Fork arm and handling device

Abstract

The present application belongs to the technical field of warehouse logistics, and specifically discloses a fork arm and a carrying device. The fork arm comprises: a fork arm body for supporting an object; and a translation driving mechanism connected with the fork arm body, wherein the translation driving mechanism comprises a rolling element, and the translation driving mechanism is configured to be capable of moving through the rolling element to drive the fork arm body to move horizontally. The carrying device comprises a vehicle body and the fork arm as described above, wherein the fork arm is arranged on the upper end of the vehicle body and is in sliding connection with the vehicle body, and the rolling element is in rolling contact with the surface of the vehicle body. The fork arm and the carrying device provided by the present application can improve the compactness of the fork arm and the carrying device.

Description

Technical Field

[0001] This invention relates to the field of warehousing and logistics technology, and more particularly to a forklift and a handling device. Background Technology

[0002] With the increasing efficiency and automation of the warehousing and logistics industry, handling devices with self-service mobility are widely used in all aspects of the industry to achieve efficient and automated handling of materials.

[0003] Existing pallet or container handling devices typically consist of a vehicle body and two opposing forks. The forks can extend and retract relative to the vehicle body to grip containers or lift pallets. Current methods typically use a motor and a lead screw to drive the horizontal movement of the forks. In this type of drive, the length of the lead screw needs to be greater than the stroke of the forks. The longer the horizontal stroke of the forks, the larger the space occupied by the horizontal drive mechanism, leading to an increase in the overall size and structural complexity of the handling device, and making it prone to interference with other structures on the handling device. Summary of the Invention

[0004] One objective of this invention is to provide a fork arm that, while enabling horizontal movement, simplifies the fork arm's structure, improves its structural compactness, and reduces its footprint.

[0005] Another objective of this invention is to provide a handling device that improves the structural compactness of the handling device and reduces the footprint of the handling device.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A fork arm, comprising:

[0008] The fork arm body is used to support objects;

[0009] A translation drive mechanism is connected to the fork arm body. The translation drive mechanism includes a rolling element and is configured to move via the rolling element to drive the fork arm body to move horizontally.

[0010] As a preferred technical solution for the fork arm, the translation drive mechanism includes a mounting frame, the fork arm body is disposed on the mounting frame, and the rolling element is rotatably connected to the mounting frame.

[0011] As a preferred technical solution for a fork arm, the fork arm includes an elastic element for elastically pressing the rolling element against the rolling mating surface of the rolling element.

[0012] As a preferred technical solution for a fork arm, the rolling element has a mounting shaft, the two ends of which are supported on the mounting bracket, and the elastic element includes a spring that elastically presses against the mounting shaft.

[0013] As a preferred technical solution for the fork arm, the rolling element is an electric roller.

[0014] As a preferred technical solution for a fork arm, the mounting bracket includes at least two support sections spaced apart, the rolling element is mounted between two adjacent support sections, and the fork arm body is mounted on each support section.

[0015] As a preferred technical solution for a fork arm, the support portion includes two side plates that are opposite to each other and spaced apart, and the first end of the fork arm body is located between the two side plates and is slidably connected to the two side plates.

[0016] As a preferred technical solution for a fork arm, the fork arm body includes:

[0017] A support arm for supporting an object, one end of which is slidably connected to the mounting frame;

[0018] A lifting drive mechanism is disposed on the loading arm and is used to drive the loading arm to lift relative to the mounting frame.

[0019] As a preferred technical solution for the fork arm, the fork arm body further includes a support member, which is configured to be driven by the lifting drive mechanism to extend downward relative to the load arm to support the load arm.

[0020] A conveying device includes a vehicle body and a fork arm as described above, the fork arm being disposed on the vehicle body and slidably connected to the vehicle body, and the rolling element making rolling contact with the surface of the vehicle body.

[0021] As a preferred technical solution for a handling device, the upper surface of the vehicle body is provided with a receiving groove, and the fork arm can be received in the receiving groove and slide along the groove wall.

[0022] The beneficial effects of the embodiments of the present invention are as follows:

[0023] The fork arm provided in this embodiment of the invention has a rolling element that drives the overall movement of the fork arm. The rolling of the rolling element is not limited by the size of the translation drive mechanism. While realizing the extension or retraction of the fork arm body, any required horizontal movement stroke of the fork arm can be obtained by using a smaller size rolling element. This effectively reduces the footprint of the fork arm, simplifies the overall structure of the fork arm, and allows the drive transmission components in the horizontal drive mechanism to be centrally arranged, improving the structural compactness of the fork arm and reducing interference with external structures.

[0024] The handling device provided in this embodiment of the invention simplifies the structure of the handling device, improves the structural compactness of the handling device, and reduces the overall size of the handling device by setting the fork arm on the vehicle body. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the transport device provided in Embodiment 1 of the present invention in its initial state;

[0026] Figure 2 This is a schematic diagram of the conveying device provided in Embodiment 1 of the present invention in the fork arm extended state.

[0027] Figure 3 This is a schematic diagram of the structure of the tray provided in Embodiment 1 of the present invention;

[0028] Figure 4 This is a schematic diagram of the front structure of the vehicle body provided in Embodiment 1 of the present invention;

[0029] Figure 5 This is a schematic diagram of the rear structure of the vehicle body provided in Embodiment 1 of the present invention;

[0030] Figure 6 This is a schematic diagram of the translation drive mechanism provided in Embodiment 1 of the present invention;

[0031] Figure 7 This is a schematic diagram of the fork arm provided in Embodiment 1 of the present invention;

[0032] Figure 8 This is a schematic diagram of the lifting drive mechanism provided in Embodiment 1 of the present invention;

[0033] Figure 9 This is a schematic diagram of the cooperation between the fork arm and the mounting bracket when the fork arm is in its initial state, as provided in Embodiment 1 of the present invention.

[0034] Figure 10 yes Figure 9 A schematic diagram of the mechanism after removing the loading arm from the middle structure;

[0035] Figure 11 This is a schematic diagram of the connection between the fork arm and the mounting frame when the fork arm is in the lifting state, as provided in Embodiment 1 of the present invention;

[0036] Figure 12 yes Figure 11 A schematic diagram of the structure after removing the loading arm;

[0037] Figure 13 This is a schematic diagram of the docking of the handling device with the pallet in the initial state according to Embodiment 2 of the present invention;

[0038] Figure 14 yes Figure 13The main view of the structure;

[0039] Figure 15 This is a schematic diagram of the docking of the handling device provided in Embodiment 2 of the present invention with the pallet when the fork arms are extended;

[0040] Figure 16 This is a schematic diagram of the docking of the handling device provided in Embodiment 2 of the present invention with the pallet when the fork arm is extended and lifted;

[0041] Figure 17 This is a schematic diagram of the docking of the handling device provided in Embodiment 2 of the present invention with the pallet when the fork arm is in the retracted lifting state;

[0042] Figure 18 This is a schematic diagram of the docking of the handling device provided in Embodiment 2 of the present invention with the pallet when the device is in the docking position.

[0043] The markings in the image are as follows:

[0044] 10. Handling device; 20. Pallet; 201. Fork opening;

[0045] 1. Vehicle body; 11. Shell; 111. Bearing surface; 112. Receiving groove; 1121. Limiting groove wall; 113. X-guide groove; 114. First guide roller; 12. Drive wheel; 13. Universal wheel;

[0046] 2. Fork arm; 21. Loading arm; 22. Lifting drive mechanism; 221. Lead screw; 2211. First threaded section; 2212. Second threaded section; 2213. Third threaded section; 2214. First optical shaft section; 2215. Second optical shaft section; 222. First connecting rod; 223. First nut seat; 224. Second nut seat; 2241. Screw sleeve; 2242. Limiting seat; 2243. Slide seat; 225. Second connecting rod; 226. Lead screw seat; 227. Lifting drive motor; 228. Reducer; 229. Limiting sleeve; 23. Support component; 24. Third guide roller; 25. Hinge shaft;

[0047] 3. Translation drive mechanism; 31. Mounting bracket; 311. Support unit; 3111. Side plate; 3112. Connecting part; 3113. Z-guide groove; 3114. Hinge hole; 312. Connecting bracket unit; 3121. Mounting groove; 313. Top plate of the frame; 32. Rolling element; 321. Mounting shaft; 33. Elastic element; 34. Second guide roller. Detailed Implementation

[0048] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0049] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0050] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0051] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0052] like Figure 1-3 As shown, this embodiment provides a handling device 10, which can be applied in a warehousing and logistics system to perform forklift handling of pallets 20 used to carry materials, thereby improving the efficiency and convenience of material handling. The handling device 10 provided in this embodiment can be an AGV-type handling device, an AMR-type handling device, or other forms of handling devices capable of handling materials or pallets.

[0053] Specifically, the conveying device 10 includes a vehicle body 1 and a fork arm. The vehicle body 1 is capable of moving autonomously. The fork arm is mounted on the vehicle body 1 and includes a fork arm body 2 and a translation drive mechanism 3. The fork arm body 2 is used to support objects. The translation drive mechanism 3 is connected to the fork arm body 2 and includes a rolling element 32. The translation drive mechanism 3 is configured to drive the fork arm body 2 to move horizontally through the movement of the rolling element 32 relative to the vehicle body 1.

[0054] That is, the conveying device 10 provided in this embodiment, because the rolling element 32 drives the entire fork arm to move, and the rolling formation of the rolling element 32 is not limited by the size of the translation drive mechanism 3, while realizing the extension or retraction of the fork arm body 2 relative to the vehicle body 1, can obtain any required horizontal movement stroke of the fork arm by using a smaller size rolling element 32, effectively reducing the footprint of the fork arm, simplifying the overall structure of the fork arm, and allowing the drive transmission components in the horizontal drive mechanism to be centrally arranged, improving the structural compactness of the fork arm, and reducing interference with the external structure.

[0055] The handling device 10 provided in this embodiment is used to handle the pallet 20, and the pallet 20 can be... Figure 3 The grid-shaped pallet shown can also be a sun-shaped pallet, a river-shaped pallet, or a pallet with other structures, as long as the pallet 20 has fork holes 201 for the fork arm body 2 to be inserted. This embodiment does not limit the specific structure of the pallet 20 that the handling device 10 can handle. This embodiment uses the grid-shaped pallet of national standard 1200x1000x153m as an example to introduce the specific structure of the handling device 10. The handling device 10 can refer to its handling of the grid-shaped pallet 20 for other types of pallets 20, and will not be described in detail in this embodiment.

[0056] To transfer the pallet 20 to the vehicle body 1, the fork arm body 2 provided in this embodiment can also be vertically raised and lowered relative to the vehicle body 1. When the pallet 20 needs to be moved, the fork arm body 2 can first be moved horizontally relative to the vehicle body 1 to partially extend outside the vehicle body 1, so that the fork arm body 2 can be inserted into the fork hole 201 of the pallet 20; then the pallet 20 is lifted by raising the fork arm body 2 relative to the vehicle body 1, so that the pallet 20 is raised and lifted off the ground; after the pallet 20 is raised to a certain height, the fork arm body 2 is retracted relative to the vehicle body 1, so that the vehicle body 1 can at least partially enter the bottom of the pallet 20; then the pallet 20 is supported on the vehicle body 1 and / or the fork arm body 2 by lowering the fork arm body 2.

[0057] That is, the handling device 10 provided in this embodiment, by setting a fork arm body 2 that can move horizontally and rise vertically relative to the vehicle body 1, can, during the initial docking of the handling device 10 with the pallet 20, only need the fork arm body 2 to extend into the fork hole 201, with the vehicle body 1 located outside the pallet 20. And when the pallet 20 is lifted to a preset height, the vehicle body 1 can partially enter the bottom of the pallet 20. Thus, while ensuring that the handling device 10 can lift the pallet 20, the pallet is located above the vehicle body 1 during the handling process. This reduces the size of the handling device 10 along the extension direction of the fork arm body 2 during the handling of the pallet 20, reduces the turning radius and footprint of the handling device 10 when handling the pallet 20, and improves the flexibility of the handling device 10.

[0058] For ease of description, let's use Figure 1 Establish a coordinate system in the directions shown, where the X direction is the extension direction of the fork arm body 2, the Z direction is the height direction, and the Y direction is determined according to the right-hand rule.

[0059] For ease of description, the initial state is defined as the state when the handling device 10 is not docked with the pallet 20. The extended state is defined as the state where the fork arm body 2 is extended relative to the vehicle body 1 in the X direction without rising. The extended lifting state is defined as the state where the fork arm body 2 is extended relative to the vehicle body 1 and rises to a certain height relative to the vehicle body 1. The retracted lifting state is defined as the state where the fork arm body 2 is retracted to the initial horizontal position and rises to a certain height relative to the vehicle body 1. The docking position is defined as the state of the fork arm body 2 when the handling device completes docking with the pallet 20. That is, from the moment the handling device 10 docks with the pallet 20 until the docking position is reached, the handling device 10 sequentially goes through the initial state, the extended state, the extended lifting state, the retracted lifting state, and finally the docking position.

[0060] To improve the structural compactness and reduce the volume of the handling device 10, a bearing surface 111 for supporting the pallet 20 is formed on the upper surface of the vehicle body 1. A receiving groove 112 is formed on the bearing surface 111 corresponding to the position of the fork arm body 2. The receiving groove 112 extends along the X direction, with one end penetrating the corresponding side wall of the vehicle body 1 and the other end forming a limiting groove wall 1121. The limiting groove wall 1121 restricts the fork arm body 2 from extending out of the vehicle body 1 in the opposite direction. When the fork arm body 2 is in its initial state, it is at least partially accommodated in the receiving groove 112. The setting of the receiving groove 112 reduces the overall thickness of the handling device 10 along the Z direction, improves structural compactness, and facilitates guiding the sliding of the fork arm body 2 along the X direction.

[0061] Preferably, the depth of the receiving groove 112 is greater than the thickness of the fork body 2 along the Z direction, and when the handling device is in the initial state, the upper surface of the fork body 2 is lower than the upper surface of the vehicle body 1. This arrangement allows the pallet 20 to be fully supported on the vehicle body 1 after the handling device 10 and the pallet 20 are docked, avoiding fatigue damage caused by the fork body 2 supporting the pallet 20 for a long time, improving the service life of the fork body 2, and enhancing the support stability for the pallet 20. In other embodiments, the upper surface of the fork body 2 may be higher than the upper surface of the vehicle body 1 or flush with the upper surface of the vehicle body 1. More preferably, the length of the receiving groove 112 along the X direction is greater than the length of the fork body 2, and when the handling device is in the initial state, the fork body 2 is completely received in the receiving groove 112.

[0062] In this embodiment, to improve the stability of the fork arm body 2 extending along the X direction, first guide rollers 114 are provided on both opposite walls of the receiving groove 112 extending along the X direction. The first guide rollers 114 are located near the opening of the receiving groove 112. When the fork arm body 2 is slidably disposed in the receiving groove 112, the fork arm body 2 is supported on the first guide rollers 114. The first guide rollers 114 can support and guide the sliding of the fork arm body 2 in the receiving groove 112, while also avoiding interference with the lifting and lowering movement of the fork arm body 2 relative to the vehicle body 1.

[0063] like Figure 4 and 5 As shown, to achieve autonomous movement of the vehicle body 1, the vehicle body 1 includes a housing 11 and a drive wheel mechanism. The surface of the housing 11 is provided with the aforementioned receiving groove 112. The drive wheel mechanism includes drive wheels 12 and a drive motor for driving the drive wheels 12 to rotate. The drive wheels 12 are located at the bottom of the housing 11, and the drive motor is located inside the housing 11. In this embodiment, two drive wheels 12 are symmetrically arranged relative to the central longitudinal axis to improve driving stability. Furthermore, the vehicle body 1 also includes four casters 13, which are arranged in a rectangular pattern. Each drive wheel 12 is positioned between two casters 13.

[0064] In other embodiments, the number and position of the drive wheel 12 and the omnidirectional wheel 13 can be set according to requirements, and the drive form of the drive wheel mechanism 12 can be differential drive or other existing drive forms, as long as it can realize the forward, backward, turning, and self-rotation of the conveying device 10. The present invention does not limit the specific structure of the drive wheel mechanism 12.

[0065] Preferably, the vehicle body 1 is symmetrically arranged relative to the central longitudinal axis, and the two fork arms 2 are symmetrically arranged relative to the central longitudinal axis, so as to improve the smooth operation and compact structure of the conveying device 10.

[0066] like Figure 1 , 2 As shown in Figure 5, to improve the handling stability of the pallet 20, several fork arms 2 are spaced apart along the Y direction. These fork arms 2 are all connected to the translation drive mechanism 3 to reduce drive costs, improve handling efficiency, and ensure the synchronicity of the translation of two fork arms 2. Typically, the pallet 20 has two fork holes 201, meaning the fork arms 2 are preferably configured with two. However, it is understood that when the material size is large, resulting in three or more fork holes 201 on the pallet 20, the fork arms 2 can also be configured with three or more corresponding fork holes.

[0067] The translation drive mechanism 3 includes a mounting frame 31, which is slidably connected to the vehicle body 1. One end of the fork arm body 2 near the limiting groove wall 1121 is connected to the mounting frame 31, and the rolling element 32 is rotatably mounted on the mounting frame 31. Since one end of the fork arm 2 is connected to the mounting frame 31, and the mounting frame 31 is slidably mounted on the vehicle body 1, the part of the fork arm 2 not connected to the mounting frame 31 can be suspended in the air after it extends relative to the vehicle body 1. Even for a grid-shaped pallet or a H-shaped pallet with a bottom beam, the fork arm 2 can pass over the bottom beam and enter the fork hole without obstruction. This makes the handling device 10 suitable for handling various types of pallets, with high flexibility and wide application range.

[0068] To improve the stability of the sliding connection between the mounting bracket 31 and the vehicle body 1, the mounting bracket 31 has at least two support portions 311 spaced apart along the Y direction. Each support portion 311 is equipped with a fork arm body 2. The lower ends of the two support portions 311 extend into two receiving grooves 112 and are slidably connected to the groove walls of the receiving grooves 112. A rolling element 32 is mounted between two adjacent support portions 311. This arrangement allows the receiving grooves 112 to also serve as guide grooves for the mounting bracket 31, ensuring the accuracy and stability of the horizontal movement of the fork arm body 2.

[0069] Furthermore, at least one wall of the receiving groove 112 extending along the X direction is provided with an X-guide groove 113. The X-guide groove 113 extends along the X direction and passes through the side of the vehicle body 1 away from the limiting groove wall 1121. The bracket part 311 is provided with a guide part corresponding to the X-guide groove 113. The guide part extends into the corresponding X-guide groove 113 and is rolled or slidably connected to the groove wall of the X-guide groove 113. The X-guide groove 113 and the guide part enable the mounting bracket 31 to be inserted into the receiving groove 112 from the open end of the receiving groove 112 while preventing the mounting bracket 31 from disengaging from the receiving groove 112 along the Z direction. The structure is simple and the cost is low.

[0070] In other embodiments, other X-direction guiding structures can be used to achieve a sliding connection between the mounting bracket 31 and the vehicle body 1, such as a guide rail on the wall of the receiving groove 112 and a slider connected to the guide rail on the mounting bracket 31. Preferably, in this embodiment, the guide part is a second guide roller 34, which rolls with the X-direction guide groove 113 to reduce friction. In other embodiments, the guide part can also be a slider, etc.

[0071] Furthermore, the support portion 311 includes two side plates 3111 arranged at intervals along the Y direction. Second guide rollers 34 are respectively provided on the outer surfaces of the two side plates 3111. Correspondingly, X-guide grooves 113 are provided on the two groove walls of the receiving groove 112 arranged opposite each other along the Y direction to improve the stability of the mounting frame 31 moving along the X direction. Preferably, each side plate 3111 is provided with two or more second guide rollers 34 along the X direction.

[0072] To prevent the ends of the two side plates 3111 from being in relative positions, the support portion 311 also includes a connecting portion 3112 connected between the lower ends of the side plates 3111 to enhance the structural strength and rigidity of the support portion 311. The connecting portion 3112 may be, but is not limited to, a plate-like structure.

[0073] The mounting bracket 31 also includes a top plate 313 connected to the top of the two support parts 311. The top plate 313 extends along the Y direction, and the upper end of the side plate 3111 is perpendicularly connected to the top plate 313, thereby forming a space between the support parts 311 and the top plate 313 for connecting the fork arm body 2.

[0074] Furthermore, the rolling element 32 is an electric roller, and the mounting shaft 321 of the electric roller 32 extends along the Y direction and is connected to the mounting frame 31 at both ends. The electric roller is located above the vehicle body 1 and presses against the upper surface of the vehicle body 1. By setting the horizontal drive unit as an electric roller, the horizontal drive motor can be hidden inside the rolling element 32, making the structure of the horizontal drive unit more compact and occupying less space, which is beneficial to the miniaturization design of the handling device 10.

[0075] To facilitate the installation of the electric roller, a connecting frame 312 is provided between the two support parts 311. Two connecting frame parts 312 are provided at intervals along the Y direction, and the upper end of the connecting frame part 312 is connected to the top plate 313 of the frame. The lower end of the connecting frame part 312 is higher than the upper surface of the vehicle body 1. The electric roller is clamped between the two connecting frame parts 312.

[0076] To facilitate the installation of the electric roller, each connecting bracket 312 has a mounting groove 3121 on the side facing the electric roller, and the mounting shaft 321 of the electric roller is inserted into the mounting groove 3121. To prevent the electric roller from slipping under the surface of the vehicle body 1, the mounting bracket 31 is also provided with an elastic element 33, which is used to elastically press the electric roller against the upper surface.

[0077] In this embodiment, the elastic element 33 is a spring, which elastically presses against the mounting shaft 321 of the rolling element 32. Specifically, the spring is vertically disposed in the mounting groove 3121, with its upper end connected to the upper wall of the mounting groove 3121 and its lower end pressing against the mounting shaft 321, and the spring is always in a compressed state. In other embodiments, the elastic element 33 can also be other elements capable of providing elastic clamping force, such as elastic gaskets.

[0078] To further improve structural compactness, the first end of the fork arm body 2 is located between the two side plates 3113, and the fork arm body 2 is slidably connected to the mounting bracket 31 and can move up and down relative to the mounting bracket 31 in the Z direction. This arrangement allows the drive transmission structure for driving the horizontal and vertical movement of the fork arm body 2 to be concentrated on the fork arm body 2 and the mounting bracket 31, simplifying the structural layout on the vehicle body 1 and improving structural compactness. In other embodiments, the mounting bracket 31 can also be raised and lowered relative to the vehicle body 1, so that the two fork arm bodies 2 can be raised and lowered by the raising and lowering of the mounting bracket 31.

[0079] like Figure 2 As shown, in this embodiment, when the handling device is in the extended fork arm state, the mounting bracket 31 is located near the opening of the receiving slot 112. To prevent the fork arm body 2 from extending too far and causing the free end of the fork arm body 2 to droop or deform, the fork arm body 2 is configured to switch between being supported on the ground and being detached from the ground, so that when the fork arm is detached from the ground, it passes over the bottom beam of the pallet, and after the fork arm part is inserted into the fork hole, the fork arm part located inside the fork hole is supported on the ground. This arrangement allows the support member 23 to provide auxiliary support for the fork arm body 2 when the fork arm body 2 can pass over the bottom beam of the grid-shaped pallet or the H-shaped pallet.

[0080] Specifically, the fork arm body 2 includes a carrying arm 21 extending along the X direction, a support member 23 disposed on the carrying arm 21, and a lifting drive mechanism. The lifting drive mechanism is connected to the support member 23 and is used to drive the support member 23 to rise and fall vertically relative to the carrying arm 21, so that the support member 23 can be lowered to a position that can be supported on the ground. Thus, when the conveying device is in the fork arm extended state and the fork arm extended lifting state, the fork arm body 2 can be supported by the mounting frame 31 and the support member 23 at the same time, which improves the stability of the fork arm body 2 in use and the stability of the load, avoids bending or breaking of the fork arm body 2, and improves the service life of the fork arm body 2.

[0081] like Figure 4 As shown, since the support member 23 is located near the second end of the fork arm body 2 and can move downward to contact the ground, in order to avoid the support member 23, the end of the receiving groove 112 away from the limiting groove wall 1121 passes through the lower surface of the vehicle body 1, so that when the conveying device is in the retracted lifting state, the support member 23 can contact the ground and provide support for the fork arm body 2.

[0082] like Figure 7-12 As shown, the lifting drive mechanism 22 includes two first links 222 and a first drive assembly. One end of each of the two first links 222 is hinged to the support member 23, and the other end of each of the two first links 222 is connected to the first drive assembly. The first drive assembly is configured to drive the other ends of the two first links 222 to move closer to or further away from each other to lift the support member.

[0083] Further, the first drive assembly includes a lead screw 221, two first nut seats 223, and a lifting drive motor 227. The lead screw 221 includes a first threaded section 2211 and a second threaded section 2212 with opposite directions of rotation. The two first nut seats 223 are respectively sleeved on the first threaded section 2211 and the second threaded section 2212, and the other ends of the two first connecting rods 222 are respectively hinged to the two first nut seats 223. The lifting drive motor 227 is used to drive the lead screw 221 to rotate, so as to drive the two first nut seats 223 to move towards or away from each other along the lead screw 221.

[0084] In this configuration, when the lead screw 221 rotates, the two first nut seats 223 move synchronously towards or away from each other, thereby driving the second ends of the two first connecting rods 222 to move in directions that are closer to or further away from each other, thereby driving the support member 23 to rise and fall vertically.

[0085] The aforementioned lifting drive mechanism 22 ensures that the support member 23 can only move vertically, restricting its movement along the X direction, thus guaranteeing the accuracy of the support member 23's position and shortening the travel distance of the first nut seat 223 relative to the lead screw 221. In other embodiments, one of the first nut seats 223 can be replaced with a fixed seat fixed relative to the load arm 21, and the sliding of the other first nut seat 223 along the lead screw 221 drives the two first connecting rods 222 to open and close relative to each other. However, in this configuration, the support member 23 has displacement not only along the Z direction but also along the X direction.

[0086] A set of first connecting rods 222 is provided on each of the opposite sides of the lead screw 221 along the Y direction. The two sets of first connecting rods 222 are respectively hinged to both ends of the wheel axle of the support member 23 to improve the connection and support stability of the support member 23. In other embodiments, only one set of first connecting rods 222 may be provided, such as only being provided directly below the lead screw 221.

[0087] To connect the first nut seat 223 to the first connecting rod 222, the first nut seat 223 includes a sleeve portion and a connecting plate portion protruding from the outer surface of the sleeve portion. The inner wall of the sleeve portion has threads adapted to the corresponding threaded section. The connecting plate portion extends along the Y direction and its two ends are respectively hinged to the two first connecting rods 222. Furthermore, the upper side of the connecting plate portion fits against the carrying arm 21 to prevent the first nut seat 223 from rotating relative to the carrying arm 21.

[0088] Furthermore, the support member 23 is a support roller, and the axle of the support roller extends along the Y direction to ensure that the fork arm body 2 can move along the X direction while being supported by the support member 23, thereby improving the smoothness of translation of the fork arm body 2 and facilitating the adjustment of the fork arm 3.

[0089] To improve the support stability of the support member 23 on the load-bearing arm 21, the support member 23 includes an axle and at least two wheel bodies spaced apart on the axle. The at least two wheel bodies are located on opposite sides of the lead screw 221, and when the fork arm body 2 is in the initial state, the upper end of the wheel body is higher than the lower side of the lead screw 221, so as to further shorten the distance between the axle and the lead screw 221 and improve the structural compactness.

[0090] A lead screw seat 226 is rotatably fitted onto the lead screw 221. The lead screw seat 226 has a through hole for the lead screw 221 to pass through, and the lead screw seat 226 is connected to the carrying arm 21. Furthermore, the lead screw 221 includes a first optical shaft section 2214 located between the first threaded section 2211 and the second threaded section 2212. The lead screw seat 226 is fitted onto the first optical shaft section 2214, which can prevent the two first nut seats 223 from colliding with each other and avoid wear on the threads on the lead screw 221.

[0091] More preferably, one lead screw seat 226 is provided at each end of the first optical shaft segment 2214, and when the conveying device is in the initial state, the support member 23 is located between the two lead screw seats 226. This arrangement can prevent the first nut seat 223 from colliding with the support member 23 and limit the opposite movement stroke of the first nut seat 223; at the same time, it can also raise the initial installation position of the support member 23, so that when the fork body 2 is in the initial state, the support member 23 is sandwiched between the two lead screw seats 226, shortening the gap between the lead screw 221 and the support member 23 in the initial state, thereby reducing the overall thickness of the fork body 2 in the Z direction in the initial state and improving the structural compactness.

[0092] Furthermore, a limiting sleeve 229 is fitted at the end of the first threaded section 2211 away from the lead screw seat 226, and the end of the second threaded section 2212 away from the lead screw seat 226 abuts against the load arm 21 to achieve the stroke limit when the corresponding first nut seat 223 moves backward.

[0093] Furthermore, the lifting drive mechanism 22 can also synchronously drive the load arm 21 to rise and fall vertically relative to the mounting frame 31, thereby simplifying the drive structure setting on the fork arm body 2, reducing costs, and improving structural compactness.

[0094] Specifically, the lifting drive mechanism 22 includes a second link 225 and a second drive assembly. The first end of the second link 225 is hinged to the mounting bracket 31, and the other end supports the load arm 21. The second drive assembly is configured to drive the second link 225 to rotate, thereby lifting the load arm 21. By setting the rotation of the second link 225 to drive the lifting of the load arm 21, rotational stability can be improved, and the vertical space occupied by the lifting drive mechanism 22 can be reduced, thus lowering costs.

[0095] In this embodiment, the second drive assembly includes the aforementioned lead screw 221 and lifting drive motor 227, and also includes a second nut seat 224. The lead screw 221 includes a third threaded section 2213, and the second nut seat 224 is rotatably sleeved on the third threaded section 2213. The second end of the second connecting rod 225 is hinged to the second nut seat 224. This arrangement allows the first drive assembly and the second drive assembly to share the lead screw 221 and lifting drive motor 227, reducing costs and simplifying the structure. In other embodiments, the first drive assembly and the second drive assembly can be provided separately.

[0096] In this embodiment, the first end of the second connecting rod 225 is hinged to the bottom end of the bracket portion 311, and the second connecting rod 225 is located on the side of the second nut seat 224 facing the mounting bracket 31. The third threaded section 2213 has the same helix direction as the second threaded section 2212. When the fork arm body 2 is in the initial state, the lead screw 221 is higher than the first end of the second connecting rod 225, and the second connecting rod 225 extends upward at an angle from the first end to the second end. With this configuration, when the load arm 21 needs to be raised, the second nut seat 224 moves in the direction towards the mounting bracket 31, and the second end of the second connecting rod 225 flips upward around its first end, thereby driving the lead screw 221 to rise.

[0097] Since the conveying device 10 has a fork arm extended state and a fork arm extended lifting state, in order to ensure that the support member 23 can descend to contact the ground in both the extended state and the extended lifting state, preferably, the second nut seat 224 includes a threaded sleeve portion 2241 and a sliding seat portion 2243 slidably sleeved on the threaded sleeve portion 2241. The threaded sleeve portion 2241 is in transmission cooperation with the third threaded section 2213. The threaded sleeve portion 2241 is provided with two limiting seat portions 2242 that limit the sliding stroke of the sliding seat portion 2243. The second connecting rod 225 is hinged to the sliding seat portion 2243.

[0098] by Figure 8 Taking the direction shown as an example, when the conveying device 10 is in its initial state, there is a certain gap between the slide portion 2243 and the right-side limiting seat portion 2242. Therefore, in the initial stage of the second nut seat 224 moving along the lead screw 221, the slide portion 2243 slides relative to the threaded sleeve portion 2241, the slide portion 2243 remains stationary, and the first connecting rod 222 does not move; that is, the lead screw 221 does not rise or fall, only the support member 23 rises or falls. When the slide portion 2243 slides to abut against the right-side limiting seat portion 2242, the continued movement of the threaded sleeve portion 2241 along the lead screw 221 drives the slide portion 2243 to move along the lead screw 221, thereby driving the first connecting rod 222 to move, causing the lead screw 221 to rise. When the fork arm body 2 is in its initial state, the gap between the slide portion 2243 and the right-side limiting seat portion 2242 can be specifically set according to the height of the support member 23 from the ground.

[0099] In this embodiment, two second connecting rods 225 are provided, located on opposite sides of the lead screw 221, with the upper end of each lead screw 225 hinged to the slide portion 2243. This arrangement effectively enables synchronous lifting and lowering of both ends of the second connecting rod 225, improving the stability of the lifting and lowering movement of the load arm 21.

[0100] To improve the ease of hinge connection between the second link 225 and the mounting bracket 31, the fork arm body 2 also includes a hinge shaft 25, which extends along the Y direction. The lower ends of both second links 225 are hinged to the hinge shaft 25. The side plate 3111 of the mounting bracket 31 has hinge holes 3114, and the two ends of the hinge shaft 25 are respectively inserted into the two hinge holes 3114.

[0101] The lead screw 221 also includes a second optical shaft section 2215 located between the first threaded section 2211 and the third threaded section 2213. The lifting drive motor 227 is connected to the second optical shaft section 2215 via a reducer 228. The reducer 228 reduces the rotational speed of the lead screw 221 and increases its torque, thereby improving the smoothness of the lifting drive mechanism 22's operation.

[0102] In other embodiments, the lifting drive mechanism 22 for vertically raising and lowering the drive support 23 and the lifting drive mechanism 22 for vertically raising and lowering the drive arm 21 relative to the mounting frame 31 can be set separately. Both sets of lifting drive mechanisms 22 can adopt drive structures such as motor and sprocket chain drive, screw and nut mechanism, crank slider mechanism or linkage mechanism, or linear drive structure such as linear motor or hydraulic cylinder. The above-mentioned linear drive structures are all quite common and will not be described in detail here.

[0103] The loading arm 21 has a long box-shaped structure with an opening at the bottom, forming a cavity with an opening at the bottom. The lead screw 221, the lifting drive motor and the reducer 228 are housed in the cavity to protect the lifting drive mechanism 22 and improve the structural compactness and the appearance of the fork arm body 2.

[0104] To improve the stability of the sliding of the carrying arm 21 relative to the mounting frame 31, Z-guide grooves 3113 are provided on the inner sides of the two side plates 3111 of the support portion 311, extending along the Z direction. Guide members are provided on opposite sides of the carrying arm 21 along the Y direction, extending out of the corresponding Z-guide grooves 3113 and sliding or rolling with the groove walls of the Z-guide grooves 3113. In this embodiment, the guide member is a third guide roller 24, and preferably, at least two third guide rollers 24 are provided along the Z direction.

[0105] This embodiment also provides a warehousing and logistics system, including a pallet 20 and the aforementioned handling device 10. By using the aforementioned handling device to handle the pallet, the convenience and flexibility of pallet handling can be improved, the operating efficiency of the warehousing and logistics system can be increased, and the operating cost of the warehousing and logistics system can be reduced.

[0106] It is understood that the fork arm provided in this embodiment can be applied not only to handling devices for lifting pallets, but also to other types of handling devices. Through the rolling contact of the rolling element 32 with the external structure, the fork arm moves horizontally relative to the external structure to achieve the picking and placing of materials. For example, it can be applied to handling robots that transport boxes. The handling robot includes a mast mounted on the vehicle body, a partition mounted on the mast, and forks mounted on the corresponding partition. The forks extend or retract to transfer the box between the partition and the shelf. In this case, the external structure is the partition. Alternatively, the fork arm can also be used in handling devices where the fork arm only needs to move horizontally.

[0107] When the fork arm is applied to different handling devices, the external structure can vary, and the specific structural settings of the fork arm can be adapted to the objects to be picked up. That is, this embodiment uses a pallet handling device with a vehicle body as the external structure and the fork arm capable of horizontal movement and vertical lifting as an example to describe the specific structure of the fork arm in detail. However, this invention does not limit the specific application and structure of the fork arm, and the application of the fork arm in other devices can refer to this embodiment, which will not be described in detail here.

[0108] Example 2

[0109] like Figure 13-18 This embodiment provides a pallet handling method, which uses the handling device 10 in Embodiment 1 to handle the pallet 20.

[0110] The pallet handling method provided in this embodiment specifically includes the following steps:

[0111] Step S1: The conveying device 10 moves to the front of the pallet 20 and aligns the fork arm body 2 of the conveying device 10 with the fork hole 201 of the pallet 20.

[0112] The handling device 10 automatically moves to the front of the pallet 20 via a navigation system, and the automatic navigation settings of the handling device 10 can be made according to existing technology.

[0113] Step S2: The horizontal drive unit runs in the forward direction, driving the mounting bracket 31 to move relative to the vehicle body 1 in the X direction, so that the fork body 2 extends into the insertion fork hole 201 in the X direction;

[0114] Specifically, in this embodiment, the electric roller rotates, causing the mounting bracket 31 to move along the X direction.

[0115] Step S3: When the free end of the fork arm body 2 extends a set distance from the vehicle body 1, the lifting drive mechanism 22 moves in the forward direction, driving the support member 23 to descend relative to the load arm 21 until it contacts the ground.

[0116] When the free end of the fork arm body 2 extends a set distance from the vehicle body 1, the support member 23 can be placed on the ground to provide auxiliary support for the fork arm body 2 and prevent the fork arm body 2 from bending.

[0117] Step S4: After the fork arm body 2 continues to extend forward to the maximum distance, the horizontal drive unit stops operating;

[0118] Step S5: The lifting drive mechanism 22 runs in the forward direction, raising the loading arm 21 relative to the mounting frame 31. At the same time, the support member 23 lowers relative to the loading arm 21 until the bottom of the tray 20 is raised to a preset height relative to the ground.

[0119] In this embodiment, the lead screw 221 rotates, causing the two first nut seats 223 to move towards each other, causing the support member 23 to descend relative to the load arm 21; at the same time, the second nut seat 224 slides towards the mounting frame 31, and causes the second connecting rod 225 to rotate upward around the hinge axis 25.

[0120] Step S6: The drive wheel mechanism is activated, and while keeping the fork arm body 2 and the mounting bracket 31 stationary, the vehicle body 1 moves along the X direction to the bottom of the pallet 20.

[0121] Step S7: The lifting drive mechanism 22 reverses its movement, causing the loading arm 21 to descend relative to the mounting frame 31 and the support member 23 to rise relative to the loading arm 21, until the loading arm 21 drives the tray 20 to descend and contact the upper surface of the vehicle body 1.

[0122] In this embodiment, the lead screw 221 rotates in the opposite direction, the two first nut seats 223 move in opposite directions, and the height between the support member 23 and the lead screw 221 decreases; at the same time, the second nut seat 224 slides away from the mounting frame 31, causing the second connecting rod 225 to flip downward around the hinge axis 25, driving the loading arm 21 to move downward, thereby driving the tray 20 supported on the loading arm 21 to descend.

[0123] In step S8, the lead screw 221 continues to move in the opposite direction, the slide 2243 slides relative to the limiting seat 2242, the support 23 moves upward until it is no longer in contact with the ground, and the conveying device 10 reaches the docking position.

[0124] Step S9: The handling device 10 carries the pallet 20 to the predetermined destination;

[0125] Step S10: The lifting drive mechanism 22 moves in the forward direction, driving the lead screw 221 to rise to the set height. At the same time, the support member 23 moves downward relative to the load arm 21 until it contacts the ground.

[0126] Step S11: The drive wheel mechanism 12 reverses its movement, causing the vehicle body 1 to move relative to the mounting bracket 31 and the fork arm body 2 to below the removed tray 20;

[0127] Step S12: The lifting drive mechanism 22 reverses its movement, causing the lead screw 221 to descend, so that the carrying arm 21 drives the tray 20 to descend to contact the ground. At the same time, the support member 23 moves upward relative to the carrying arm 21.

[0128] Step S13: The horizontal drive unit reverses its movement, causing the mounting bracket 31 and the fork body 2 to move relative to the vehicle body 1 until the fork body 2 disengages from the fork hole 201, until the mounting bracket 31 and the fork body 2 return to their initial positions.

[0129] Step S14: The lead screw 221 rotates in the opposite direction, causing the support member 23 to continue moving in the direction toward the load arm 21 until the support member 23 is lifted off the ground.

[0130] It is understandable that steps S13 and S14 can be performed simultaneously or sequentially.

[0131] The pallet handling method provided in this embodiment improves the flexibility and applicability of pallet handling by using the aforementioned handling device, and reduces the turning radius and floor space required during pallet handling.

[0132] Example 3

[0133] This embodiment provides a pallet handling method, which uses the handling device 10 in Embodiment 1 to handle the pallet 20. The pallet handling method provided in this embodiment is basically the same as the pallet handling method provided in Embodiment 2, with only some steps being different. This embodiment will not repeat the steps that are the same as those in Embodiment 2.

[0134] The pallet handling method includes the following steps:

[0135] Steps S1-S5 can be referred to in Example 2;

[0136] Step S7: The vehicle body 1 remains stationary, and the horizontal drive unit rotates in the opposite direction, causing the mounting bracket 31 and the fork arm body 2 to move backward relative to the vehicle body 1 until the fork arm body 2 returns to above the vehicle body 1.

[0137] Steps S8-S10 can be referred to in Embodiment 2;

[0138] Step S11: The vehicle body 1 remains stationary, and the horizontal drive unit rotates in the forward direction, causing the mounting bracket 31 and the fork arm body 2 to extend forward until the vehicle body 1 is separated from the bottom of the pallet 20.

[0139] Steps S12 to S14 can be referred to in Embodiment 2.

[0140] It is understandable that in specific implementation, step S7 can be the same as step S7 in embodiment one, and step S11 can be the same as step S11 in embodiment two, or step S7 can be the same as step S7 in embodiment two, and step S11 can be the same as step S11 in embodiment one, as long as the relative movement between the fork arm body 2 and the vehicle body 1 is achieved.

[0141] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A fork arm, characterized in that, include: The fork arm body (2) is used to support the object; A translation drive mechanism (3) is connected to the fork body (2). The translation drive mechanism (3) includes a rolling element (32). The translation drive mechanism (3) is configured to move through the rolling element (32) to drive the fork body (2) to move horizontally. The translation drive mechanism (3) also includes a mounting bracket (31). The fork body (2) is mounted on the mounting bracket (31). The fork arm body (2) includes: A carrying arm (21) is used to support an object, and one end of the carrying arm is slidably connected to the mounting frame (31); A lifting drive mechanism (22) is provided on the loading arm (21) for driving the loading arm (21) to lift relative to the mounting frame (31); Support member (23), which is configured to be driven by the lifting drive mechanism to extend downward relative to the load arm (21) to support the load arm (21). The mounting frame (31) includes at least two support sections (311) spaced apart. The rolling element (32) is mounted between two adjacent support sections (311) and rotatably connected to the mounting frame (31). Each support section (311) is provided with the fork arm body (2).

2. The fork arm according to claim 1, characterized in that, The fork arm includes an elastic element (33) for elastically pressing the rolling element (32) against the rolling mating surface of the rolling element (32).

3. The fork arm according to claim 2, characterized in that, The rolling element (32) has a mounting shaft (321) with both ends of the mounting shaft (321) supported on the mounting bracket (31), and the elastic element (33) includes a spring that elastically presses against the mounting shaft (321).

4. The fork arm according to claim 1, characterized in that, The rolling element (32) is an electric roller.

5. The fork arm according to claim 1, characterized in that, The support portion (311) includes two side plates (3111) that are opposite to each other and spaced apart. The first end of the fork arm body (2) is located between the two side plates (3111) and is slidably connected to the two side plates (3111).

6. A conveying device, characterized in that, Includes a vehicle body (1) and a fork arm as described in any one of claims 1-5, the fork arm being disposed on the vehicle body (1) and slidably connected to the vehicle body (1), the rolling element (32) being in rolling contact with the surface of the vehicle body (1).

7. The conveying device according to claim 6, characterized in that, The upper surface of the vehicle body (1) is provided with a receiving groove (112), and the fork arm can be received in the receiving groove (112) and slide along the groove wall of the receiving groove (112).

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