WO2024001730A1 - 货叉机构及码垛机器人 - Google Patents

货叉机构及码垛机器人 Download PDF

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Publication number
WO2024001730A1
WO2024001730A1 PCT/CN2023/099538 CN2023099538W WO2024001730A1 WO 2024001730 A1 WO2024001730 A1 WO 2024001730A1 CN 2023099538 W CN2023099538 W CN 2023099538W WO 2024001730 A1 WO2024001730 A1 WO 2024001730A1
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WO
WIPO (PCT)
Prior art keywords
fork
baffle
cargo
driving
transmission
Prior art date
Application number
PCT/CN2023/099538
Other languages
English (en)
French (fr)
Inventor
岳鹏飞
Original Assignee
深圳市海柔创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市海柔创新科技有限公司 filed Critical 深圳市海柔创新科技有限公司
Publication of WO2024001730A1 publication Critical patent/WO2024001730A1/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
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for

Definitions

  • Embodiments of the present disclosure relate to the technical field of palletizing robots, and in particular, to a fork mechanism and a palletizing robot.
  • Palletizing refers to stacking items neatly. During the transportation of goods, it is usually necessary to stack the goods on pallets first to facilitate the transfer of goods.
  • the usual process of cargo palletizing is as follows: the goods (such as cartons) are taken out of the goods storage warehouse, the outbound goods are sorted by the sorting machine and placed on the conveyor belt, and the sorted goods are transported on the conveyor belt To the pallet where the palletized goods are placed, the goods on the conveyor belt are removed manually or using equipment such as robotic arms and stacked on the pallet.
  • a large number of conveyor belts need to be arranged in the cargo storage and transfer area to meet the transportation needs of different goods.
  • the arrangement of a large number of conveyor belts will occupy a large area in the storage and transfer area, causing the cargo storage and transfer area to occupy a large area and Not easy to pass.
  • a mobile device with a fork mechanism is usually used for palletizing.
  • the fork mechanism used to lift goods has the problem of difficulty in unloading the goods by itself.
  • Embodiments of the present disclosure provide a fork mechanism and a palletizing robot to solve the technical problem that the fork mechanism used to lift goods is difficult to unload the goods by itself.
  • a fork mechanism including:
  • a support base having a first end and a second end in a first direction
  • a cargo fork assembly includes a cargo fork slidably mounted on the support base, and a first driving assembly connected to the cargo fork, the first driving assembly being configured to drive the cargo fork to move in a first direction, so The forks described above are configured to lift cargo;
  • the baffle assembly includes a baffle slidably mounted on the support base, and a second driving component connected to the baffle, the second driving component being configured to drive the baffle to move along the first direction, and the second driving component is configured to drive the baffle to move along the first direction.
  • the baffle and the fork do not interfere with each other when moving along the first direction; the baffle is configured such that when the baffle is located at the first end and the fork moves in the first direction from When the first end moves toward the second end, the goods on the fork are blocked from moving along the first direction from the first end to the second end.
  • the forks and baffles of the fork mechanism provided by the embodiments of the present disclosure can both move in the first direction, and they do not interfere with each other when moving in the first direction.
  • the fork In the initial state, the fork is located on the upper part of the support base and is in a retracted state, and the baffle is located at the second end of the support base; when the fork mechanism is unloading, the fork moves in the first direction from the second end to the first end so that The fork extends out of the support seat, and the baffle moves from the second end to the first end in the first direction synchronously with the fork or later than the fork.
  • the baffle moves to the first end.
  • the fork does not move, the fork moves from the first end to the second end in the first direction, so that the baffle blocks the goods located on the fork and follows the movement of the fork from the first end to the second end in the first direction, so that the goods located on the fork move along the first direction from the first end to the second end.
  • the goods on the fork are unloaded from the fork under the obstruction of the baffle, thus realizing automatic unloading of the fork. Unloading is simple, convenient and fully automated, which greatly reduces the labor intensity of workers.
  • the first driving component includes a first driving motor and a first transmission component
  • the first transmission component is connected to the cargo fork
  • the first driving motor is used to drive the The first transmission component drives the fork to move back and forth along the first direction.
  • the support base includes a support plate and two fixed plates provided on the upper part of the support plate, and the two fixed plates are respectively connected to both ends of the support plate along the second direction.
  • the second direction is perpendicular to the first direction;
  • the fork includes a fork portion provided on the upper portion of the support plate and a fork portion provided on the upper portion of the support plate.
  • the two connecting plates are respectively connected to both ends of the fork part along the second direction.
  • the two connecting plates are located between the two fixed plates and are located on the same There is an installation space for installing the first transmission component between the connecting plate and the fixed plate on the side, and the two connecting plates correspond to the two fixed plates to form two installation spaces;
  • the number of the first transmission components is two, and the two first transmission components are respectively arranged in the two installation spaces and installed on the two fixing plates respectively.
  • the second driving component includes a second driving motor and a second transmission component
  • the second transmission component is connected to the baffle
  • the second driving motor is used to drive the The second transmission component drives the baffle to move along the first direction.
  • the cargo fork cooperates with the support base to form a telescopic mechanism, and the baffle is movably sleeved on the telescopic mechanism;
  • the baffle includes a first part located at the lower part of the support plate, a second part located outside one of the fixed plates, a third part located outside the other fixed plate, and a third part located away from the fork part.
  • the second transmission component is provided at the lower part of the support plate, and the second transmission component is connected to the first part; or,
  • the number of the second transmission components is two, and the two second transmission components are respectively installed on the outsides of the two fixed plates, and one of the second transmission components is connected to the second part, and the other second transmission component is connected to the second part. One of said second transmission components is connected to said third part.
  • the first transmission component is provided between the fork and the support base, and the first transmission component is connected to the bottom of the fork.
  • the fork includes a connecting back plate, a first fork part connected to the middle part of the connecting back plate, and a second fork disposed on both sides of the first fork part. and a third fork portion, the length direction of the connecting back plate extends in a second direction, the second direction is perpendicular to the first direction, the first fork portion, the second fork portion and The third fork parts all extend in the first direction;
  • a first vertical plate is provided on a side of the second fork part away from the first fork part
  • the A second vertical plate is provided on the side of the third fork part away from the first fork part
  • both the second fork part and the third fork part are movably connected along the second direction. on the connecting back plate so that the distance between the first vertical plate and the second vertical plate is adjustable.
  • the fork mechanism further includes a third driving mechanism for driving the second fork part to move in the second direction and a third driving mechanism for driving the third fork part to move along the second direction.
  • the fourth driving mechanism moves in the second direction.
  • the cargo fork cooperates with the support base to form a telescopic mechanism
  • a mounting hole is provided on the baffle, the baffle is sleeved on the telescopic mechanism through the mounting hole, and the orthographic projection of the outer contour of the mounting hole on the first plane covers the fork.
  • Orthographic projection on the first plane which is a plane perpendicular to the first direction.
  • the second driving component includes a second driving motor and a second transmission component
  • the second transmission component is disposed at the bottom of the support base, and the second transmission component is connected to the second transmission component.
  • the baffle is connected, and the second drive motor is used to drive the second transmission assembly to drive the baffle to move back and forth along the first direction.
  • the cargo fork is provided with a cargo picking assembly, and the cargo picking assembly is configured to automatically pick up cargo when the cargo fork structure needs to pick up cargo.
  • the fork mechanism is used to be installed on a mobile device, and the fork mechanism further includes a lifting plate, and the lifting plate is used to dispose the fork mechanism liftably on the mobile device. on the mobile device.
  • Embodiments of the present disclosure also provide a palletizing robot.
  • the palletizing robot includes a robot body and a liftable fork mechanism provided on the robot body.
  • the fork mechanism is the cargo described in any of the above solutions. fork mechanism.
  • the palletizing robot further includes a control module, a navigation module and a photography module that are respectively communicatively connected to the control module;
  • the navigation module is used to guide the palletizing robot to move to the palletizing location
  • the photographing module is used to photograph the palletizing situation of goods at the palletizing location, and upload the captured pictures to the control module;
  • the control module is used to analyze the pictures taken by the shooting module, and control the lifting and lowering of the fork mechanism to a set position.
  • the set position is determined by the control module based on the pictures taken by the shooting module. The highest position of the cargo stack;
  • the first driving component and the second driving component are respectively communicatively connected with the control module.
  • Figure 1 is a schematic structural diagram of a fork mechanism of the present disclosure
  • Figure 2 is a schematic structural diagram of the fork mechanism in Figure 1 in which the forks and baffles are located at the moving end;
  • Figure 3 is a schematic structural diagram of the fork mechanism in Figure 1 in which the fork is located at the starting end of movement and the baffle is located at the end of movement;
  • FIG 4 is a schematic structural diagram of the baffle in the fork mechanism of Figure 1;
  • Figure 5 is a schematic structural diagram of another fork mechanism according to the present disclosure.
  • Figure 6 is a schematic structural diagram of the fork mechanism in Figure 5 in which the forks and baffles are located at the moving end;
  • Figure 7 is a schematic structural diagram of the fork mechanism in Figure 5 in which the fork is located at the starting end of movement and the baffle is located at the end of movement;
  • Figure 8 shows the arrangement of cartons in application scenario 1 of the palletizing robot according to the embodiment of the present disclosure
  • Figure 9 shows the unloading state 1 of the palletizing robot in application scenario 1 of the palletizing robot according to the embodiment of the present disclosure
  • Figure 10 shows the second unloading state of the palletizing robot in application scenario 1 of the palletizing robot according to the embodiment of the present disclosure
  • Figure 11 shows the unloading state three of the palletizing robot in application scenario 1 of the palletizing robot according to the embodiment of the present disclosure
  • Figure 12 is the unloading state four of the palletizing robot in application scenario 1 of the palletizing robot according to the embodiment of the present disclosure
  • Figure 13 shows the arrangement of cartons in application scenario 2 of the palletizing robot according to the embodiment of the present disclosure
  • Figure 14 is the unloading state 1 of the palletizing robot in application scenario 2 of the palletizing robot according to the embodiment of the present disclosure
  • Figure 15 shows the second unloading state of the palletizing robot in application scenario 2 of the palletizing robot according to the embodiment of the present disclosure
  • Figure 16 shows the unloading state three of the palletizing robot in application scenario 2 of the palletizing robot according to the embodiment of the present disclosure
  • Figure 17 is the unloading state four of the palletizing robot in application scenario 2 of the palletizing robot according to the embodiment of the present disclosure.
  • Support base 100. Support base;
  • Supporting plate 120. Fixed plate; 130. First end; 140. Second end;
  • the first fork part 212.
  • the second fork part 213.
  • the first vertical board
  • embodiments of the present disclosure provide telescopic forks and movable baffles on the support base of the fork mechanism.
  • the fork mechanism unloads cargo
  • the forks carrying the cargo extend out of the support base and block the cargo at the same time.
  • the plate moves outward.
  • the baffle does not move, the fork retracts, and the goods on the fork are unloaded from the fork under the blocking effect of the baffle, thus realizing the cargo Automatic unloading of fork mechanism.
  • Figure 1 is a schematic structural diagram of a fork mechanism of the present disclosure
  • Figure 2 is a schematic structural diagram of the fork mechanism in Figure 1 in which the fork and the baffle are located at the end of movement
  • Figure 3 is a schematic diagram of the fork mechanism in Figure 1 at the end of movement
  • the baffle is located at the moving end
  • Figure 4 is a structural schematic diagram of the baffle in the fork mechanism of Figure 1
  • Figure 5 is a structural schematic diagram of another fork mechanism of the present disclosure
  • Figure 6 is a structural schematic diagram of the fork mechanism in Figure 5 The structural schematic diagram shows that both the fork and the baffle are located at the end of movement
  • Figure 7 is a schematic structural diagram of the fork mechanism in Figure 5 with the fork located at the starting end of movement and the baffle is located at the end of movement
  • Figure 8 is a schematic diagram of the palletizing robot in the embodiment of the present disclosure.
  • Figure 9 is another usage scenario diagram of the palletizing robot in an embodiment of the present disclosure.
  • the fork mechanism provided by the embodiment of the present disclosure includes a support base 100, a fork assembly and a baffle assembly.
  • the support base 100 has a first end 130 and a second end 140 in a first direction;
  • the fork assembly includes a fork 200 slidably installed on the support base 100, and a first driving assembly connected to the fork 200.
  • a drive assembly is configured to drive the fork 200 along a first direction
  • the cargo fork 200 is configured to lift goods, that is, the goods lifted by the cargo fork mechanism are placed on the cargo fork 200 , and the cargo fork 200 can move back and forth in the first direction under the driving action of the first driving assembly.
  • the baffle 300 assembly includes a baffle 300 slidably mounted on the support base 100, and a second driving component connected to the baffle 300.
  • the second driving component is configured to drive the baffle 300 to move in the first direction, and the baffle 300 and the cargo
  • the forks 200 do not interfere with each other when moving along the first direction. That is to say, the baffle 300 can move back and forth along the first direction under the action of the second driving assembly, and the movement of the baffle 300 and the movement of the fork 200 do not interfere with each other. put one's oar in.
  • the baffle 300 is configured to block the goods located on the fork 200 from following the fork 200 along the first direction when the baffle 300 is located at the first end 130 and the fork 200 moves along the first direction from the first end 130 to the second end 140 .
  • the direction moves from first end 130 to second end 140 . That is to say, when the fork 200 moves from the first end 130 to the second end 140 along the first direction, the goods located on the fork 200 will move with the fork 200.
  • the baffle 300 since the baffle 300 is located at the first end 130, it is located at the first end 130.
  • the goods on the fork 200 are blocked by the baffle 300 when moving with the fork 200. Under the blocking effect of the baffle 300, the goods on the fork 200 will fall from the fork 200, that is, the fork mechanism is realized. discharge.
  • the initial state of the fork mechanism is that the fork 200 is located at the upper part of the support base 100 and is in a retracted state, and the baffle 300 is located at the second end 140 of the support base 100.
  • the goods It can be loaded on the cargo fork 200; when the cargo fork mechanism loaded with cargo is transferred to a designated position for unloading, the cargo fork 200 moves along the first direction from the second end 140 to the first end 130, so that the cargo fork 200 extends out for support.
  • the baffle 300 is synchronized with the fork 200 or later than the fork 200 moves in the first direction from the second end 140 to the first end 130, when the fork 200 is extended and the baffle 300 moves to the first end 130
  • the baffle 300 does not move, the fork 200 moves from the first end 130 to the second end 140 along the first direction, so that the baffle 300 blocks the goods located on the fork 200 and follows the fork 200 from the first end 130 to the second end 140 along the first direction.
  • One end 130 moves toward the second end 140, so that the goods on the fork 200 are unloaded from the fork 200 under the obstruction of the baffle 300, thus realizing automatic unloading of the fork 200, making unloading simple and convenient. And it is fully automated, which greatly reduces the labor intensity of workers.
  • the fork mechanism is used to be installed on the mobile device, so that the fork mechanism can move with the mobile device, so that the fork mechanism also has the function of transporting goods. That is to say, the fork mechanism is configured with the implementation of the present disclosure
  • the moving device of the fork mechanism provided by the example can transfer the sorted goods from the cargo sorting area to the pallet 700 where the palletized goods are placed, and then pass through the fork mechanism.
  • the cooperation of the fork 200 and the baffle 300 automatically unloads the goods on the fork 200 to the pallet 700. Unloading is simple and convenient, which greatly reduces the labor intensity of workers.
  • the moving device of the fork mechanism provided by the embodiment of the present disclosure is configured in the cargo storage and transfer area, then the cargo storage and transfer area does not need to arrange a conveyor belt to meet the transportation needs of different goods, which greatly saves the cost of cargo storage.
  • the space occupied by the conveyor belt is arranged in the transfer area, which increases the space utilization of the cargo storage and transfer area and facilitates the passage of staff.
  • the automatic unloading and palletizing of the fork mechanism can save labor and reduce the labor intensity of workers.
  • the fork mechanism also includes a lifting plate 400.
  • the lifting plate 400 is used to install the fork mechanism on the mobile device in a liftable manner. That is to say, the lifting plate 400 is elevatingly installed on the mobile device, the fork mechanism is installed on the lifting plate 400, and the fork mechanism can be elevatingly installed on the mobile device along with the lifting plate 400, so as to facilitate the implementation of the present disclosure.
  • the moving device of the fork mechanism provided for loading and palletizing.
  • first end 130 and the second end 140 of the support base 100 are two opposite ends, the second end 140 of the support base 100 is an end connected to the lifting plate 400, and the first end 130 of the support base 100 is The end away from the lifting plate 400.
  • the first driving component includes a first driving motor and a first transmission component.
  • the first transmission component is connected to the fork 200 .
  • the first driving motor is used to drive the first transmission component to drive the fork 200 in the first direction. Move back and forth.
  • the support base 100 includes a support plate 110 and two fixed plates 120 disposed on the upper part of the support plate 110.
  • the two fixed plates 120 are respectively connected to two sides of the support plate 110 along the second direction. end, the second direction is perpendicular to the first direction, that is to say, the support base 100 has a U-shaped structure, and the opening of the support base 100 faces upward.
  • the fork 200 includes a fork portion 210 disposed on the upper portion of the support plate 110 and two connecting plates 220 disposed on the upper portion of the fork portion 210.
  • the two connecting plates 220 are respectively connected to both ends of the fork portion 210 along the second direction.
  • the two connecting plates 220 are located between the two fixed plates 120 , that is to say, the fork 200 also has a U-shaped structure, the opening of the fork 200 also faces upward, and the fork 200 is located inside the support plate 110 .
  • the two connecting plates 220 correspond to the two fixing plates 120 to form two installation spaces.
  • the number of the first transmission components is two.
  • the two first transmission components are respectively provided in the two installation spaces and installed on the two fixing plates 120 respectively.
  • the first transmission component may be a first chain transmission component or a first synchronous belt transmission component. That is to say, when the support base 100 and the fork 200 have the above-mentioned structures, the method for driving the movement of the fork 200 may be chain drive or synchronous belt drive. The following takes the movement of the chain drive-driven fork 200 as an example for detailed explanation.
  • the first drive component When the first transmission component is a first chain transmission component, the first drive component further includes a first transmission shaft.
  • the two first transmission components and the first drive motor are respectively connected to the first transmission shaft.
  • the first drive motor drives the first drive shaft.
  • the transmission shaft rotates to operate the two first transmission assemblies.
  • This arrangement enables the two first transmission assemblies to operate synchronously, thereby allowing the fork 200 to smoothly slide back and forth in the first direction, avoiding the need for the first transmission assemblies and the
  • the second transmission component is out of sync, causing the fork 200 to deflect during movement, causing the fork 200 to be damaged or stuck.
  • the first transmission component and the second transmission component are driven by the same first drive motor, which saves the use of motors. quantity, reducing the production cost of the fork mechanism.
  • the first sprocket transmission assembly includes a transmission sprocket, a chain and a driven sprocket.
  • the transmission sprockets of the two first sprocket transmission assemblies are respectively arranged at both ends of the first rotating shaft.
  • the two first sprockets The driven sprocket of the transmission assembly is rotatably disposed on one end of the two fixed plates 120 away from the second end 140 .
  • the driven sprocket is rotatably mounted on a fixed shaft, and the fixed shaft is fixedly connected to the fixed plate 120 away from the second end 140 .
  • the chain is installed on the transmission sprocket and the driven sprocket.
  • the transmission sprocket rotates with the first rotating shaft, driving the chain to rotate.
  • the cargo fork 200 is connected to the chain, and the cargo fork 200 realizes the movement along the chain under the action of the chain. The first direction moves back and forth.
  • first sprocket transmission assembly can be replaced by a first synchronous belt transmission assembly, and its transmission mode is the same as that of chain transmission, which will not be described again here.
  • the support plate 110 is provided with a plurality of first slide grooves along a first direction, and a side of the fork portion 210 facing the support plate 110 is provided with a plurality of first slide bars along the first direction.
  • Each first slide bar corresponds to a plurality of first slide grooves one by one and is slidingly connected.
  • the first slide groove and the first slide bar cooperate to support the cargo fork 200 and prevent the cargo fork 200 and the goods on the cargo fork 200 from being overweight. Cause damage to the chain, and prevent wear when the support plate 110 and the fork 200 move relative to each other.
  • the second driving assembly includes a second driving motor and a second transmission assembly.
  • the second transmission assembly is connected to the baffle 300 , and the second driving motor is used to drive the second transmission.
  • the assembly drives the baffle 300 to move along the first direction. That is to say, the fork 200 is driven by the first transmission assembly to move in the first direction on the support plate 110, and the baffle 300 is driven by the second transmission assembly to move in the first direction on the support plate 110. The movement of the two does not interfere with each other.
  • the cargo fork 200 cooperates with the support base 100 to form a telescopic mechanism, and the baffle 300 is movably sleeved on the telescopic mechanism. That is to say, the cargo fork 200 can telescope relative to the support base 100. , the cargo fork 200 cooperates with the support base 100 to form a telescopic mechanism, and the baffle 300 is set on the telescopic mechanism and can move along the first direction.
  • the baffle 300 includes a first part 310 located at the lower part of the support plate 110 , a second part 320 located outside one of the fixed plates 120 , and a third part 330 located outside the other fixed plate 120 .
  • the fourth part 340 is located on the side of the fork part 210 away from the support base 100 and between the two connecting plates 220. That is to say, the baffle 300 has a U-shaped opening 350, and the telescopic mechanism is from the U of the baffle 300. The shaped opening 350 penetrates the baffle 300.
  • the baffle 300 located at the lower part of the telescopic mechanism is the first part 310 of the baffle 300.
  • the baffle 300 located on the left side of the telescopic mechanism is the second part 320 of the baffle 300. It is located on the right side of the telescopic mechanism.
  • the baffle 300 is the third part 330 of the baffle 300, and the baffle 300 located on the upper part of the telescopic mechanism is the fourth part 340 of the baffle 300.
  • the second transmission component can be disposed in the following two locations:
  • the second transmission component is disposed at the lower part of the support plate 110.
  • the second transmission component is connected to the first part 310.
  • the baffle 300 is driven by the second transmission component to move back and forth in the first direction.
  • the number of the second transmission components is two.
  • the two second transmission components are respectively installed on the outsides of the two fixed plates 120, and one of the second transmission components is connected to the second part 320, and the other second transmission component is connected to the second part 320.
  • the assembly is connected to the third part 330 .
  • the second transmission assembly drives the baffle 300 to move back and forth in the first direction.
  • the baffle 300 in order to make the movement of the baffle 300 in the first direction more flexible, avoid the baffle 300 from interacting with the baffle 300 during the movement.
  • the fork 200 generates friction or prevents the baffle 300 from friction with the upper part of the fixed plate 120 during movement.
  • the upper end surfaces of the two fixed plates 120 are provided with first slide rails, and each first slide rail is provided with a third slide rail.
  • a first slide block matched with a slide rail.
  • Two first slide blocks are respectively connected to the opposite parts of the baffle 300 and the two fixed plates 120. The first slide block and the first slide rail cooperate to guide the baffle 300. At the same time, it also plays a supporting role.
  • the first slider can support the baffle 300 so that the baffle 300 located on the upper part of the support plate 110 does not contact the support plate 110 to avoid the baffle 300 from sliding during the sliding process. Friction with the support plate 110 affects the baffle 300 of sliding.
  • the baffle 300 is sleeved on the telescopic mechanism, and when the baffle 300 moves, If the friction between the baffle 300 and the upper part of the fixed plate 120 is too large or the friction between the baffle 300 and the fork 200 is too large, the baffle 300 will be stuck due to uneven force, affecting the baffle 300 movement, and the arrangement of the first slide block and the first slide rail can prevent the baffle 300 from being stuck during the movement.
  • a cargo picking assembly is provided on the cargo fork, and the cargo picking assembly is configured to automatically retrieve cargo when the cargo fork structure requires cargo picking.
  • the picking component can be a clamping mechanism, that is, when the fork structure needs to pick up the goods, the clamping mechanism clamps the goods on the shelf to the forks.
  • the second transmission component may be a second chain transmission component or a second synchronous belt transmission component. That is to say, when the baffle 300 has the above structure, the driving method for moving the baffle 300 may be chain drive or synchronous belt drive.
  • the first transmission component can also be disposed at other positions.
  • the first transmission component can also be disposed between the fork 200 and the support base 100.
  • a transmission assembly is connected to the bottom of the fork 200 .
  • the first transmission component can be a first screw transmission component, that is to say, the way of driving the fork to move can be a screw transmission. drive.
  • the first transmission component when the first transmission component is a first screw transmission component, the first transmission component may include a first screw and a first screw nut seat disposed on the first screw, and the output end of the first drive motor Connected to the first screw, both ends of the first screw are fixedly connected to the support base 100 through bearings, the first part 310 of the fork 200 is connected to the first screw base, and the first drive motor drives the first screw to rotate. , thereby causing the first screw nut seat located on the first screw rod to move along the first screw rod, so that the cargo fork 200 moves with the first screw nut seat.
  • the support base 100, the fork 200 and the baffle 300 may have the following structure:
  • the fork 200 includes a connecting back plate 230 , a first fork part 211 connected to the middle part of the connecting back plate 230 , and second fork parts disposed on both sides of the first fork part 211 .
  • the length direction of the cargo fork portion 212 and the third cargo fork portion 213 is connected to the back plate 230 and extends in the second direction.
  • the second direction is perpendicular to the first direction, and the first fork part 211, the second fork part 212 and the third fork part 213 all extend in the first direction.
  • a first vertical plate 2121 is provided on the side of the second fork part 212 away from the first fork part 211, and a second vertical plate 2131 is provided on the side of the third fork part 213 away from the first fork part 211.
  • Both the second fork part 212 and the third fork part 213 are movably connected to the connecting back plate 230 along the second direction, so that the distance between the first vertical plate 2121 and the second vertical plate 2131 is adjustable.
  • this setting enables the fork mechanism to adapt to goods of different sizes (such as cartons 600). For example, when the size of the goods is 800mm long and 600mm wide, the second fork part 212 and the third fork are moved.
  • the part 213 makes the distance between the first vertical plate 2121 and the second vertical plate 2131 be 800mm. At this time, the length direction of the goods can be placed between the first vertical plate 2121 and the second vertical plate 2131. Similarly The second fork part 212 and the third fork part 213 can be moved so that the distance between the first vertical plate 2121 and the second vertical plate 2131 is 1200mm. At this time, the two goods are placed side by side on the first vertical plate in the width direction. Between the vertical plate 2121 and the second vertical plate 2131, in the same way, the distance between the first vertical plate 2121 and the second vertical plate 2131 can be adjusted so that the fork mechanism can be adapted to place different sizes. , different quantities of goods. This arrangement can make the goods placed on the fork 200 regular and facilitate the fork mechanism to accurately unload the goods onto the pallet 700 .
  • the fork mechanism further includes a third driving mechanism for driving the second fork part 212 to move in the second direction and a fourth driving mechanism for driving the third fork part 213 to move in the second direction.
  • the arrangement of the three driving mechanisms and the fourth driving mechanism enables the distance between the first vertical plate 2121 and the second vertical plate 2131 to be automatically adjusted according to the preset distance, which is simple, convenient, fast, and accurate.
  • the distance between the first vertical plate 2121 and the second vertical plate 2131 is slightly larger than the length of the goods placed in the second direction, for example, the distance between the first vertical plate 2121 and the second vertical plate 2131 The distance is 10 mm or 20 mm longer than the length of the goods placed in the second direction. This setting facilitates the placement of the goods in the fork 200 .
  • the baffle 300 is provided with a mounting hole.
  • the baffle 300 is sleeved on the telescopic mechanism (the fork 200 and the support base 100 cooperate to form a telescopic mechanism) through the mounting hole, and the outer contour of the mounting hole is at the first
  • the orthographic projection on the plane covers the orthographic projection of the fork 200 on the first plane, which is a plane perpendicular to the first direction.
  • This arrangement allows the baffle 300 and the fork 200 to interact with each other when moving along the first direction. No interference, that is, the baffle 300 does not affect the expansion and contraction of the fork 200, and the fork 200 does not affect the back and forth movement of the baffle 300. Furthermore, this setting prevents the baffle 300 from affecting the second fork part. 212 and the movement of the third fork part 213 make the distance between the first vertical plate 2121 and the second vertical plate 2131 flexibly adjustable.
  • the second driving assembly includes a second driving motor and a second transmission assembly, and the second transmission assembly The assembly is disposed at the bottom of the support base 100, and the second transmission assembly is connected to the baffle 300.
  • the second drive motor is used to drive the second transmission assembly to drive the baffle 300 to move back and forth in the first direction. That is to say, the fork 200 is driven by the first transmission assembly to move in the first direction on the support plate 110, and the baffle 300 is driven by the second transmission assembly to move in the first direction on the support plate 110. The movement of the two does not interfere with each other.
  • the second transmission assembly is a second screw transmission assembly.
  • the second transmission assembly may include a second screw and a third screw disposed on the second screw.
  • Two screw nut seats the output end of the second drive motor is connected to the second screw rod, the second drive motor drives the second screw rod to rotate, and then the second screw nut seat located on the second screw rod moves along the second screw rod Move, the baffle 300 is connected with the second nut seat, so that the baffle 300 moves with the movement of the second nut seat.
  • Embodiments of the present disclosure also provide a palletizing robot, as shown in Figures 9 to 12.
  • the palletizing robot includes a robot body 500 and a liftable fork mechanism disposed on the robot body 500.
  • the fork mechanism is as described above.
  • the fork mechanism described in any scheme.
  • the palletizing robot also includes a control module, a navigation module and a photography module that are communicated with the control module respectively.
  • the navigation module is used to guide the palletizing robot to move to the palletizing location;
  • the photographing module is used to photograph the palletizing situation of the goods at the palletizing location, and upload the pictures taken by it to the control module;
  • the control module is used to capture the images captured by the photographing module. The picture is analyzed, and the fork mechanism is controlled to rise to the set position.
  • the set position is the highest position of the cargo stack analyzed by the control module based on the picture taken by the shooting module; the first drive component, the second drive component, and the third drive
  • the component and the fourth driving component are respectively communicatively connected with the control module, and the control module controls the operation of the first driving component, the second driving component, the third driving component and the fourth driving component. That is to say, the control module of the palletizing robot loaded with goods controls the palletizing robot to move to the palletizing location through the information fed back by the navigation module, and then controls the lifting and lowering of the fork mechanism on the palletizing robot based on the information captured by the shooting module.
  • the palletizing robot can automatically transport goods and automatically unload and stack goods, saving time, effort and efficiency.
  • Application scenario 1 The palletizing robot provided by the embodiment of the present disclosure palletizes pallets 700 with a length of 1200mm and a width of 800mm.
  • the size of the palletized cartons 600 is 800mm in length a and 600mm in width b.
  • Two cartons 600 can be palletized at one time. , and the cartons 600 are arranged side by side along the width direction, as shown in Figure 8 .
  • the unloading process of the palletizing robot is as follows:
  • the palletizing robot loaded with goods moves to the palletizing location.
  • the photography module takes pictures of the palletizing situation of the goods at the palletizing location, and uploads the pictures it takes to the control module; the control module obtains and analyzes the pictures. Based on the pictures taken by the module, the control module controls the fork mechanism to rise to the set position based on its analysis results (the set position is the highest position of the cargo stack analyzed by the control module based on the pictures taken by the shooting module)
  • control module controls the operation of the first driving component and the second driving component so that the fork 200 carrying the carton 600 moves to the upper part of the stacked carton 600 on the pallet 700, and the baffle 300 moves at the same time. to the second end 140 of the support base 100 .
  • control module controls the first driving component to operate again, so that the fork 200 moves in the first direction from the first end 130 to the second end 140. At this time, the end of the carton 600 away from the robot body 500 falls. Fall onto the palletized cartons 600 on the pallet 700 .
  • the cargo fork 200 is completely retracted to the support base 100, the cartons 600 are stacked on the pallet 700, and the baffle 300 moves back to the third position of the support base 100 along the first direction. 140 on both ends.
  • Application scenario 2 The palletizing robot provided by the embodiment of the present disclosure palletizes pallets 700 with a length of 1200mm and a width of 800mm.
  • the size of the palletized cartons 600 is 600mm in length a and 400mm in width b.
  • Four cartons 600 can be palletized at one time.
  • the cartons 600 are arranged as shown in Figure 13.

Landscapes

  • Warehouses Or Storage Devices (AREA)
  • Manipulator (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

一种货叉机构及码垛机器人，该货叉机构包括支撑座、货叉组件和挡板组件，支撑座在第一方向上具有第一端和第二端；货叉组件包括滑动安装于支撑座上的货叉，以及驱动货叉沿第一方向移动的第一驱动组件；挡板组件包括滑动安装于支撑座的挡板，以及驱动挡板沿第一方向移动的第二驱动组件，且挡板和货叉移动时互不干涉；当挡板位于第一端且货叉沿第一方向从第一端向第二端移动时，挡板阻挡位于货叉上的货物跟随货叉沿第一方向从第一端向第二端移动。该货叉机构能够自动卸货，卸货简单方便，降低了工人的劳动强度。

Description

货叉机构及码垛机器人
本申请要求于2022年06月30日提交中国专利局、申请号为202221708020.0、申请名称为“货叉机构及码垛机器人”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
本公开实施例涉及码垛机器人技术领域，尤其涉及一种货叉机构及码垛机器人。
背景技术
码垛是指把物品整齐的堆叠好，在货物运输过程中，通常需要先将货物码垛于托盘上，以便于货物的转运。
在相关技术中，货物码垛通常的流程为：货物(如纸箱)从货物存储仓库内出库，出库的货物经过分拣机分拣后放置于传送带上，分拣后的货物经传送带传输至放置码垛货物的托盘处，人工或者采用机械臂等设备将传送带上的货物取下并码垛于托盘上。在上述流程中需要在货物存储转运区内布置大量的传送带以满足不同货物的输送需求，然而，大量的传送带的布置会占用存储转运区内大量的面积，造成货物存储转运区占地面积大且不便于通行。
为了解决上述问题，通常采用具有货叉机构的移动装置进行码垛，但是用于托举货物的货叉机构存在难以自行将货物卸下的问题。
申请内容
本公开实施例提供一种货叉机构及码垛机器人，用以解决用于托举货物的货叉机构存在难以自行将货物卸下的技术问题。
本公开实施例为解决上述技术问题提供如下技术方案：
一种货叉机构，包括：
支撑座，所述支撑座在第一方向上具有第一端和第二端；
货叉组件，包括滑动安装于所述支撑座上的货叉，以及与所述货叉连接的第一驱动组件，所述第一驱动组件配置为驱动所述货叉沿第一方向移动，所述货叉配置为托举货物；
挡板组件，包括滑动安装于所述支撑座的挡板，以及与所述挡板连接的第二驱动组件，所述第二驱动组件配置为驱动挡板沿所述第一方向移动，且所述挡板和所述货叉在沿所述第一方向移动时互不干涉；所述挡板配置为当所述挡板位于所述第一端且所述货叉沿所述第一方向从所述第一端向所述第二端移动时，阻挡位于所述货叉上的货物跟随所述货叉沿所述第一方向从所述第一端向所述第二端移动。
本公开实施例的有益效果：本公开实施例提供的货叉机构的货叉和挡板均可沿第一方向移动，且两者在第一方向上移动时互不干涉，在货叉机构的初始状态，货叉位于支撑座的上部，处于收缩状态，挡板位于支撑座的第二端；在货叉机构卸货时，货叉沿第一方向从第二端向第一端移动，以使货叉伸出支撑座，同时挡板与货叉同步或晚于货叉沿第一方向从第二端向第一端移动，当货叉伸出以及挡板移动到第一端时，挡板不动，货叉沿第一方向从第一端向第二端移动，以使得挡板阻挡位于货叉上的货物跟随货叉沿第一方向从第一端向第二端移动，从而使得位于货叉上的货物在挡板的阻挡下，自货叉上卸下，由此实现了货叉的自动卸货，卸货简单方便，且完全自动化，极大的降低了工人的劳动强度。
在一种可能的实施方式中，所述第一驱动组件包括第一驱动电机和第一传动组件，所述第一传动组件与所述货叉连接，所述第一驱动电机用于驱动所述第一传动组件带动所述货叉沿所述第一方向来回移动。
在一种可能的实施方式中，所述支撑座包括支撑板和设置于所述支撑板上部的两个固定板，两个所述固定板分别连接于所述支撑板沿第二方向的两端，所述第二方向与所述第一方向垂直；
所述货叉包括设置于所述支撑板上部的货叉部以及设置于所述货叉 部上部的两个连接板，两个所述连接板分别连接于所述货叉部沿所述第二方向的两端，两个所述连接板位于两个所述固定板之间，位于相同侧的所述连接板和所述固定板之间具有用于安装所述第一传动组件的安装空间，两个所述连接板与两个所述固定板对应形成两个所述安装空间；
所述第一传动组件的数量为两个，两个所述第一传动组件分别设置于两个所述安装空间内，且分别安装于两个固定板上。
在一种可能的实施方式中，所述第二驱动组件包括第二驱动电机和第二传动组件，所述第二传动组件与所述挡板连接，所述第二驱动电机用于驱动所述第二传动组件带动所述挡板沿所述第一方向移动。
在一种可能的实施方式中，所述货叉与所述支撑座配合形成伸缩机构，所述挡板可移动套设于所述伸缩机构上；
所述挡板包括位于所述支撑板下部的第一部分、位于其中一个所述固定板的外侧的第二部分、位于另一个所述固定板的外侧的第三部分以及位于所述货叉部远离所述支撑座的一侧且位于两个所述连接板之间的第四部分；
所述第二传动组件设置于所述支撑板的下部，所述第二传动组件与所述第一部分连接；或者，
所述第二传动组件的数量为两个，两个所述第二传动组件分别安装于两个所述固定板的外侧，且其中一个所述第二传动组件与所述第二部分连接，另一个所述第二传动组件与所述第三部分连接。
在一种可能的实施方式中，所述第一传动组件设置于所述货叉与所述支撑座之间，所述第一传动组件与所述货叉的底部连接。
在一种可能的实施方式中，所述货叉包括连接背板、与所述连接背板的中部连接的第一货叉部以及设置于所述第一货叉部两侧的第二货叉部和第三货叉部，所述连接背板的长度方向在第二方向上延伸，所述第二方向与所述第一方向垂直，所述第一货叉部、第二货叉部和第三货叉部均在所述第一方向上延伸；
所述第二货叉部远离所述第一货叉部的一侧设置有第一竖向板，所述 第三货叉部远离所述第一货叉部的一侧设置有第二竖向板，所述第二货叉部和所述第三货叉部均沿所述第二方向可移动的连接于所述连接背板上，以使得所述第一竖向板与所述第二竖向板之间的间距可调。
在一种可能的实施方式中，所述货叉机构还包括用于驱动所述第二货叉部沿所述第二方向移动的第三驱动机构以及用于驱动所述第三货叉部沿所述第二方向移动的第四驱动机构。
在一种可能的实施方式中，所述货叉与所述支撑座配合形成伸缩机构；
所述挡板上设置有安装孔，所述挡板通过所述安装孔套设于所述伸缩机构上，且所述安装孔的外轮廓在第一平面上的正投影覆盖所述货叉在所述第一平面上的正投影，所述第一平面为垂直于所述第一方向的平面。
在一种可能的实施方式中，所述第二驱动组件包括第二驱动电机和第二传动组件，所述第二传动组件设置于所述支撑座的底部，且所述第二传动组件与所述挡板连接，所述第二驱动电机用于驱动所述第二传动组件带动所述挡板沿所述第一方向来回移动。
在一种可能的实施方式中，所述货叉上设置有取货组件，所述取货组件配置为，在所述货叉结构需要取货时，所述货叉组件自动取货。
在一种可能的实施方式中，所述货叉机构用于安装在移动装置上，所述货叉机构还包括升降板，所述升降板用于将所述货叉机构可升降的设置于所述移动装置上。
本公开实施例还提供了一种码垛机器人，该码垛机器人包括机器人本体以及可升降的设置于所述机器人本体上的货叉机构，所述货叉机构为上述任一方案所述的货叉机构。
本公开实施例提供的码垛机器人的有益效果与上述货叉机构的有益效果相同，在此不再赘述。
在一种可能的实施方式中，码垛机器人还包括控制模块、分别与所述控制模块通信连接的导航模块和拍摄模块；
所述导航模块用于引导所述码垛机器人移动至码垛地点；
所述拍摄模块用于拍摄所述码垛地点的货物码垛情况，并将其拍摄的图片上传至所述控制模块；
所述控制模块用于对所述拍摄模块拍摄的图片进行分析，并控制所述货叉机构升降至设定位置，所述设定位置为所述控制模块根据所述拍摄模块拍摄的图片分析出的货物堆垛的最高位置；
所述第一驱动组件和所述第二驱动组件分别与所述控制模块通信连接。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本公开的实施例，并与说明书一起用于解释本公开的原理。
图1为本公开一种货叉机构的结构示意图；
图2为图1货叉机构中货叉和挡板均位于移动末端的结构示意图；
图3为图1货叉机构中货叉位于移动起始端，挡板位于移动末端的结构示意图；
图4为图1货叉机构中挡板的结构示意图；
图5为本公开另一种货叉机构的结构示意图；
图6为图5货叉机构中货叉和挡板均位于移动末端的结构示意图；
图7为图5货叉机构中货叉位于移动起始端，挡板位于移动末端的结构示意图；
图8为本公开实施例码垛机器人应用场景1中纸箱的排列方式；
图9为本公开实施例码垛机器人的应用场景1中码垛机器人的卸货状态一；
图10为本公开实施例码垛机器人的应用场景1中码垛机器人的卸货状态二；
图11为本公开实施例码垛机器人的应用场景1中码垛机器人的卸货状态三；
图12为本公开实施例码垛机器人的应用场景1中码垛机器人的卸货状态四；
图13为本公开实施例码垛机器人应用场景2中纸箱的排列方式；
图14为本公开实施例码垛机器人的应用场景2中码垛机器人的卸货状态一；
图15为本公开实施例码垛机器人的应用场景2中码垛机器人的卸货状态二；
图16为本公开实施例码垛机器人的应用场景2中码垛机器人的卸货状态三；
图17为本公开实施例码垛机器人的应用场景2中码垛机器人的卸货状态四。
附图标记说明：
100、支撑座；
110、支撑板；120、固定板；130、第一端；140、第二端；
200、货叉；
210、货叉部；220、连接板；230、连接背板；
211、第一货叉部；212、第二货叉部；213、第三货叉部；
2121、第一竖向板；
2131、第二竖向板；
300、挡板；
310、第一部分；320、第二部分；330、第三部分；340、第四部分；350、U形口；
400、升降板；
500、机器人本体；
600、纸箱；
700、托盘。
通过上述附图，已示出本公开明确的实施例，后文中将有更详细的描述。这些附图和文字描述并不是为了通过任何方式限制本公开构思的范围，而是通过参考特定实施例为本领域技术人员说明本公开的概念。
具体实施方式
正如背景技术所述，在相关技术中，货物码垛时，需要在货物存储转 运区内布置大量的传送带以满足不同货物的输送需求，然而，大量的传送带的布置会占用存储转运区内大量的面积，造成货物存储转运区占地面积大且不便于通行，并且码垛时若采用人工码垛，码垛工人的劳动强度大，且增加了码垛工人受伤的风险，虽然机械臂码垛能够降低工人的劳动强度，但是采用机械臂码垛成本较高，难以在货物存储转运区内广泛使用。为了解决上述问题，货物存储转运区通常采用具有货叉机构的移动装置进行码垛，但是用于托举货物的货叉机构难以自行将货物卸下，码垛的过程仍需要人工搬运码垛，码垛效率低，且劳动强度大。
有鉴于此，本公开实施例通过在货叉机构的支撑座上设置可伸缩的货叉和可移动的挡板，在货叉机构卸货时，载有货物的货叉伸出支撑座，同时挡板向外移动，当货叉和挡板均移动到位时，挡板不动，货叉回缩，货叉上的货物在挡板的阻挡作用下自货叉上卸下，由此实现了货叉机构的自动卸货。
下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本公开的一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
图1为本公开一种货叉机构的结构示意图；图2为图1货叉机构中货叉和挡板均位于移动末端的结构示意图；图3为图1货叉机构中货叉位于移动起始端，挡板位于移动末端的结构示意图；图4为图1货叉机构中挡板的结构示意图；图5为本公开另一种货叉机构的结构示意图；图6为图5货叉机构中货叉和挡板均位于移动末端的结构示意图；图7为图5货叉机构中货叉位于移动起始端，挡板位于移动末端的结构示意图；图8为本公开实施例中码垛机器人的一种使用场景图；图9为本公开实施例中码垛机器人的另一种使用场景图。
如图1-图7所示，本公开实施例提供的货叉机构包括支撑座100、货叉组件和档板组件。其中，支撑座100在第一方向上具有第一端130和第二端140；货叉组件包括滑动安装于支撑座100上的货叉200，以及与货叉200连接的第一驱动组件，第一驱动组件配置为驱动货叉200沿第一方 向移动，货叉200配置为托举货物，也就是说，货叉机构托举的货物放置在货叉200上，货叉200能够在第一驱动组件的驱动作用下沿第一方向来回移动。挡板300组件包括滑动安装于支撑座100的挡板300，以及与挡板300连接的第二驱动组件，第二驱动组件配置为驱动挡板300沿第一方向移动，且挡板300和货叉200在沿第一方向移动时互不干涉，也就是说，挡板300能够在第二驱动组件的作用下沿第一方向来回移动，并且挡板300的移动与货叉200的移动互不干涉。挡板300配置为当挡板300位于第一端130且货叉200沿第一方向从第一端130向第二端140移动时，阻挡位于货叉200上的货物跟随货叉200沿第一方向从第一端130向第二端140移动。也就是说，货叉200沿第一方向从第一端130向第二端140移动时，位于货叉200上的货物会跟随货叉200移动，但是由于挡板300位于第一端130，位于货叉200上的货物在随货叉200移动时被挡板300挡住，在挡板300的阻挡作用下，位于货叉200上的货物会自货叉200上掉下，即实现货叉机构的卸货。
本公开实施例提供的货叉机构在使用时，货叉机构的初始状态为货叉200位于支撑座100的上部，处于收缩状态，挡板300位于支撑座100的第二端140，此时货物可以装载于货叉200上；在装载有货物的货叉机构转运至指定位置卸货时，货叉200沿第一方向从第二端140向第一端130移动，以使货叉200伸出支撑座100，同时挡板300与货叉200同步或晚于货叉200沿第一方向从第二端140向第一端130移动，当货叉200伸出以及挡板300移动到第一端130时，挡板300不动，货叉200沿第一方向从第一端130向第二端140移动，以使得挡板300阻挡位于货叉200上的货物跟随货叉200沿第一方向从第一端130向第二端140移动，从而使得位于货叉200上的货物在挡板300的阻挡下，自货叉200上卸下，由此实现了货叉200的自动卸货，卸货简单方便，且完全自动化，极大的降低了工人的劳动强度。
在本实施例中，货叉机构用于安装在移动装置上，以使得货叉机构能够随移动装置移动，从而使得该货叉机构同时具有搬运货物的功能，也就是说，配置有本公开实施例提供的货叉机构的移动装置能够将分拣后的货物自货物分拣区转运至放置码垛货物的托盘700处，然后通过货叉机构中 货叉200和挡板300的配合将位于货叉200上的货物自动卸至托盘700上，卸货简单方便，极大的降低了工人的劳动强度。由此，货物存储转运区内若配置有本公开实施例提供的货叉机构的移动装置，那么货物存储转运区则无需布置用于满足不同货物的输送需求的传送带，极大的节省了货物存储转运区布置传送带所占用的空间，增加了货物存储转运区的空间利用率，且便于工作人员的通行。此外，货叉机构的自动卸货码垛能够节省人工，降低工人的劳动强度。
进一步的，货叉机构还包括升降板400，升降板400用于将货叉机构可升降的设置于移动装置上。也就是说，升降板400可升降的安装在移动装置上，货叉机构安装于升降板400上，货叉机构能够随升降板400可升降的设置在移动装置上，以便于配置有本公开实施例提供的货叉机构的移动装置的装货，以及码垛。
值得说明的是，支撑座100的第一端130和第二端140为相对的两端，支撑座100的第二端140为与升降板400连接的一端，支撑座100的第一端130为远离升降板400的一端。
本公开实施例中，第一驱动组件包括第一驱动电机和第一传动组件，第一传动组件与货叉200连接，第一驱动电机用于驱动第一传动组件带动货叉200沿第一方向来回移动。
如图1、图2和图3所示，支撑座100包括支撑板110和设置于支撑板110上部的两个固定板120，两个固定板120分别连接于支撑板110沿第二方向的两端，第二方向与第一方向垂直，也就是说，支撑座100呈U形结构，且支撑座100的开口朝向上方。
货叉200包括设置于支撑板110上部的货叉部210以及设置于货叉部210上部的两个连接板220，两个连接板220分别连接于货叉部210沿第二方向的两端，两个连接板220位于两个固定板120之间，也就是说，货叉200也呈U形结构，货叉200的开口也朝向上方，并且货叉200位于于支撑板110的内部。位于相同侧的连接板220和固定板120之间具有用于安装第一传动组件的安装空间，两个连接板220与两个固定板120对应形成两个安装空间。第一传动组件的数量为两个，两个第一传动组件分别设置于两个安装空间内，且分别安装于两个固定板120上。
可选的，在支撑座100和货叉200为上述结构时，第一传动组件可以为第一链传动组件，也可以为第一同步带传动组件。也就是说，在支撑座100和货叉200为上述结构时，驱动货叉200移动的方式可以为链传动驱动，也可以为同步带传动驱动。下面以链传动驱动货叉200移动为例进行具体阐述。
在第一传动组件为第一链传动组件时，第一驱动组件还包括第一传动轴，两个第一传动组件和第一驱动电机分别与第一传动轴连接，第一驱动电机驱动第一传动轴转动，以使两个第一传动组件运行，此设置使得两个第一传动组件能够同步运转，由此使得货叉200能够平顺的沿第一方向来回滑动，避免了第一传动组件和第二传动组件不同步导致货叉200在移动过程中发生偏转导致货叉200损坏或卡死的情况，同时第一传动组件和第二传动组件通过同一第一驱动电机驱动，节省了电机的使用数量，降低了货叉机构的生产成本。
可选的，第一链轮传动组件包括传动链轮、链条和从动链轮，两个第一链轮传动组件的传动链轮分别设置于第一转轴的两端，两个第一链轮传动组件的从动链轮分别可转动的设置于两个固定板120远离第二端140的一端，例如，从动链轮可转动的安装在固定轴上，固定轴固定连接于固定板120远离第二端140的一端，链条安装在传动链轮和从动链轮上，传动链轮随第一转轴转动，带动链条转动，货叉200与链条连接，货叉200在链条的作用下实现沿第一方向来回移动。
可选的，上述第一链轮传动组件可以替换为第一同步带传动组件，其传动方式与链传动的方式相同，在此不再赘述。
为了使货叉200伸缩更加灵活，支撑板110上沿第一方向设置有多个第一滑槽，货叉部210朝向支撑板110的一面沿第一方向设置有多个第一滑条，多个第一滑条与多个第一滑槽一一对应，且滑动配合连接，第一滑槽与第一滑条配合能够支撑货叉200，避免货叉200以及货叉200上的货物过重对链条造成伤害，以及防止支撑板110和货叉200相对移动时的磨损。
在本公开的一些实施例中，第二驱动组件包括第二驱动电机和第二传动组件，第二传动组件与挡板300连接，第二驱动电机用于驱动第二传动 组件带动挡板300沿第一方向移动。也就是说，货叉200通过第一传动组件带动以实现其在支撑板110上沿第一方向移动，挡板300通过第二传动组件带动以实现其在支撑板110上沿第一方向移动，两者的移动互不干涉。
如图1、图2和图3所示，货叉200与支撑座100配合形成伸缩机构，挡板300可移动套设于伸缩机构上，也就是说，货叉200能够相对于支撑座100伸缩，货叉200与支撑座100配合形成伸缩机构，挡板300套设在伸缩机构上，且能够沿第一方向移动。如图3和图4所示，挡板300包括位于支撑板110下部的第一部分310、位于其中一个固定板120的外侧的第二部分320、位于另一个固定板120的外侧的第三部分330以及位于货叉部210远离支撑座100的一侧且位于两个连接板220之间的第四部分340，也就是说，挡板300上具有U形口350，伸缩机构自挡板300的U形口350处贯穿挡板300，位于伸缩机构下部的挡板300为挡板300的第一部分310，位于伸缩机构左侧的挡板300为挡板300的第二部分320，位于伸缩机构右侧的挡板300为挡板300的第三部分330，位于伸缩机构上部的挡板300为挡板300的第四部分340。
在本实施例中，第二传动组件设置的位置可以为如下两种：
第一种，第二传动组件设置于支撑板110的下部，第二传动组件与第一部分310连接，挡板300在第二传动组件的带动下沿第一方向来回移动。
第二种，第二传动组件的数量为两个，两个第二传动组件分别安装于两个固定板120的外侧，且其中一个第二传动组件与第二部分320连接，另一个第二传动组件与第三部分330连接。
上述两种方式均可以实现第二传动组件带动挡板300沿第一方向来回移动，可选的，为了使挡板300在第一方向上的移动更加灵活，避免挡板300在移动过程中与货叉200产生摩擦或者避免挡板300在移动过程中与固定板120的上部产生摩擦，两个固定板120的上端面上均设置有第一滑轨，各第一滑轨上设置有与第一滑轨配合的第一滑块，两个第一滑块分别连接于挡板300与两个固定板120相对的部分上，第一滑块与第一滑轨配合对挡板300起到导向作用的同时，还起到支撑作用，第一滑块能够将挡板300支撑起，使得位于支撑板110上部的挡板300不与支撑板110接触，避免挡板300滑动过程中，挡板300与支撑板110产生摩擦影响挡板300 的滑动。在一方面，在第二传动组件设置于支撑板110的下部时，由于驱动挡板300移动的力位于挡板300的下部，挡板300套设在伸缩机构上，挡板300在移动时，如果挡板300与固定板120上部的摩擦力过大或者挡板300与货叉200的摩擦力过大，会使得挡板300因受力不均导致挡板300被卡住，影响挡板300的移动，而第一滑块与第一滑轨的设置，能够避免挡板300在移动过程中被卡死的情况。
在本公开的一些实施例中，货叉上设置有取货组件，取货组件配置为，在货叉结构需要取货时，货叉组件自动取货。示例性的，取货组件可以为夹抱机构，即货叉结构需要取货时，夹抱机构将位于货架上的货物夹抱至货叉上。
可选的，在挡板300为上述结构时，第二传动组件可以为第二链传动组件，也可以为第二同步带传动组件。也就是说，在挡板300为上述结构时，驱动挡板300移动的方式可以为链传动驱动，也可以为同步带传动驱动。
第一传动组件除了设置在上述位置外，还可以设置于其他位置，示例性的，在本公开的一些实施例中，第一传动组件还可以设置于货叉200与支撑座100之间，第一传动组件与货叉200的底部连接。可选的，在第一传动组件设置于货叉200与支撑座100之间时，第一传动组件可以为第一丝杆传动组件，也就是说，驱动货叉移动的方式可以为丝杆传动驱动。
可选的，在第一传动组件为第一丝杆传动组件时，第一传动组件可以包括第一丝杆和设置于第一丝杆上的第一丝母座，第一驱动电机的输出端与第一丝杆连接，第一丝杆的两端通过轴承固定连接在支撑座100上，货叉200的第一部分310与第一丝母座连接，第一驱动电机工作带动第一丝杆转动，进而使得位于第一丝杆上的第一丝母座沿第一丝杆移动，以使得货叉200随第一丝母座移动。
可选的，在第一传动组件设置于货叉200与支撑座100之间时，支撑座100、货叉200和挡板300可以为如下结构：
如图5、图6和图7所示，货叉200包括连接背板230、与连接背板230的中部连接的第一货叉部211以及设置于第一货叉部211两侧的第二货叉部212和第三货叉部213，连接背板230的长度方向在第二方向上延 伸，第二方向与第一方向垂直，第一货叉部211、第二货叉部212和第三货叉部213均在第一方向上延伸。第二货叉部212远离第一货叉部211的一侧设置有第一竖向板2121，第三货叉部213远离第一货叉部211的一侧设置有第二竖向板2131，第二货叉部212和第三货叉部213均沿第二方向可移动的连接于连接背板230上，以使得第一竖向板2121与第二竖向板2131之间的间距可调，此设置使得该货叉机构能够适配于不同尺寸的货物(如纸箱600)，示例性的，当货物的尺寸为长800mm，宽600mm时，移动第二货叉部212和第三货叉部213使得第一竖向板2121与第二竖向板2131之间的间距为800mm，此时货物可以使其长度方向放置于第一竖向板2121与第二竖向板2131之间，同样可以移动第二货叉部212和第三货叉部213使得第一竖向板2121与第二竖向板2131之间的距离为1200mm，此时两个货物在宽度方向并排的放置于第一竖向板2121与第二竖向板2131之间，同理，可以通过调节第一竖向板2121与第二竖向板2131之间的距离以使得该货叉机构能够适配于放置不同尺寸、不同数量的货物。此设置能够使得放置于货叉200上的货物规整，便于货叉机构准确的将货物卸至码垛的托盘700上。
可选的，货叉机构还包括用于驱动第二货叉部212沿第二方向移动的第三驱动机构以及用于驱动第三货叉部213沿第二方向移动的第四驱动机构，第三驱动机构和第四驱动机构的设置使得第一竖向板2121与第二竖向板2131之间的距离能够根据预设的距离自动调节，简单方便快捷，且准确。可选的，第一竖向板2121与第二竖向板2131之间的距离略大于货物在第二方向上放置的长度，例如，第一竖向板2121与第二竖向板2131之间的距离比货物在第二方向上放置的长度大10mm或20mm等，此设置便于货物放置于货叉200内。
如图7所示，挡板300上设置有安装孔，挡板300通过安装孔套设于伸缩机构(货叉200与支撑座100配合形成伸缩机构)上，且安装孔的外轮廓在第一平面上的正投影覆盖货叉200在第一平面上的正投影，第一平面为垂直于第一方向的平面，此设置使得挡板300和货叉200在沿所述第一方向移动时互不干涉，即挡板300不影响货叉200的伸缩，货叉200不影响挡板300的来回移动，再者，此设置使得挡板300不影响第二货叉部 212和第三货叉部213的移动，使得第一竖向板2121与第二竖向板2131之间的距离灵活可调。
在支撑座100、货叉200和挡板300为如图5、图6和图7所示的结构时，示例性的，第二驱动组件包括第二驱动电机和第二传动组件，第二传动组件设置于支撑座100的底部，且第二传动组件与挡板300连接，第二驱动电机用于驱动第二传动组件带动挡板300沿第一方向来回移动。也就是说，货叉200通过第一传动组件带动以实现其在支撑板110上沿第一方向移动，挡板300通过第二传动组件带动以实现其在支撑板110上沿第一方向移动，两者的移动互不干涉。
可选的，第二传动组件为第二丝杆传动组件，当第二传动组件为第二丝杆传动组件时，第二传动组件可以包括第二丝杆和设置于第二丝杆上的第二丝母座，第二驱动电机的输出端与第二丝杆连接，第二驱动电机工作带动第二丝杆转动，进而使得位于第二丝杆上的第二丝母座沿第二丝杆移动，挡板300与第二丝母座连接，以使得挡板300随第二丝母座的移动而移动。
本公开实施例还提供了一种码垛机器人，如图9-图12所示，该码垛机器人包括机器人本体500以及可升降的设置于机器人本体500上的货叉机构，货叉机构为上述任一方案所述的货叉机构。
该码垛机器人还包括控制模块、分别与控制模块通信连接的导航模块和拍摄模块。其中，导航模块用于引导码垛机器人移动至码垛地点；拍摄模块用于拍摄码垛地点的货物码垛情况，并将其拍摄的图片上传至控制模块；控制模块用于对拍摄模块拍摄的图片进行分析，并控制货叉机构升降至设定位置，设定位置为控制模块根据拍摄模块拍摄的图片分析出的货物堆垛的最高位置；第一驱动组件、第二驱动组件、第三驱动组件和第四驱动组件分别与控制模块通信连接，控制模块控制第一驱动组件、第二驱动组件、第三驱动组件和第四驱动组件的运作。也就是说，装载有货物的码垛机器人的控制模块通过导航模块反馈的信息，控制码垛机器人移动至码垛地点，然后根据拍摄模块拍摄的信息，控制码垛机器人上的货叉机构升降，并升降到当前码垛托盘700上货物堆垛的最高位置，之后控制模块控制第一驱动组件和第二驱动组件动作，以将货叉200上的货物卸下，由此 实现码垛机器人自动搬运货物以及自动卸货码垛，省时省力且高效。
以下为本公开实施例提供的码垛机器人的两种应用场景：
应用场景1：本公开实施例提供的码垛机器人对长1200mm，宽800mm的托盘700进行码垛，码垛的纸箱600尺寸为长a为800mm，宽b为600mm，一次码垛两个纸箱600，且纸箱600沿宽度方向并排，如图8所示。
在该应用场景下，码垛机器人卸货的过程如下：
1、如图9所示，装载有货物的码垛机器人移动至码垛地点，拍摄模块拍摄码垛地点的货物码垛情况，并将其拍摄的图片上传至控制模块；控制模块获取并分析拍摄模块拍摄的图片，控制模块根据其分析结果控制货叉机构升降至设定位置(设定位置为控制模块根据拍摄模块拍摄的图片分析出的货物堆垛的最高位置)
2、如图10所示，控制模块控制第一驱动组件和第二驱动组件运作，以使得载有纸箱600的货叉200移动至托盘700上已码垛的纸箱600上部，同时挡板300移动至支撑座100的第二端140。
3、如图11所示，控制模块控制第一驱动组件再次运作，以使得货叉200沿第一方向从第一端130向第二端140移动，此时纸箱600远离机器人本体500的一端掉落至托盘700上已码垛的纸箱600上。
4、如图12所示，货叉200完全回缩至支撑座100上，纸箱600码垛在托盘700上已码垛的纸箱600上，挡板300沿第一方向移动回支撑座100的第二端140。
应用场景2：本公开实施例提供的码垛机器人对长1200mm，宽800mm的托盘700进行码垛，码垛的纸箱600尺寸为长a为600mm，宽b为400mm，一次码垛四个纸箱600，纸箱600的排列方式如图13所示。
在该应用场景下，码垛机器人卸货的过程如图14、图15、图16和图17所示，此应用场景中码垛机器人的卸货过程与应用场景1中码垛机器人的卸货过程相同，在此不再赘述。
本公开旨在涵盖本公开的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本公开的一般性原理并包括本公开未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本公开的真正范围和精神由下面的权利要求书指出。
应当理解的是，本公开并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本公开的范围仅由所附的权利要求书来限制。

Claims (14)

  1. 一种货叉机构，其特征在于，包括：
    支撑座，所述支撑座在第一方向上具有第一端和第二端；
    货叉组件，包括滑动安装于所述支撑座上的货叉，以及与所述货叉连接的第一驱动组件，所述第一驱动组件配置为驱动所述货叉沿第一方向移动，所述货叉配置为托举货物；
    挡板组件，包括滑动安装于所述支撑座的挡板，以及与所述挡板连接的第二驱动组件，所述第二驱动组件配置为驱动挡板沿所述第一方向移动，且所述挡板和所述货叉在沿所述第一方向移动时互不干涉；所述挡板配置为当所述挡板位于所述第一端，且所述货叉沿所述第一方向从所述第一端向所述第二端移动时，阻挡位于所述货叉上的货物跟随所述货叉沿所述第一方向从所述第一端向所述第二端移动。
  2. 根据权利要求1所述的货叉机构，其特征在于，所述第一驱动组件包括第一驱动电机和第一传动组件，所述第一传动组件与所述货叉连接，所述第一驱动电机用于驱动所述第一传动组件带动所述货叉沿所述第一方向来回移动。
  3. 根据权利要求2所述的货叉机构，其特征在于，所述支撑座包括支撑板和设置于所述支撑板上部的两个固定板，两个所述固定板分别连接于所述支撑板沿第二方向的两端，所述第二方向与所述第一方向垂直；
    所述货叉包括设置于所述支撑板上部的货叉部以及设置于所述货叉部上部的两个连接板，两个所述连接板分别连接于所述货叉部沿所述第二方向的两端，两个所述连接板位于两个所述固定板之间，位于相同侧的所述连接板和所述固定板之间具有用于安装所述第一传动组件的安装空间，两个所述连接板与两个所述固定板对应形成两个所述安装空间；
    所述第一传动组件的数量为两个，传动传动两个所述第一传动组件分别设置于两个所述安装空间内，且分别安装于两个固定板上。
  4. 根据权利要求3所述的货叉机构，其特征在于，所述第二驱动组件包括第二驱动电机和第二传动组件，所述第二传动组件与所述挡板连接，所述第二驱动电机用于驱动所述第二传动组件带动所述挡板沿所述第一方向移动。
  5. 根据权利要求4所述的货叉机构，其特征在于，所述货叉与所述支撑 座配合形成伸缩机构，所述挡板可移动套设于所述伸缩机构上；
    所述挡板包括位于所述支撑板下部的第一部分、位于其中一个所述固定板的外侧的第二部分、位于另一个所述固定板的外侧的第三部分以及位于所述货叉部远离所述支撑座的一侧且位于两个所述连接板之间的第四部分；
    所述第二传动组件设置于所述支撑板的下部，所述第二传动组件与所述第一部分连接；或者，
    所述第二传动组件的数量为两个，传动传动两个所述第二传动组件分别安装于两个所述固定板的外侧，且其中一个所述第二传动组件与所述第二部分连接，另一个所述第二传动组件与所述第三部分连接。
  6. 根据权利要求2所述的货叉机构，其特征在于，所述第一传动组件设置于所述货叉与所述支撑座之间，所述第一传动组件与所述货叉的底部连接。
  7. 根据权利要求6所述的货叉机构，其特征在于，所述货叉包括连接背板、与所述连接背板的中部连接的第一货叉部以及设置于所述第一货叉部两侧的第二货叉部和第三货叉部，所述连接背板的长度方向在第二方向上延伸，所述第二方向与所述第一方向垂直，所述第一货叉部、第二货叉部和第三货叉部均在所述第一方向上延伸；
    所述第二货叉部远离所述第一货叉部的一侧设置有第一竖向板，所述第三货叉部远离所述第一货叉部的一侧设置有第二竖向板，所述第二货叉部和所述第三货叉部均沿所述第二方向可移动的连接于所述连接背板上，以使得所述第一竖向板与所述第二竖向板之间的间距可调。
  8. 根据权利要求7所述的货叉机构，其特征在于，所述货叉机构还包括用于驱动所述第二货叉部沿所述第二方向移动的第三驱动机构以及用于驱动所述第三货叉部沿所述第二方向移动的第四驱动机构。
  9. 根据权利要求7所述的货叉机构，其特征在于，所述货叉与所述支撑座配合形成伸缩机构；
    所述挡板上设置有安装孔，所述挡板通过所述安装孔套设于所述伸缩机构上，且所述安装孔的外轮廓在第一平面上的正投影覆盖所述货叉在所述第一平面上的正投影，所述第一平面为垂直于所述第一方向的平面。
  10. 根据权利要求9所述的货叉机构，其特征在于，所述第二驱动组件包括第二驱动电机和第二传动组件，所述第二传动组件设置于所述支撑座的 底部，且所述第二传动组件与所述挡板连接，所述第二驱动电机用于驱动所述第二传动组件带动所述挡板沿所述第一方向来回移动。
  11. 根据权利要求1所述的货叉机构，其特征在于，所述货叉上设置有取货组件，所述取货组件配置为，在所述货叉结构需要取货时，所述货叉组件自动取货。
  12. 根据权利要求1-11任一项所述的货叉机构，其特征在于，所述货叉机构用于安装在移动装置上，所述货叉机构还包括升降板，所述升降板用于将所述货叉机构可升降的设置于所述移动装置上。
  13. 一种码垛机器人，其特征在于，包括机器人本体以及可升降的设置于所述机器人本体上的货叉机构，所述货叉机构为权利要求1-12任一项所述的货叉机构。
  14. 根据权利要求13所述的码垛机器人，其特征在于，还包括控制模块、分别与所述控制模块通信连接的导航模块和拍摄模块；
    所述导航模块用于引导所述码垛机器人移动至码垛地点；
    所述拍摄模块用于拍摄所述码垛地点的货物码垛情况，并将其拍摄的图片上传至所述控制模块；
    所述控制模块用于对所述拍摄模块拍摄的图片进行分析，并控制所述货叉机构升降至设定位置，所述设定位置为所述控制模块根据所述拍摄模块拍摄的图片分析出的货物堆垛的最高位置；
    所述第一驱动组件和所述第二驱动组件分别与所述控制模块通信连接。
PCT/CN2023/099538 2022-06-30 2023-06-09 货叉机构及码垛机器人 WO2024001730A1 (zh)

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