Automatic support structure, fork device, handling robot and warehousing system

Abstract

The application provides an automatic support structure, a fork device, a carrying robot and a storage system. The automatic support structure comprises a support base, an elastic support unit, a release unit and a driving assembly. The elastic support unit, the release unit and the driving assembly are arranged on the support base. The elastic support unit comprises a first elastic member and a support member. The first elastic member and the release unit are connected with the support member. The driving assembly is connected with the release unit and drives the release unit to be disconnected with the support member, so that the support member moves in a first direction. The first direction is the stretching direction of the first elastic member. The automatic support structure can provide support force for the fork device when the carrying robot is used to put goods, so as to prevent the fork device from pitching and the carrying robot from shaking.

Description

Technical Field

[0001] The present application relates to the technical field of warehousing and logistics, and in particular to an automatic support structure, a fork device, a handling robot and a warehousing system. Background Art

[0002] Smart warehousing is a crucial component of the logistics process. Its application ensures the speed and accuracy of data input at every stage of container warehouse management, ensuring that companies have timely and accurate access to real inventory data and can maintain and control their inventory appropriately.

[0003] A warehousing system may include a handling robot and shelves, where the handling robot can pick up and place containers on the shelves. The handling robot may include a column assembly and a fork mechanism mounted on the column assembly, which can be raised and lowered along the height of the column assembly. The fork mechanism includes a telescopic assembly and a fork body. The telescopic assembly can extend beyond the fork body relative to the fork body to facilitate picking up and placing containers between the shelf and the handling robot.

[0004] When the telescopic assembly places the cargo box from the fork body to the shelf, the cargo box exerts a force on the fork device in the opposite direction of extension, which can easily cause the fork device to pitch along the telescopic movement direction of the telescopic assembly, affecting the stability of the transport robot. Summary of the Invention

[0005] The present application provides an automatic support structure, a fork device, a handling robot and a warehousing system. The automatic support structure can provide stable support to the fork device when the handling robot places goods, preventing the fork device from pitching and the handling robot from shaking.

[0006] In the first aspect, the present application provides an automatic support structure, including a support, an elastic support unit, a release unit and a drive assembly, the elastic support unit, the release unit and the drive assembly are arranged on the support, the elastic support unit includes a first elastic member and a support member, the first elastic member and the release unit are connected to the support member, the drive assembly is connected to the release unit, and drives the release unit to disconnect from the support member so that the support member moves along a first direction, and the first direction is the extension direction of the first elastic member.

[0007] In one implementation, in the automatic support structure provided by the present application, the driving assembly drives the release unit to connect with the support member to move the support member along the second direction, which is the contraction direction of the first elastic member.

[0008] In one implementation, the automatic support structure provided by the present application, the release unit includes a connecting rod assembly and a clamping member, and the support member includes a support member body and a connecting member connected to the support member body;

[0009] The clamping piece is rotatably connected to the support, and the clamping piece is connected to the connecting rod assembly. The driving assembly drives the clamping piece to engage or disengage with the connecting piece through the connecting rod assembly.

[0010] In one implementation, the automatic support structure provided by the present application, the elastic support unit further includes a first moving member, the connecting rod assembly includes a connecting rod and a second moving member, one end of the connecting rod is hingedly or fixedly connected to the clamping member, and the other end of the connecting rod is fixedly connected to the second moving member;

[0011] The driving assembly is connected to the first moving member to drive the first moving member to move in the first direction, the first moving member drives the second moving member to move in the first direction, the second moving member drives the clamping member to rotate relative to the connecting rod through the connecting rod, so that the clamping member and the connecting member are disengaged; and / or, the driving assembly drives the first moving member to move in the second direction, drives the support member body to move in the second direction through the first moving member, so that the clamping member and the connecting member are engaged.

[0012] In one implementation, the automatic support structure provided by the present application, the connecting rod assembly also includes a spring, one end of the spring is fixedly connected to the clamping member, and the other end of the spring is fixedly connected to the support, and the spring is used to reset the clamping member after the clamping member and the connecting member are disengaged.

[0013] In one implementation, the automatic support structure provided by the present application, the connecting part includes a connecting part body, a mounting hole and a card slot, the mounting hole and the card slot are located on the connecting part body, the supporting part body is inserted into the mounting hole, the card slot is connected to the mounting hole, and the clamping part is engaged with or disengaged from the card slot.

[0014] In one implementation, the automatic support structure provided by the present application, the connector also includes a clamping arm, the support body portion is located between the clamping arm and the connector body, and the clamping arm and the connector body are connected to clamp the support body on the connector body.

[0015] In one implementation, the automatic support structure provided by the present application, the driving assembly includes a transmission member, the transmission member rotates clockwise or counterclockwise, and the first moving member is fixedly connected to the transmission member.

[0016] In one implementation, the automatic support structure provided by the present application, the driving assembly is a belt driving assembly, the belt driving assembly includes a belt, and the first moving member is fixedly connected to the belt;

[0017] Alternatively, the drive assembly is a chain and sprocket drive assembly, the chain and sprocket drive assembly includes a chain, and the first moving member is fixedly connected to the chain.

[0018] In one implementation, the automatic support structure provided by the present application further includes a guide unit, which is connected to the support member to provide guidance for the movement of the support member.

[0019] In one implementation, the automatic support structure provided by the present application, the guide unit includes a guide rod, the guide rod extends along a first direction, and the first elastic member is sleeved on the guide rod;

[0020] The support member body is a sleeve, one end of the guide rod is connected to the fixed support, and the other end of the guide rod and at least a part of the first elastic member are inserted into the sleeve.

[0021] In one implementation, in the automatic support structure provided by the present application, one end of the first elastic member abuts against the support, and the other end of the first elastic member abuts against the inner wall of the sleeve.

[0022] In one implementation, the automatic support structure provided by the present application, the guide unit also includes a guide rail and at least one slider, the guide rail is set on the support, the guide rail extends along the first direction, the slider slides along the extension direction of the guide rail, and the slider is fixedly connected to the connecting member.

[0023] In one implementation, the automatic support structure provided by the present application, the first moving member and the second moving member are both slidably connected to the guide rail, and the first moving member and the second moving member move along the extension direction of the guide rail;

[0024] The first moving member is located between the slider and the second moving member.

[0025] In one implementation, the automatic support structure provided in the present application further includes a locking unit, which is used to fix the support member on the guide rail when the support member moves to a preset position along the first direction and is subjected to a reaction force along the second direction.

[0026] In one implementation, the automatic support structure provided by the present application, the locking unit includes a wedge and a trigger assembly, and the first moving member drives the connecting member to move along the second direction through the trigger assembly;

[0027] The wedge block is fixedly connected to a side of the connecting piece facing the guide rail, and the inclined surface of the wedge block faces the guide rail;

[0028] When the support member moves to a preset position along the first direction and is subjected to a reaction force along the second direction, the trigger assembly abuts against the wedge block to fix the support member on the guide rail.

[0029] In one implementation, the automatic support structure provided by the present application, the trigger assembly includes a support frame, a support shaft and at least one second elastic member, the support frame is located on the guide rail, the support shaft is provided on the support frame, and the support shaft is located between the guide rail and the wedge;

[0030] The at least one slider includes a first slider, and the second elastic member abuts between the first slider and the support frame;

[0031] The support shaft abuts between the wedge block and the guide rail.

[0032] In one implementation, in the automatic support structure provided by the present application, the angle between the wedge block and the guide rail is smaller than the friction angle between the support shaft and the wedge block.

[0033] In one implementation, in the automatic support structure provided by the present application, when the first movable member moves along the second direction, the first movable member abuts against the support frame and drives the support frame to move along the second direction relative to the connecting member, so that the support shaft and the wedge block are out of contact.

[0034] In one implementation, the automatic support structure provided by the present application, at least one slider further includes a second slider, and the wedge is located between the first slider and the second slider;

[0035] The support frame includes a base and two support arms connected to the base, the support arms are located on the sides of the guide rail, the support shaft is connected between the two support arms, and the axis of the support shaft is parallel to the guide rail;

[0036] The first sliding block is located between the two supporting arms, and the second elastic member is located between the first sliding block and the base.

[0037] In a second aspect, the present application further provides a fork device, comprising a fork body, a telescopic assembly, and at least one automatic support structure according to the first aspect, wherein the fork body comprises a support base and a pallet, and the pallet, the telescopic assembly, and the automatic support structure are located on the support base;

[0038] The telescopic assembly moves relative to the support base to pick up and place cargo boxes between the fork body and the first shelf. When the telescopic assembly places the cargo box on the first shelf, the support moves along the first direction and abuts against the second shelf opposite to the first shelf.

[0039] In one implementation, in the fork device provided in the present application, after the telescopic assembly places a cargo box on the first shelf, the elastic support unit moves along the second direction to disengage from the abutment with the second shelf.

[0040] In one implementation, the fork device provided in the present application has a receiving slot for receiving a pallet on a support seat, and one end of the receiving slot has an opening for allowing a cargo box to enter and exit;

[0041] The automatic support structure is located between the bottom of the tray and the inner bottom wall of the receiving tank. The support of the automatic support structure is fixedly connected to the inner bottom wall of the receiving tank, and the support member can be partially moved out of the support seat.

[0042] In one implementation, the fork device provided in the present application has an entrance and exit on the support seat for the support member to enter and exit.

[0043] In a third aspect, the present application further provides a transport robot comprising a column assembly and a fork device according to the second aspect above located on the column assembly.

[0044] In a fourth aspect, the present application also provides a warehousing system, comprising the transport robot of the third aspect and a plurality of shelves, wherein adjacent shelves form passages for the transport robot to move.

[0045] The automatic support structure, fork device, handling robot and storage system provided by the present application include a support, an elastic support unit, a release unit and a drive assembly. The elastic support unit, the release unit and the drive assembly are arranged on the support. The elastic support unit includes a first elastic member and a support member. The first elastic member and the release unit are connected to the support member. The drive assembly is connected to the release unit and drives the release unit to disconnect from the support member so that the support member moves along a first direction, which is the extension direction of the first elastic member. By popping up the support member to abut against the second shelf, a supporting force is provided to the fork device, preventing the fork device from pitching when the subsequent telescopic assembly places the cargo box on the first shelf. Thus, the automatic support structure can prevent the fork device from pitching when placing the cargo box, thereby improving the stability of the handling robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0047] Figure 1 A schematic diagram of the structure of the storage system provided in an embodiment of the present application;

[0048] Figure 2 A schematic structural diagram of a fork assembly provided in an embodiment of the present application;

[0049] Figure 3 A schematic structural diagram of the fork assembly provided in an embodiment of the present application from another angle;

[0050] Figure 4 A schematic diagram of the structure of the automatic support structure provided in an embodiment of the present application;

[0051] Figure 5 A schematic structural diagram of the elastic support unit, support, and drive assembly in the automatic support structure provided in an embodiment of the present application;

[0052] Figure 6 A schematic diagram of the connection between the clamping member and the connecting member in the automatic support structure provided in an embodiment of the present application;

[0053] Figure 7 A schematic structural diagram of a connecting member in an automatic supporting structure provided in an embodiment of the present application;

[0054] Figure 8 for Figure 5 Bottom view of

[0055] Figure 9 for Figure 8 Sectional view of section AA;

[0056] Figure 10 for Figure 9 A partial enlarged view of point B in the middle;

[0057] Figure 11 A schematic structural diagram of a trigger component in an automatic support structure provided in an embodiment of the present application.

[0058] Description of reference numerals:

[0059] 1-Handling robot;

[0060] 10- Fork device;

[0061] 20-column assembly;

[0062] 100-Fork body;

[0063] 110-support base; 120-tray; 111-accommodation slot; 112-entrance and exit;

[0064] 200- telescopic component;

[0065] 300-Automatic support structure;

[0066] 310-support;

[0067] 320 - elastic support unit; 321 - first elastic member; 322 - support member; 323 - first moving member; 3221 - support member body; 3222 - connecting member; 3222a - connecting member body; 3222b - mounting hole; 3222c - slot; 3222d - clamping arm;

[0068] 330 - release unit; 331 - connecting rod assembly; 332 - snap-fit ​​member; 3321 - hook; 3322 - rotating shaft; 3311 - connecting rod; 3312 - second moving member; 3313 - connecting plate; 3314 - spring;

[0069] 340-driving assembly; 341-transmission member; 342-driving member;

[0070] 350-guide unit; 351-guide rod; 352-guide rail; 353-slider; 3531-first slider; 3532-second slider;

[0071] 360-locking unit; 361-wedge; 362-trigger assembly; 3621-support frame; 3622-support shaft; 3623-second elastic member; 3624-end cover; 3621a-base; 3621b-support arm;

[0072] 400-first shelf;

[0073] 500-Second shelf. DETAILED DESCRIPTION

[0074] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below in conjunction with the drawings in the preferred embodiments of the present application. In the drawings, the same or similar reference numerals throughout represent the same or similar parts or parts with the same or similar functions. The described embodiments are part of the embodiments of the present application, not all of the embodiments. The embodiments described below with reference to the drawings are exemplary and are intended to be used to explain the present application, and should not be understood as limitations on the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. The embodiments of the present application are described in detail below in conjunction with the drawings.

[0075] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to a primary connection or an indirect connection through an intermediate medium, internal communication between two components, or an interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0076] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship described in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0077] The terms "first," "second," and "third" (if any) in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the application described herein can, for example, be implemented in orders other than those illustrated or described herein.

[0078] In addition, the terms "comprises" and "having" and any variations thereof are intended to cover a non-exclusive inclusion, for example, a process, method, system, product or display that includes a series of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, product or display.

[0079] A warehousing system may include a handling robot and shelves, where the handling robot can pick up and place containers on the shelves. The handling robot may include a column assembly and a fork mechanism mounted on the column assembly, which can be raised and lowered along the height of the column assembly. The fork mechanism includes a telescopic assembly and a fork body. The telescopic assembly can extend beyond the fork body relative to the fork body to facilitate picking up and placing containers between the shelf and the handling robot.

[0080] When the fork device places a cargo box, the telescopic assembly clamps the cargo box and pushes it onto the shelf. The cargo box needs to overcome the friction between the cargo box and the fork device before it can be moved from the fork device to the shelf. The gravity of the cargo box is relatively large, and accordingly, the friction is also relatively large. At the same time, the cargo box has a force on the fork device in the opposite direction of extension, and the magnitude of the force is equal to the friction force. This force will cause the fork body to pitch along the telescopic movement direction, affecting the stability of the handling robot and easily causing the cargo box to be placed improperly.

[0081] Based on this, an embodiment of the present application provides an automatic support structure, a fork device, a handling robot and a warehousing system. The automatic support structure can provide stable support to the fork device when the handling robot releases goods, preventing the fork device from pitching and the handling robot from shaking.

[0082] Figure 1 A schematic diagram of the structure of the storage system provided in an embodiment of the present application; Figure 2 A schematic diagram of the structure of the fork device provided in an embodiment of the present application; Figure 3 A schematic structural diagram of the fork assembly provided in an embodiment of the present application from another angle; Figure 4 A schematic diagram of the structure of the automatic support structure provided in an embodiment of the present application; Figure 5 This is a schematic diagram of the structure of the elastic support unit, support and drive assembly in the automatic support structure provided by the embodiment of the present application. Figures 1 to 5 As shown, the warehousing system provided by the embodiment of the present application includes a transport robot 1 and a plurality of shelves, and channels for the transport robot 1 to move are formed between adjacent shelves.

[0083] Reference Figures 2 to 5 As shown, the handling robot 1 provided in the embodiment of the present application includes a column assembly 20 and a fork device 10 located on the column assembly 20 .

[0084] The handling robot 1 may also include a mobile chassis and storage shelves (not shown in the figure). The storage shelves, the fork device 10 and the column assembly 20 are all installed on the mobile chassis. Several storage units are set on the storage shelves, and the column assembly 20 is used to drive the fork device 10 to move up and down so that the fork device 10 is aligned with any storage unit on the storage shelf, or with the shelf and / or the cargo box. The fork device 10 can be rotated with the vertical direction as the axis to adjust the direction so as to align with the storage unit, or with the shelf and / or the cargo box. The fork device 10 is used to perform loading or unloading of the cargo box so as to carry out cargo box transportation between the shelf and the storage unit.

[0085] The fork device 10 includes a fork body 100, a telescopic assembly 200 and at least one automatic support structure 300. The fork body 100 includes a support base 110 and a pallet 120. The pallet 120, the telescopic assembly 200 and the automatic support structure 300 are located on the support base 110. The telescopic assembly 200 moves relative to the support base 110 to pick up and place cargo boxes between the fork body 100 and the first shelf 400. Before the telescopic assembly 200 places the cargo box on the first shelf 400, the support member 322 moves along the first direction and abuts against the second shelf 500 opposite to the first shelf 400. In a warehousing system, the shelf can be fixed to the warehouse floor so that the shelf can be placed stably. In addition, due to the large mass of the shelf itself and the large number of cargo boxes carried on the shelf, the shelf is difficult to move. The shelf can provide stable support for the automatic support structure 300. It should be understood that in addition to abutting against the second shelf 500, the automatic support structure 300 can also abut against a wall or other vertical planes. The first direction is Figure 4 The X direction is shown in the Figure 4 It should be understood that, for the fork device 10, the first direction is consistent with the direction in which the cargo box enters the fork body 100, and correspondingly, the second direction is consistent with the direction in which the cargo box leaves the fork body 100.

[0086] Specifically, when a cargo box is placed on the pallet 120, the telescopic assembly 200 can extend outside the support base 110 relative to the support base 110 so as to push the cargo box onto the first shelf 400 via the fork body 100. To prevent the fork device 10 from pitching when placing the cargo box on the first shelf 400, an automatic support structure 300 is provided on the fork device 10. Before the telescopic assembly 200 is ready to place the cargo box on the first shelf 400, the support member 322 of the elastic support unit 320 can move in a first direction and abut against the second shelf 500. In this way, the second shelf 500 can provide a supporting force in a second direction to the fork device 10 through the automatic support structure 300, thereby preventing the fork device 10 from pitching and the handling robot 1 from shaking when placing the cargo box.

[0087] Furthermore, after the telescopic assembly 200 places a container on the first shelf 400, the elastic support unit 320 moves in the second direction to disengage from the second shelf 500. In this way, the fork assembly 10 can move up and down along the column assembly 20 to carry the next container.

[0088] When transporting a cargo box, the telescopic assembly 200 and the pallet 120 are extended out of the fork body 100 together. The support base 110 has a receiving slot 111 for accommodating the pallet 120. One end of the receiving slot 111 has an opening for the pallet 120 and the cargo box to enter and exit, so that the pallet 120 and the cargo box can smoothly enter and exit the receiving slot 111.

[0089] The automatic support structure 300 is located between the bottom of the pallet 120 and the inner bottom wall of the receiving groove 111. The support 310 of the automatic support structure 300 is fixedly connected to the inner bottom wall of the receiving groove 111. In this way, the automatic support structure 300 can be connected to the fork body 100, and the support member 322 can be partially moved out of the support base 110 to abut against the second shelf 500.

[0090] In some embodiments, the support base 110 has an entrance and exit 112 for the support member 322 to enter and exit, so that the support member 322 can move along the first direction and abut against the second shelf 500, or move along the second direction and disengage from the second shelf 500.

[0091] Please continue to refer to Figure 4 and Figure 5 As shown, the automatic support structure 300 provided in the embodiment of the present application includes a support 310, an elastic support unit 320, a release unit 330 and a drive assembly 340. The elastic support unit 320, the release unit 330 and the drive assembly 340 are arranged on the support 310. The elastic support unit 320 includes a first elastic member 321 and a support member 322. The first elastic member 321 and the release unit 330 are connected to the support member 322. The drive assembly 340 is connected to the release unit 330 and drives the release unit 330 to disconnect from the support member 322 so that the support member 322 moves along a first direction. The first direction is the extension direction of the first elastic member 321.

[0092] In the present application, the elastic support unit 320, the release unit 330, and the drive assembly 340 are all disposed on the support 310. The support 310 is configured to connect to the inner bottom wall of the receiving groove 111, thereby securing the automatic support structure 300 to the fork mechanism 10. The release unit 330 is configured to lock the support member 322 in the initial position. When the fork mechanism 10 moves to a position corresponding to the position on the first shelf 400 where a container is to be placed, and before the telescopic assembly 200 places the container on the first shelf 400, the drive assembly 340 provides a driving force to the release unit 330, thereby disconnecting the release unit 330 from the support member 322, unlocking the support member 322. At this point, the first elastic member 321 extends in the first direction under the action of the elastic force, driving the support member 322 to move in the first direction, causing the support member 322 to abut against the second shelf 500, thereby providing support force to the fork mechanism 10 and preventing the fork mechanism 10 from pitching when the telescopic assembly 200 subsequently places the container on the first shelf 400. Therefore, the automatic supporting structure 300 can prevent the fork device 10 from pitching when releasing cargo, thereby improving the stability of the transport robot 1.

[0093] In some embodiments, the drive assembly 340 drives the release unit 330 to connect with the support member 322, causing the support member 322 to move in a second direction, which is the contraction direction of the first elastic member 321. After the fork assembly 10 places a cargo box on the first shelf 400, the first elastic member 321 contracts in the second direction until the support member 322 connects with the release unit 330. At this point, the support member 322 is locked by the release unit 330 and returns to its initial position, allowing the fork assembly 10 to be raised or lowered along the column assembly 20. The initial position is the position of the support member 322 when it is connected to the release unit 330.

[0094] Figure 6 The clamping member in the automatic support structure provided in the embodiment of the present application

[0095] Schematic diagram of connection with connector. Figure 4 and Figure 6 As shown, in a specific implementation, the release unit 330 includes a connecting rod assembly 331 and a clamping member 332 , and the support member 322 includes a support member body 3221 and a connecting member 3222 connected to the support member body 3221 .

[0096] The clamping member 332 is rotatably connected to the support 310 , and the clamping member 332 is connected to the connecting rod assembly 331 . The driving assembly 340 drives the clamping member 332 to engage with or disengage from the connecting member 3222 through the connecting rod assembly 331 .

[0097] When the fork device 10 is ready to put the box down, the driving assembly 340 drives the connecting rod assembly 331 to move, the connecting rod assembly 331 drives the clamping piece 332 to move, so that the clamping piece 332 is disconnected with the connecting piece 3222, the support body 3221 is fixedly connected with the connecting piece 3222, the first elastic piece 321 is stretched along the first direction, and the support 322 is driven to move along the first direction at a high speed, so that the support body 3221 abuts against the second rack 500.

[0098] When the fork device 10 puts the box down, the support 322 moves along the second direction under the driving of the driving assembly 340, until the connecting piece 3222 is clamped with the clamping piece 332, so as to lock the support 322 in the initial position.

[0099] Referring to Figure 4 In some embodiments, the elastic support unit 320 further comprises a first moving piece 323, the connecting rod assembly 331 comprises a connecting rod 3311, a second moving piece 3312 and a connecting plate 3313, one end of the connecting rod 3311 is hingedly or fixedly connected with the clamping piece 332, the other end of the connecting rod 3311 is hingedly connected with the connecting plate 3313, and the connecting plate 3313 is fixedly connected with the second moving piece 3312, so as to drive the connecting rod 3311 to move along with the second moving piece 3312.

[0100] It should be understood that the connecting rod assembly 331 can also comprise the connecting plate 3313, the connecting rod 3311 can be directly connected with the second moving piece 3312, and the connecting rod 3311 can also be connected with the second moving piece 3312 through the connecting plate 3313.

[0101] The driving assembly 340 is connected with the first moving piece 323 to drive the first moving piece 323 to move along the first direction, the first moving piece 323 drives the second moving piece 3312 to move along the first direction, and the second moving piece 3312 drives the clamping piece 332 to rotate relative to the connecting rod 3311 through the connecting rod 3311, so as to disconnect the clamping piece 332 with the connecting piece 3222. Alternatively, the driving assembly 340 drives the first moving piece 323 to move along the second direction, and drives the support body 3221 to move along the second direction through the first moving piece 323, so as to clamp the clamping piece 332 with the connecting piece 3222.

[0102] Specifically, the clamping piece 332 has a clamping hook 3321, and the clamping piece 332 is rotationally connected with the support 310 through a rotating shaft 3322, in the process of disconnecting the clamping piece 332 with the connecting piece 3222, the clamping hook 3321 rotates around the rotating shaft 3322 to the direction away from the connecting piece 3222, so as to disconnect the clamping hook 3321 with the connecting piece 3222.

[0103] When the fork device 10 is ready to place the cargo box, the driving assembly 340 drives the first moving member 323 to move in the first direction. When the first moving member 323 moves to the position where the second moving member 3312 is located, the first moving member 323 abuts against the second moving member 3312, thereby driving the second moving member 3312 to move in the first direction. The second moving member 3312 drives the connecting rod 3311 to move, thereby driving the clamping member 332 to rotate in the direction away from the connecting member 3222. As a result, the clamping member 332 can be disengaged from the connecting member 3222, the support member 322 is unlocked, and the support member body 3221 can move in the first direction.

[0104] After the fork device 10 places the cargo box, the support member 322 needs to be restored to its initial position. The driving assembly 340 drives the first movable member 323 to move in the second direction. The first movable member 323 drives the support member 322 to move in the second direction, so that the clamping member 332 is clamped with the connecting member 3222, thereby locking the support member 322 in the initial position.

[0105] Please continue to refer to Figure 4 and Figure 6 As shown, in some embodiments, the connecting rod assembly 331 further includes a spring 3314, one end of which is fixedly connected to the clamping member 332, and the other end of which is fixedly connected to the support 310. The spring 3314 is used to reset the clamping member 332 after the clamping member 332 is disengaged from the connecting member 3222. That is, the clamping member 332 can be restored to the position of being engaged with the connecting member 3222 under the elastic force of the spring 3314.

[0106] Figure 7 This is a schematic diagram of the structure of the connecting member in the automatic support structure provided in the embodiment of the present application, Figure 1 、 Figure 4 、 Figure 6 and Figure 7 As shown, in a specific implementation, the connector 3222 includes a connector body 3222a, a mounting hole 3222b, and a slot 3222c. The mounting hole 3222b and the slot 3222c are located on the connector body 3222a. The support body 3221 is inserted into the mounting hole 3222b. The slot 3222c is connected to the mounting hole 3222b. The hook 3321 of the clamping member 332 engages with or disengages the slot 3222c. Thus, the support 322 is locked in the initial position by the clamping member 332 engaging with the slot 3222c. The clamping member 332 disengages from the slot 3222c, allowing the support 322 to move under the action of the first elastic member 321, thereby abutting against the second shelf 500.

[0107] In addition, the connector 3222 further includes a clamping arm 3222d, and the support body 3221 is partially located between the clamping arm 3222d and the connector body 3222a. The clamping arm 3222d and the connector body 3222a are connected to clamp the support body 3221 on the connector body 3222a.

[0108] The support member body 3221 is inserted into the mounting hole 3222b, and the clamping arm 3222d is connected to the connector body 3222a via screws, thereby the support member body 3221 and the connector 3222 can be fixedly connected via the clamping arm 3222d.

[0109] Please continue to refer to Figure 4 and Figure 5 As shown, in a specific implementation, the drive assembly 340 includes a transmission member 341, which rotates clockwise or counterclockwise, and the first moving member 323 is fixedly connected to the transmission member 341. In addition, the drive assembly 340 also includes a drive member 342, which can be a motor or a cylinder. For example, the drive member 342 can be a servo motor, which is light in weight and has a fast response.

[0110] In some embodiments, the driving component 340 is a belt driving component 340, which includes a belt, and the first movable member 323 is fixedly connected to the belt, that is, the transmission member 341 is a belt, and the first movable member 323 is fixedly connected to the belt. The belt rotates under the drive of the driving member 342, thereby driving the first movable member 323 to move along the first direction or the second direction, and the belt transmission runs smoothly.

[0111] In other embodiments, the drive assembly 340 is a chain sprocket drive assembly 340, which includes a chain, and the first movable member 323 is fixedly connected to the chain, that is, the transmission member 341 is a chain, and the first movable member 323 is fixedly connected to the chain. The chain rotates under the drive of the driving member 342, driving the first movable member 323 to move along the first direction or the second direction, and the chain transmission transmits the motion accurately and reliably.

[0112] Reference Figure 4 As shown, in some embodiments, the automatic supporting structure 300 further includes a guide unit 350 , which is connected to the support member 322 to provide guidance for the movement of the support member 322 .

[0113] To ensure that the first elastic member 321 maintains a consistent extension and contraction direction when it is extended or contracted, the guide unit 350 includes a guide rod 351 extending in a first direction, and the first elastic member 321 is sleeved on the guide rod 351. As a result, the first elastic member 321 always moves along the axial direction of the guide rod 351 when it is extended or contracted.

[0114] The support member 322 is a sleeve. One end of the guide rod 351 is fixedly connected to the support 310. The other end of the guide rod 351 and at least a portion of the first elastic member 321 are inserted into the sleeve. Driven by the first elastic member 321, the sleeve can reciprocate along the axis of the guide rod 351 to abut or disengage with the second shelf 500.

[0115] In addition, the other end of the guide rod 351 has a guide head, and the diameter of the guide head close to the guide rod 351 is larger than the diameter of the end away from the guide rod 351, so that the first elastic member 321 can shrink along the end of the guide rod 351 with the guide head to the other end, thereby guiding the movement direction of the first elastic member 321.

[0116] In a specific implementation, one end of the first elastic member 321 abuts against the support 310 , and the other end of the first elastic member 321 abuts against the inner wall of the sleeve.

[0117] When the support member 322 is in the initial position, the first elastic member 321 is compressed, and the end of the first elastic member 321 in the second direction abuts against the support 310, and the end of the first elastic member 321 in the first direction abuts against the end of the sleeve in the first direction. When the support member 322 abuts against the second shelf 500, the first elastic member 321 extends, and the end of the first elastic member 321 in the second direction abuts against the support 310. The end of the first elastic member 321 in the first direction is located within the sleeve, abutting against the inner wall of the sleeve, and a gap is formed between the end of the first elastic member 321 in the first direction and the end of the sleeve in the first direction, or the end of the first elastic member 321 in the first direction abuts against the end of the sleeve in the first direction.

[0118] Figure 8 for Figure 5 Bottom view of Figure 5 and Figure 8 As shown, in some embodiments, the guide unit 350 also includes a guide rail 352 and at least one slider 353. The guide rail 352 is arranged on the support 310, and the guide rail 352 extends along the first direction. The slider 353 slides along the extension direction of the guide rail 352. The slider 353 is fixedly connected to the connecting member 3222, so that the slider 353 can drive the connecting member 3222 to move along the extension direction of the guide rail 352.

[0119] In order to guide the movement of the first moving member 323 and the second moving member 3312 , the first moving member 323 and the second moving member 3312 are both slidably connected to the guide rail 352 , and the first moving member 323 and the second moving member 3312 move along the extension direction of the guide rail 352 .

[0120] The first moving piece 323 is located between the sliding block 353 and the second moving piece 3312, so that the first moving piece 323 can drive the sliding block 353 and the second moving piece 3312 to move.

[0121] That is, when the first moving piece 323 moves in the first direction to abut against the second moving piece 3312, the first moving piece 323 can drive the second moving piece 3312 to move in the first direction, the second moving piece 3312 drives the connecting rod 3311 to move in the first direction, the connecting rod 3311 drives the clamping piece 332 to rotate, so that the clamping piece 332 is separated from the clamping groove 3222c, and the supporting piece 322 can be quickly moved under the driving of the first elastic piece 321, so as to abut against the second shelf 500.

[0122] When the first moving piece 323 moves in the second direction, the first moving piece 323 drives the sliding block 353 to move in the second direction, and the sliding block 353 can drive the supporting piece 322 to move in the second direction until the clamping piece 332 is clamped with the clamping groove 3222c, so that the supporting piece 322 is separated from the abutment with the second shelf 500, and the supporting piece 322 can be locked to the initial position.

[0123] Figure 9 For Figure 8 the cross-sectional view of A-A section; Figure 10 For Figure 9 the local enlarged view at B. Refer to Figure 1 , Figure 4 , Figure 9 With Figure 10 shown, when the supporting piece 322 abuts against the second shelf 500, and the box is moved from the fork body 100 to the first shelf 400, the box exerts a reaction force in the second direction on the fork body 100, and the second shelf 500 exerts a supporting force in the second direction on the supporting piece 322, and the resultant force of the reaction force and the supporting force will make the supporting piece 322 have a tendency to move in the second direction. At this time, in order to avoid the supporting piece 322 from moving in the second direction, the automatic supporting structure 300 further comprises a locking unit 360, which is used to fix the supporting piece 322 on the guide rail 352 when the supporting piece 322 moves in the first direction to a preset position and the supporting piece 322 is subjected to the reaction force in the second direction. Thus, when the fork device 10 is placed with the box, the supporting piece 322 can always be in abutment with the second shelf 500, thereby providing the fork device 10 with continuous and stable supporting force. The preset position is the position of the supporting piece 322 when the supporting piece body 3221 abuts against the second shelf 500.

[0124] In a specific implementation, the locking unit 360 includes a wedge block 361 and a trigger assembly 362, and the first moving part 323 drives the connecting part 3222 to move in the second direction through the trigger assembly 362, that is, when the driving assembly 340 drives the first moving part 323 to move in the second direction to abut against the trigger assembly 362, the first moving part 323 drives the trigger assembly 362, the sliding block 353 and the connecting part 3222 to move in the second direction together until the connecting part 3222 is clamped with the clamping part 332.

[0125] The wedge block 361 is connected to one side of the connecting part 3222 facing the guide rail 352, and the inclined surface of the wedge block 361 faces the guide rail 352.

[0126] When the support part 322 moves in the first direction to the preset position and is subjected to the reaction force in the second direction, the trigger assembly 362 abuts against the wedge block 361 to fix the support part 322 on the guide rail 352. That is, when the support part 322 abuts against the second shelf 500, the trigger assembly 362 abuts against the wedge block 361, at this time, the wedge block 361 and the trigger assembly 362 cannot continue to move, and the connecting part 3222 connected with the wedge block 361 cannot continue to move in the second direction, thereby fixing the support part 322 on the guide rail 352.

[0127] Figure 11 The structure diagram of the trigger assembly in the automatic support structure provided by the embodiments of the present application is shown. Referring to Figure 10 and Figure 11 In a specific implementation, the trigger assembly 362 includes a support frame 3621, a support shaft 3622 and at least one second elastic part 3623, the support frame 3621 is located on the guide rail 352, the support shaft 3622 is arranged on the support frame 3621, and the support shaft 3622 is located between the guide rail 352 and the wedge block 361.

[0128] When the support shaft 3622 is self-locked with the wedge block 361, the support shaft 3622 abuts between the wedge block 361 and the guide rail 352, thereby fixing the support part 322 on the guide rail 352.

[0129] In some embodiments, the at least one sliding block 353 includes a first sliding block 3531, and the second elastic part 3623 abuts between the first sliding block 3531 and the support frame 3621.

[0130] The second elastic part 3623 can keep the support shaft 3622 in contact with the wedge block 361, and the wedge block 361 and the support shaft 3622 can be immediately self-locked when the support part 322 is subjected to the support force of the second shelf 500 and the reaction force of the container.

[0131] In some embodiments, the included angle between the wedge block 361 and the guide rail 352 is smaller than the friction angle between the support shaft 3622 and the wedge block 361.

[0132] There is an angle between the resultant force on the support shaft 3622 and the vertical direction, and the angle between the resultant force and the vertical direction is equal to the angle between the inclined surface of the wedge block 361 and the guide rail 352. When the angle between the inclined surface of the wedge block 361 and the guide rail 352 is smaller than the friction angle between the support shaft 3622 and the wedge block 361, at this time, no matter how much force the support shaft 3622 is subjected to by the wedge block 361, the wedge block 361 and the support shaft 3622 remain stationary. Therefore, when the support member 322 is subjected to the support force of the second shelf 500 and the fork body 100 is subjected to the reaction force of the cargo box, the support member 322 will not move in the second direction. In specific implementation, the angle between the wedge block 361 and the guide rail 352 can be determined based on the friction coefficient between the wedge block and the support shaft 3622, as long as the angle between the wedge block 361 and the guide rail 352 is smaller than the friction angle between the support shaft 3622 and the wedge block 361. In this way, the resultant force acting on the support shaft 3622 is always within the friction angle, thereby making the support shaft 3622 and the wedge block 361 self-locking.

[0133] When the first movable member 323 moves along the second direction, the first movable member 323 abuts against the support frame 3621 and drives the support frame 3621 to move along the second direction relative to the connecting member 3222, so that the support shaft 3622 is out of contact with the wedge block 361, and the support shaft 3622 and the wedge block 361 are released from self-locking. At this time, the connecting member 3222 can move along the second direction to the vicinity of the clamping member 332 under the drive of the first movable member 323, and the clamping member 332 is clamped with the connecting member 3222, and the support member 322 can be locked in the initial position.

[0134] Reference Figure 10 As shown, in some embodiments, at least one slider 353 further includes a second slider 3532, and the wedge 361 is located between the first slider 3531 and the second slider 3532. The first slider 3531 and the second slider 3532 jointly guide the support member 322 and the locking unit 360 to move along the extension direction of the guide rail 352.

[0135] The support frame 3621 includes a base 3621a and two support arms 3621b connected to the base 3621a. The support arms 3621b are located on the sides of the guide rail 352. The support shaft 3622 is connected between the two support arms 3621b and is parallel to the guide rail 352.

[0136] The first slider 3531 is located between the two support arms 3621 b , and the second elastic member 3623 is located between the first slider 3531 and the base 3621 a .

[0137] Specifically, two support arms 3621b are located on both sides of the guide rail 352, so that the support frame 3621 moves relative to the guide rail 352 along the extension direction of the guide rail 352. The support arms 3621b are provided with mounting holes, the support shaft 3622 is inserted into the mounting holes of the two support arms 3621b, and the support arms 3621b are provided with two limiting members. The limiting members can be bolts, the mounting holes are provided with threaded holes, the bolts are inserted into the threaded holes of the support arms 3621b, and the heads of the bolts abut against the end of the support shaft 3622. Thus, the limiting members can limit the movement of the support shaft 3622 along the axis direction of the support shaft 3622.

[0138] Referring to Figure 11 In addition, as shown in FIG. 6, the support frame 3621 further includes an end cover 3624 connected to the end face of the base 3621a away from the support arms 3621b by screws. The base 3621a has a through hole, and the second elastic member 3623 is installed in the through hole and abuts between the end cover 3624 and the first sliding block 3531.

[0139] Alternatively, the support frame 3621 can also not be provided with the end cover 3624. One of the first sliding block 3531 and the base 3621a has a blind hole, one end of the second elastic member 3623 is located in the blind hole, and the other end of the second elastic member 3623 abuts against the base 3621a or the first sliding block 3531.

[0140] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An automatic support structure, characterized in that: Used to provide supporting force for the fork device of the handling robot when the handling robot places goods; comprising a support, an elastic support unit, a release unit and a drive assembly, wherein the elastic support unit, the release unit and the drive assembly are arranged on the support, the elastic support unit comprises a first elastic member and a support member, the first elastic member and the release unit are connected to the support member, and the drive assembly is connected to the release unit, and is used to drive the release unit to disconnect from the support member, so that the support member moves along a first direction under the action of the first elastic member, and the first direction is the extension direction of the first elastic member; The release unit includes a connecting rod assembly and a clamping member, and the support member includes a support member body and a connecting member connected to the support member body; The clamping member is rotatably connected to the support, the clamping member is connected to the connecting rod assembly, and the driving assembly drives the clamping member to engage or disengage with the connecting member through the connecting rod assembly; The elastic support unit further includes a first moving member, the connecting rod assembly includes a connecting rod and a second moving member, one end of the connecting rod is hingedly or fixedly connected to the clamping member, and the other end of the connecting rod is connected to the second moving member; The connecting rod assembly also includes a spring, one end of which is fixedly connected to the clamping member, and the other end of which is fixedly connected to the support. The spring is used to reset the clamping member after the clamping member is disengaged from the connecting member.

2. The automatic supporting structure according to claim 1, characterized in that The driving assembly is further configured to drive the support member to move along a second direction so that the release unit is connected to the support member. The second direction is a contraction direction of the first elastic member.

3. The automatic supporting structure according to claim 2, characterized in that: The driving assembly is connected to the first moving member to drive the first moving member to move along the first direction, the first moving member drives the second moving member to move along the first direction, and the second moving member drives the clamping member to rotate relative to the connecting rod through the connecting rod so that the clamping member is disengaged from the connecting member; and / or, the driving assembly drives the first moving member to move along the second direction, and drives the support member body to move along the second direction through the first moving member so that the clamping member is clamped to the connecting member.

4. The automatic supporting structure according to claim 2, characterized in that: The connecting member includes a connecting member body, a mounting hole and a card slot, the mounting hole and the card slot are located on the connecting member body, the supporting member body is inserted into the mounting hole, the card slot is connected to the mounting hole, and the connecting member is engaged with or disengaged from the card slot.

5. The automatic supporting structure according to claim 4, characterized in that: The connector further comprises a clamping arm, the support body portion is located between the clamping arm and the connector body, and the clamping arm is connected to the connector body to clamp the support body on the connector body.

6. The automatic supporting structure according to claim 3, characterized in that: The driving assembly includes a transmission member that rotates clockwise or counterclockwise, and the first moving member is fixedly connected to the transmission member.

7. The automatic supporting structure according to claim 6, characterized in that: The driving assembly is a belt driving assembly, the belt driving assembly includes a belt, and the first moving member is fixedly connected to the belt; Alternatively, the drive assembly is a chain and sprocket drive assembly, the chain and sprocket drive assembly includes a chain, and the first moving member is fixedly connected to the chain.

8. The automatic supporting structure according to claim 3, characterized in that: The invention also includes a guide unit connected to the support member to provide guidance for the movement of the support member.

9. The automatic supporting structure according to claim 8, characterized in that: The guide unit includes a guide rod extending along the first direction, and the first elastic member is sleeved on the guide rod; The support member body is a sleeve, one end of the guide rod is fixedly connected to the support, and the other end of the guide rod and at least a portion of the first elastic member are inserted into the sleeve.

10. The automatic supporting structure according to claim 9, characterized in that: One end of the first elastic member abuts against the support, and the other end of the first elastic member abuts against the inner wall of the sleeve.

11. The automatic supporting structure according to claim 9, characterized in that The guide unit further includes a guide rail and at least one slider. The guide rail is arranged on the support and extends along the first direction. The slider slides along the extension direction of the guide rail and is fixedly connected to the connecting member.

12. The automatic supporting structure according to claim 11, characterized in that The first moving member and the second moving member are both slidably connected to the guide rail, and the first moving member and the second moving member move along the extension direction of the guide rail; The first moving member is located between the slider and the second moving member.

13. The automatic supporting structure according to claim 11, characterized in that It also includes a locking unit, which is used to fix the support member on the guide rail when the support member moves to a preset position along the first direction and is subjected to a reaction force along the second direction.

14. The automatic supporting structure according to claim 13, characterized in that The locking unit includes a wedge and a trigger assembly, and the first moving member drives the connecting member to move along the second direction through the trigger assembly; The wedge block is fixedly connected to a side of the connecting member facing the guide rail, and the inclined surface of the wedge block faces the guide rail; When the support member moves to a preset position along the first direction and is subjected to a reaction force along the second direction, the trigger assembly abuts against the wedge block to fix the support member on the guide rail.

15. The automatic supporting structure according to claim 14, characterized in that The trigger assembly includes a support frame, a support shaft and at least one second elastic member, the support frame is located on the guide rail, the support shaft is arranged on the support frame, and the support shaft is located between the guide rail and the wedge block; The at least one slider includes a first slider, and the second elastic member abuts between the first slider and the support frame; The support shaft abuts between the wedge block and the guide rail.

16. The automatic supporting structure according to claim 15, characterized in that The included angle between the wedge block and the guide rail is smaller than the friction angle between the support shaft and the wedge block.

17. The automatic supporting structure according to claim 15, characterized in that When the first moving member moves along the second direction, the first moving member abuts against the support frame and drives the support frame to move along the second direction relative to the connecting member, so that the support shaft is out of contact with the wedge block.

18. The automatic supporting structure according to claim 15, characterized in that The at least one slider further includes a second slider, the wedge being located between the first slider and the second slider; The support frame includes a base and two support arms connected to the base, the support arms are located on the sides of the guide rail, the support shaft is connected between the two support arms, and the axis of the support shaft is parallel to the guide rail; The first sliding block is located between the two supporting arms, and the second elastic member is located between the first sliding block and the base.

19. A fork device, characterized in that: A fork body, a telescopic assembly, and at least one automatic support structure according to any one of claims 1 to 18, wherein the fork body comprises a support base and a pallet, and the pallet, the telescopic assembly, and the automatic support structure are located on the support base; The telescopic assembly moves relative to the support seat to pick up and place cargo boxes between the fork body and the first shelf. Before the telescopic assembly places the cargo box on the first shelf, the support member moves along the first direction and abuts against the second shelf opposite to the first shelf.

20. The fork device according to claim 19, characterized in that: After the telescopic assembly places the cargo box on the first shelf, the elastic support unit moves along the second direction to break away from the abutment with the second shelf.

21. The fork device according to claim 19, characterized in that: The support base is provided with a receiving groove for receiving the pallet, and one end of the receiving groove is provided with an opening for the cargo box to enter and exit; The automatic supporting structure is located between the bottom of the tray and the inner bottom wall of the receiving tank. The support of the automatic supporting structure is fixedly connected to the inner bottom wall of the receiving tank. The support member can be partially moved out of the support seat.

22. The fork device according to claim 19, characterized in that: The support seat is provided with an entrance and exit for the support member to enter and exit.

23. A transport robot, characterized in that: The utility model comprises a column assembly and a fork device according to any one of claims 19 to 22 located on the column assembly.

24. A storage system, characterized in that: It comprises the transport robot according to claim 23 and a plurality of shelves, wherein channels for the transport robot to move are formed between adjacent shelves.

Images