械臂组件50可以向第一方向F、第二方向S双向伸出取货，这是由于机械臂组件50伸出的方向上的空间完全被放开，基体20相对于底座10旋转180°就可以实现取货操作的周向全覆盖，不存在取货盲区，取放货物的效率较高。
本申请实施例中，如前所述，托盘120位于基体20的顶侧，并且用于承载货物。可以理解的是，在搬运机器人靠近目标物流设备进行货物的搬运时，有可能存在托盘120与物流设备的存储单元之间存在有一定的距离的情况，这可能会导致货物卡在该间隙中或者从该间隙中掉落。这时可以考虑将托盘120设置为可以朝向物流设备伸出的结构，即、使货叉机构100包括至少一个伸出组件，伸出组件用于使托盘120朝向物流设备伸出。
图4为本申请实施例提供的货叉机构的一种结构的结构示意图，图5为本申请实施例提供的货叉机构的另一种结构的结构示意图。在图5中多个托盘120在货叉组件的高度方向上依次层叠在基体20上，并且，各托盘120都可滑动地设置在位于其相邻底侧的托盘120上。
具体的，托盘120数量可以为图4中的一个或者图5中的多个。不管托盘120的数量是一个还是多个，托盘120包括最靠近基体的第一托盘121，本申请在第一托盘121和基体20之间设置至少一个伸出组件伸出组件131。
第一托盘121可滑动地设置在基体20上，位于第一托盘121和基体20之间的伸出组件131用于使第一托盘121朝向第一方向F伸出基体20的边缘。这里以伸出组件131的数量为两个为例进行说明，但本申请不限于此，伸出组件的数量可以根据实际需要设置。
以伸出组件为基准定义其顶部侧和底部侧的承载结构时，货叉机构100包括分别位于同一个伸出组件顶侧和底侧的第二承载体112和第一承载体111，第二承载体112可滑动地设置在第一承载体111上；
而伸出组件131位于基体20和第一托盘121之间时，基体20形成第一承载体111，托盘120形成第二承载体112。
参照图5，当托盘120的数量大于一个时，托盘120还包括位于第一托盘121顶侧并 相邻的第二托盘122。
与上述类似的，第一托盘121可滑动地设置在基体20上，第一托盘121和基体20之间设有至少一个伸出组件131，位于第一托盘121和基体20之间的伸出组件131用于使第一托盘121带动第二托盘122朝向第一方向F伸出基体20的边缘。并且，对于基体20和第一托盘121而言，基体20和第一托盘121之间的伸出组件131工作时，基体20形成第一承载体111，托盘120形成第二承载体112。可以理解的是，上述基体20和第一托盘121之间的伸出组件131工作，是指基体20和第一托盘121之间的伸出组件131未处于锁定时的状态，此时第一托盘121能够带动第二托盘122朝向第一方向F伸出基体20的边缘。
另外，第二托盘122可滑动地设置在第一托盘121上，且第二托盘122位于第一托盘121的背离所述基体20的一侧；即第二托盘122层叠在第一托盘121上，第一托盘121和第二托盘122之间也设有至少一个伸出组件132，位于第一托盘121和第二托盘122之间的伸出组件132用于使第二托盘122朝向第二方向伸出第一托盘121的边缘。
对于第一托盘121和第二托盘122而言，第一托盘121和第二托盘122之间的伸出组件132工作时，第一托盘121形成第一承载体111，第二托盘122形成第二承载体112。与上述类似的，第一托盘121和第二托盘122之间的伸出组件132工作，是指第一托盘121和第二托盘122之间的伸出组件132未处于锁定时的状态，此时，第二托盘122能够朝向第二方向S伸出第一托盘121的边缘。
换言之，本申请中货叉机构100将位于同一个伸出组件底侧的部件和顶侧的部件分别定义为第一承载体111和第二承载体112，并且第一承载体111和第二承载体112根据伸出组件顶侧和底侧的部件的不同，可以指代不同的部件。
对于托盘120具有更多个数量的情况，可以根据需要在其他托盘之间设置伸出组件130，也可以不设置，本申请对此不做限制。
下面以第一承载体111和第二承载体112之间连接情况为例说明。
图6为本申请实施例提供的货叉机构中第一承载体111和第二承载体112的一种结构的结构示意图。另外，图6中对第一承载体111和第二承载体112的类型不加以限定，可以是第一承载体111和第二承载体112可以分别是基体20和第一托盘121，或者第一承载体111和第二承载体112可以分别是第一托盘121和第二托盘122。
第一承载体111和第二承载体112之间设有的伸出组件130的数量为两个时，两个伸出组件130在货叉机构100的宽度方向W上间隔布置，并相对于货叉机构100的中心具有相同的间距。
参照图6，伸出组件130包括：弹性力施加组件139，弹性力施加组件139设于第一承载体111和第二承载体112之间，并用于向第二承载体112施加朝向第三方向T的弹性力；
锁定组件150，锁定组件150设于第一承载体111上，且锁定组件150包括锁定件154，锁定件154挡设在第二承载体112的滑动路径上；以及
解锁件160，解锁件160与机械臂组件50联动，且解锁件160用于在机械臂组件50朝向第三方向T移动时，推动锁定件154向第三方向T移动，以使第二承载体112在弹性力施加组件139的弹性力作用下朝向第三方向T伸出，其中，第三方向T是第一方向F和第二方向S的其中一者。
示例性的，弹性力施加组件139可以包括拉簧148，拉簧148的第一端设置在第一承载体111上，拉簧148的第二端设置在第二承载体112上。
弹性力施加组件139还包括两个端板142、143，两个端板142、143分别设于第一承载体111和第二承载体112的相对的面上，两个端板142、143在第三方向T上具有重叠部分，拉簧148的第一端和第二端分别连接于两个端板142、143上。
并且拉簧148固定在两个端板142、143上时，需要处于拉伸状态，这样，拉簧148始终对第二承载体112施加朝向第三方向T的弹性力。
图7为本申请实施例提供的货叉机构100的分解结构示意图，图8为本申请实施例提供的货叉机构100的另一个角度的分解结构示意图。这里以第三方向T朝向第一方向F，第四方向E朝向第二方向S为例进行说明，当然，第三方向T也可以是第二方向S，第四方向E也可以是第一方向F，此处对此不做限定。解锁件160可以是前述的连接杆53。
参照图7，将第一承载体和第二承载体对应到第一托盘121和第二托盘122中时，拉簧141的第一端设置在第一托盘121上，拉簧的第二端设置在第二托盘122上，其中，第一端是拉簧141上位于第四方向E的端部，第二端是拉簧上位于第三方向T的端部。
在此基础上，弹性力施加组件139还包括两个端板146、147，两个端板146、147分别设于第一托盘121和第二托盘122的相对的面上，两个端板146、147在第三方向T上具有重叠部分，拉簧141的第一端和第二端分别连接于两个端板146、147上。
两个端板146、147的具体位置如下，其中一个端板147位于第二托盘122的第三方向T的端部，另一个端板146位于第一托盘121的靠近第四方向E一侧。使两个端板之间具有足够的距离，以使拉簧141保持拉伸状态。另外，两个端板146、147凸出于第一托盘121或者第二托盘122的高度可以根据实际需要选择，一般小于第一托盘121和第二托盘122之间的间隙，以不干涉到第一托盘121和第二托盘122为准。
并且拉簧141固定在两个端板146、147上时，需要处于拉伸状态，这样，拉簧141始终对第二托盘122施加朝向第四方向的弹性力。
对于第一托盘121与基体20之间的弹性力施加组件139，参照图3和图8，拉簧的第一端设置在基体20上，拉簧的第二端设置在第一托盘121上。
在此基础上，弹性力施加组件139还包括两个端板144、145，两个端板144、145分别设于基体20和第一托盘121的相对的面上，两个端板144、145在第三方向T上具有重叠部分，拉簧140的第一端和第二端分别连接于两个端板144、145上。
两个端板144、145的具体位置如下，其中一个端板145位于第一托盘121的第四方向E的端部，另一个端板144位于基体20的靠近第三方向S一侧。另外，还需要使两个端板144、145之间具有足够的距离，以使拉簧140保持拉伸状态,这样，拉簧140始终对第一托盘121施加朝向第三方向T的弹性力。另外，两个端板144、145凸出于第一托盘121或者基体20的高度可以根据实际需要选择，一般小于基体20和第一托盘121之间的间隙，以不干涉到基体20和第一托盘121为准。这里基体20和第一托盘121之间的距离较远，可以是端板144的高度明显高于端板145的高度，并且端板144的顶端和端板145的顶端之间在第三方向T上具有重叠部分，以将拉簧140保持水平地连接于端板144和端板145之间。
本申请实施例中，参照图6，如前所述，第二承载体112可滑动地设置在第一承载体 111上，例如，第二承载体112可以通过滑块、滑轨结构设置在第一承载体111上。
示例性的，第二承载体112包括设置在底部的滑块113，第一承载体111的顶部设有滑轨114，滑轨114沿货物进出托盘120的方向延伸，滑块113可沿滑轨114滑动，以限制第二承载体112相对于第一承载体111的滑动方向。由于滑块113必须沿着滑轨114移动，因此，第二承载体112相对于第一承载体111的滑动被限制于滑轨114的延伸方向上。
具体到第一托盘121和第二托盘122中，参照图7，第二托盘122包括设置在底部的滑块116，第一托盘121的顶部设有滑轨118，滑轨118沿货物进出托盘120的方向延伸，滑块116可沿滑轨118滑动，以限制第二托盘122相对于第一托盘121的滑动方向。由于滑块116必须沿着滑轨118移动，因此，第二托盘122相对于第一托盘121的滑动被限制于滑轨118的延伸方向上。
具体到第一托盘121和基体20中，参照图8，第一托盘121包括设置在底部的滑块(未图示)，基体20的顶部设有滑轨117，滑轨117沿货物进出托盘120的方向延伸，滑块可沿滑轨117滑动，以限制第一托盘121相对于基体20的滑动方向。由于滑块必须沿着滑轨117移动，因此，第一托盘121相对于基体20的滑动被限制于滑轨117的延伸方向上。
本申请实施例中，参照图6，锁定组件150还包括支撑座151，支撑座151设于第一承载体111上，锁定件154穿设在支撑座151中，并可相对于支撑座151沿货物进出托盘120的方向滑动。
锁定件154位于滑轨114和机械臂组件50之间，锁定件154上设有朝向滑轨114伸出的止挡臂1541，止挡臂1541挡设在滑块113朝向第三方向T的一侧。
作为一种可能的实施方式，锁定件154上背离止挡臂1541的一侧还设有朝向机械臂组件50伸出的伸出臂1542，伸出臂1542设置在解锁件160的移动路径上。
另外，锁定组件150还可以包括弹性复位件157，弹性复位件157两端分别抵压在伸出臂1542和支撑座151上，并用于在机械臂组件50朝向第三方向T移动时，向锁定件154施加朝向第四方向E的回复力。
具体到第一托盘121和第二托盘122中，参照图7，锁定组件150还包括支撑座153，支撑座153设于第一托盘121上，锁定件156穿设在支撑座153中，并可相对于支撑座153沿货物进出托盘120的方向滑动。
锁定件156位于滑轨118和机械臂组件50之间，锁定件156上设有朝向滑轨118伸出的止挡臂1561，止挡臂1561挡设在滑块116朝向第四方向E的一侧。
作为一种可能的实施方式，锁定件156上背离止挡臂1561的一侧还设有朝向机械臂组件50伸出的伸出臂1562，伸出臂1562设置在解锁件162的移动路径上。
另外，锁定组件150还可以包括弹性复位件159，弹性复位件159两端分别设置在伸出臂1562和支撑座153上，并用于在机械臂组件50朝向第四方向E移动时，向锁定件156施加朝向第三方向T的回复力。
具体到第一托盘121和基体20中，参照图3，锁定组件150还包括支撑座152，支撑座152设于基体20上，锁定件155穿设在支撑座152中，并可相对于支撑座152沿货物进出托盘120的方向滑动。
示例性的，基体20可以包括基板21、支撑板22以及支撑在基板21和支撑板22之间的支撑柱23，支撑板22位于基板21的背离底座10的一侧，在第一托盘121和基体20之 间具有伸出组件131时，支撑座152设置在支撑板22上。
示例性的，锁定件155可以位于滑轨117和机械臂组件50之间，锁定件155上设有朝向滑轨117伸出的止挡臂1551，止挡臂1551挡设在滑块116朝向第三方向的一侧。
作为一种可能的实施方式，锁定件155上背离止挡臂1551的一侧还设有朝向机械臂组件50伸出的伸出臂1552，伸出臂1552设置在解锁件161的移动路径上。
另外，锁定组件150还可以包括弹性复位件158，弹性复位件158两端分别设置在伸出臂1552和支撑座152上，并用于在机械臂组件50朝向第三方向F移动时，向锁定件155施加朝向第四方向E的回复力。
下面参照图6，对第一承载体111和第二承载体112的相互移动原理进行说明。
在图6所示的第一承载体111和第二承载体112中，拉簧148安装在两个端板142、143之间，始终向第二承载体112施加朝向第三方向T的力，此时由于第二承载体112底部固定的滑块113被止挡臂1541所遮挡，无法朝向第三方向T移动，当链条632顺时针转动时，连接杆53、也即解锁件160碰到伸出臂1542，则伸出臂1542带动止挡臂1541向第三方向T移动，止挡臂1541解除对滑块113的解锁，此时第一承载体111在拉簧148的弹性力作用下朝向第三方向T伸出。
当链条632逆时针转动时，解锁件160向第四方向E移动，此时伸出臂1542在弹性复位件157的弹性力作用下向第四方向E移动，带动止挡臂1541向第四方向E移动，止挡臂1541推动滑块113带动第二承载体112回到初始位置。
下面参照图7、图8，对托盘120的双向伸出原理进行说明。
对于基体20和第一托盘121，拉簧140安装在两个端板144、145之间，始终向第一托盘121施加朝向第三方向T的力，此时由于第一托盘121底部固定的滑块被止挡臂1551所遮挡，无法朝向第三方向T移动，当链条632顺时针转动时，连接杆53、也即解锁件161向第三方向移动并碰到伸出臂1552，则伸出臂1552带动止挡臂1551向第三方向T(第一方向F)移动，止挡臂1551解除对滑块的解锁，此时第一托盘121带动着第二托盘122在拉簧140的弹性力作用下朝向第三方向T伸出，需要注意的是，在此过程中，解锁件162将会通过链条632与解锁件161联动，即朝向第三方向T移动，但并不会接触到伸出臂1562，即不会影响到锁定件156对第一托盘121和第二托盘122之间的锁定。
当链条632逆时针转动时，解锁件161向第四方向E(第二方向S)移动，此时伸出臂1552在弹性复位件158的弹性力作用下向第四方向E移动，带动止挡臂1551向第四方向E移动，止挡臂1551推动滑块带动第一托盘121回到初始位置。
参照图7，对于第一托盘121和第二托盘122，拉簧141安装在两个端板146、147之间，始终向第二托盘122施加朝向第四方向E的力，此时由于第二托盘122底部固定的滑块116被止挡臂1561所遮挡，无法朝向第四方向E移动，当链条632顺时针转动时，连接杆、也即解锁件162碰到伸出臂1562，则伸出臂1562带动止挡臂1561向第四方向E移动，止挡臂1561解除对滑块116的解锁，此时第二托盘122在拉簧141的弹性力作用下朝向第四方向E伸出。需要注意的是，在此过程中，解锁件161将会通过链条632与解锁件162联动，即朝向第四方向E移动，并不会接触到伸出臂1552，即不会影响到锁定件155对第一托盘121和基体20之间的锁定。
当链条632逆时针转动时，解锁件162向第三方向F移动，此时伸出臂1562在弹性 复位件159的弹性力作用下向第三方向T移动，带动止挡臂1561向第三方向F移动，止挡臂1561推动滑块116带动第一托盘121回到初始位置。
图9为本申请实施例提供的搬运机器人的整体结构示意图。
参照图9，本申请另一方面还提供一种搬运机器人200，包括：移动底盘201、升降机构202、立柱203以及上述的货叉机构100，移动底盘201用于承载升降机构202、立柱203和货叉机构100，升降机构202与货叉机构100中的底座10固定连接，从而驱动货叉机构100沿立柱203升降。
其中，移动底盘201可移动，并带动所承载的升降机构202、立柱203以及货叉机构100一并移动，另外，移动底盘201上还可以设有多个隔板204，多个隔板204在搬运机器人200的高度方向上彼此间隔地固定在立柱203上，以形成多层货架，多层货架中的任意一层隔板204上均可以用于暂存货箱，这样，搬运机器人200可以一次搬运多个货箱，从而提高搬运机器人200的搬运效率。
移动底盘201带动货叉机构100移动，以使货叉机构100可以将货箱在多层货架与仓储货架之间进行搬运，而升降机构202用于驱动货叉机构100沿立柱203升降，这样，货叉机构100能够为货架的任意一层隔板204，或者仓储货架的任意一层上装卸货箱。
其中，升降机构202可以由电机等提供动力，由传动机构、例如链轮机构传递动力，此外，链轮机构可以省略，由电机直接驱动升降机构202，此时，电机为线性电机。
可以理解的是，货叉机构100并不仅限于应用于搬运机器人200，货叉机构100还可以应用于穿梭车、分拣平台等领域。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应作广义理解，例如，可以使固定连接，也可以是通过中间媒介间接相连，可以是两个元件内部的连通或者两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
在本发明的描述中，需要理解的是，术语“上”、“下”、“前”、“后”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或者位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或者暗示所指的装置或者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发明的限制。
本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”、“第三”、“第四”等(如果存在)是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本申请的实施例例如能够以除了在这里图示或描述的那些以外的顺序实施。
此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的 那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (25)

  1. 一种货叉机构，其特征在于，包括：底座、基体、可承载货物的托盘、两个安装板、以及设于所述安装板上的机械臂组件，所述基体可转动地连接在所述底座上，所述安装板和所述托盘均设置在所述基体上，所述托盘和所述底座位于所述基体的相反侧，两个所述安装板位于所述托盘的两个相对侧方；
    所述货叉机构还包括设于所述基体上的第一驱动组件和第二驱动组件，所述第一驱动组件包括第一动力单元和第一传动单元，所述第一动力单元用于驱动所述第一传动单元带动所述机械臂组件朝第一方向或第二方向伸出所述安装板的边缘；所述第二驱动组件包括第二动力单元和第二传动单元，所述第二动力单元用于驱动所述第二传动单元带动所述基体相对于所述底座旋转；
    所述第一动力单元和所述第二动力单元均位于所述托盘和所述底座之间；
    其中，所述第一方向和所述第二方向均为货物进出所述托盘的方向，且互为相反方向。
  2. 根据权利要求1所述的货叉机构，其特征在于，所述第一传动单元和所述第二传动单元的顶端相对于所述底座底端的设置位置低于所述托盘的底端相对于所述底座的设置位置。
  3. 根据权利要求2所述的货叉机构，其特征在于，所述基体包括基板，所述第一动力单元和所述第二动力单元均设置在所述基板上。
  4. 根据权利要求2所述的货叉机构，其特征在于，所述机械臂组件包括至少一个机械臂，所述机械臂位于所述托盘的背离所述底座的一侧。
  5. 根据权利要求2所述的货叉机构，其特征在于，所述机械臂组件的数量为两个，每个所述安装板上均连接有一个所述机械臂组件，所述第一驱动组件和所述第二驱动组件均位于两个所述安装板之间。
  6. 根据权利要求1-5任一项所述的货叉机构，其特征在于，所述第二传动单元包括旋转轴承和齿轮，所述齿轮与所述第二动力单元的输出轴联动，所述旋转轴承的内圈内侧壁设有与所述齿轮相互啮合的轮齿；
    所述旋转轴承位于所述底座和所述基体之间，所述旋转轴承的内圈和所述底座连接，所述旋转轴承的外圈和所述基体连接，所述齿轮用于在所述第二动力单元的驱动下转动，并围绕所述旋转轴承的内圈的中心转动，以使所述基体和所述底座相对转动。
  7. 根据权利要求6所述的货叉机构，其特征在于，所述底座的顶端面上设有安装槽，所述旋转轴承位于所述安装槽中，所述旋转轴承的内圈的底端面固定在所述安装槽的槽底面，所述旋转轴承的外圈的顶端面凸出于所述底座的顶端面，所述基体支撑并固定在所述旋转轴承的外圈的顶端面上；
    所述第二动力单元的输出轴贯穿所述基体并伸入所述轴承内圈的内侧。
  8. 根据权利要求7所述的货叉机构，其特征在于，所述基体上设有贯穿孔，所述贯穿孔的内径大于或等于所述旋转轴承的内圈的内径，并且小于或等于所述旋转轴承的外圈的内径。
  9. 根据权利要求1所述的货叉机构，其特征在于，所述安装板上还设有安装块，所述安装块的两端分别连接在所述基体和所述安装板上，且所述安装块的与所述安装板连接的 一端位于所述安装板对应的所述机械臂组件的底侧。
  10. 根据权利要求1所述的货叉机构，其特征在于，还包括至少一个伸出组件，所述托盘包括第一托盘，所述第一托盘可滑动地设置在所述基体上，所述第一托盘和所述基体之间设有至少一个所述伸出组件，位于所述第一托盘和所述基体之间的所述伸出组件用于使所述第一托盘朝向第一方向伸出所述基体的边缘；
    其中，所述货物进出所述托盘的方向包括相反的第一方向和第二方向。
  11. 根据权利要求10所述的货叉机构，其特征在于，所述货叉机构包括分别位于同一个所述伸出组件底侧和顶侧的第一承载体和第二承载体，所述第二承载体可滑动地设置在所述第一承载体上；
    至少一个所述伸出组件位于所述基体和所述第一托盘之间时，所述基体形成所述第一承载体，所述托盘形成所述第二承载体。
  12. 根据权利要求10所述的货叉机构，其特征在于，所述托盘还包括第二托盘，所述第二托盘可滑动地设置在所述第一托盘上，且所述第二托盘位于所述第一托盘的背离所述基体的一侧；所述第一托盘和所述第二托盘之间也设有至少一个所述伸出组件，位于所述第一托盘和所述第二托盘之间的所述伸出组件用于使所述第二托盘朝向所述第二方向伸出所述第一托盘的边缘。
  13. 根据权利要求12所述的货叉机构，其特征在于，所述货叉机构包括分别位于同一个所述伸出组件底侧和顶侧的第一承载体和第二承载体，所述第二承载体可滑动地设置在所述第一承载体上；
    所述基体和所述第一托盘之间的所述伸出组件工作时，所述基体形成所述第一承载体，所述托盘形成所述第二承载体；
    所述第一托盘和所述第二托盘之间的所述伸出组件工作时，所述第一托盘形成所述第一承载体，所述第二托盘形成所述第二承载体。
  14. 根据权利要求11或13所述的货叉机构，其特征在于，所述伸出组件包括：
    弹性力施加组件，所述弹性力施加组件设于所述第一承载体和所述第二承载体之间，并用于向所述第二承载体施加朝向第三方向的弹性力；
    锁定组件，所述锁定组件设于所述第一承载体上，且所述锁定组件包括锁定件，所述锁定件挡设在所述第二承载体的滑动路径上；以及
    解锁件，所述解锁件与所述机械臂组件联动，且所述解锁件用于在所述机械臂组件朝向所述第三方向移动时，推动所述锁定件向所述第三方向移动，以使所述第二承载体在所述弹性力施加组件的弹性力作用下朝向所述第三方向伸出，其中，所述第三方向是所述第一方向和所述第二方向的其中一者。
  15. 根据权利要求14所述的货叉机构，其特征在于，所述弹性力施加组件包括拉簧，所述拉簧的第一端和第二端分别设置在所述第一承载体上和所述第二承载体上。
  16. 根据权利要求15所述的货叉机构，其特征在于，所述弹性力施加组件包括两个端板，两个所述端板分别设于所述第一承载体和所述第二承载体的相对的面上，两个所述端板在所述第三方向上具有重叠部分，所述拉簧的所述第一端和所述第二端分别连接于两个所述端板上。
  17. 根据权利要求15所述的货叉机构，其特征在于，所述锁定组件还包括支撑座，所 述支撑座设于所述第一承载体上，所述锁定件穿设在所述支撑座中，并可相对于所述支撑座沿所述货物进出所述托盘的方向滑动。
  18. 根据权利要求17所述的货叉机构，其特征在于，所述基体包括基板、支撑板以及支撑在基板和支撑板之间的支撑柱，所述支撑板位于基板的背离底座的一侧；所述第一托盘和所述基体之间具有所述伸出组件时，所述支撑座设置在所述支撑板上。
  19. 根据权利要求17所述的货叉机构，其特征在于，所述第二承载体包括设置在底部的滑块，所述第一承载体的顶部设有滑轨，所述滑轨沿所述货物进出所述托盘的方向延伸，所述滑块可沿所述滑轨滑动，以限制所述第二承载体相对于所述第一承载体的滑动方向；
    所述锁定件位于所述滑轨和所述机械臂组件之间，所述锁定件上设有朝向所述滑轨伸出的止挡臂，所述止挡臂挡设在所述滑块朝向所述第三方向的一侧。
  20. 根据权利要求19所述的货叉机构，其特征在于，所述锁定件上背离所述止挡臂的一侧还设有朝向所述机械臂组件伸出的伸出臂，所述伸出臂设置在所述解锁件的移动路径上。
  21. 根据权利要求20所述的货叉机构，其特征在于，所述锁定组件还包括弹性复位件，所述弹性复位件两端分别设置在所述伸出臂和所述支撑座上，并用于在所述机械臂组件朝向所述第三方向移动时，向所述锁定件施加朝向第四方向的回复力，其中，所述第四方向与所述第三方向相反。
  22. 根据权利要求21所述的货叉机构，其特征在于，所述机械臂组件包括机械臂和连接杆，所述机械臂能够沿所述货物进出所述托盘的方向伸出所述安装板边缘，所述第一传动单元包括链轮组件，所述链轮组件包括链条以及在所述货物进出所述托盘的方向上间隔布置的两个链轮，两个所述链轮设置在安装板上，并位于所述安装板上的所述机械臂组件的底侧，所述链轮可在所述第一动力单元的驱动下转动，所述链条张设在两个所述链轮上，所述连接杆与所述链条联动，所述连接杆用于在所述链条运转时带动所述机械臂移动，所述连接杆形成所述解锁件。
  23. 根据权利要求22所述的货叉机构，其特征在于，所述连接杆朝向所述链条的一端具有啮合齿，所述啮合齿可与所述链条的链环啮合。
  24. 根据权利要求14所述的货叉机构，其特征在于，所述第一承载体和所述第二承载体之间设有的伸出组件的数量为两个时，两个所述伸出组件在所述货叉机构的宽度方向上间隔布置，并相对于所述货叉机构的中心具有相同的间距；其中，所述货叉机构的宽度方向垂直于所述第一方向。
  25. 一种搬运机器人，其特征在于，包括：移动底盘、升降机构、立柱以及上述权利要求1-24中任一项所述的货叉机构，所述移动底盘用于承载所述升降机构、所述立柱和所述货叉机构，所述升降机构与所述货叉机构中的底座固定连接，从而驱动所述货叉机构沿所述立柱升降。
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CN216038490U (zh) * 2021-09-24 2022-03-15 深圳市海柔创新科技有限公司 货叉机构及搬运机器人

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