Fork mechanism and carrying robot

Abstract

The application provides a fork mechanism and a carrying robot. The fork mechanism comprises a base, a base body, a tray capable of carrying goods, two mounting plates and a mechanical arm assembly arranged on the mounting plates. The base body is rotatably connected to the base. The mounting plates and the tray are arranged on the base body. The tray and the base are located on opposite sides of the base body. The two mounting plates are located on two opposite sides of the tray. The fork mechanism further comprises a first driving assembly and a second driving assembly arranged on the base body. The first driving assembly comprises a first power unit and a first transmission unit. The first power unit is used to drive the first transmission unit to drive the mechanical arm assembly to extend to the edge of the mounting plate in a first direction or a second direction. The second driving assembly comprises a second power unit and a second transmission unit. The second power unit is used to drive the second transmission unit to drive the base to rotate relative to the base body. The first power unit and the second power unit are located between the tray and the base. The application has high efficiency in storing goods.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent warehousing, and in particular to a fork mechanism and a carrying robot. BACKGROUND

[0002] With the rapid development of artificial intelligence technology, automation technology and information technology, the intelligent degree of terminal logistics is also continuously improved. The carrying robot is one of the main devices for realizing automatic carrying operation of intelligent terminal logistics. The carrying robot can reduce the heavy physical labor of human beings and improve the efficiency of carrying operation.

[0003] The existing carrying robot usually comprises a moving base, a lifting mechanism and a fork mechanism. The moving base is used to carry the lifting mechanism and the fork mechanism. The lifting mechanism is used to drive the fork mechanism to lift. The fork mechanism, as a relatively important mechanism in the carrying robot, is used to carry out loading and unloading operation of goods on the logistics equipment. The fork mechanism comprises a base, a fork body, a mechanical arm assembly, a driving assembly and a rotating assembly. The fork body is rotatably fixed on the base through the rotating assembly. The fork body has a goods inlet and outlet. The mechanical arm assembly is arranged on the fork body and can be telescoped relative to the fork body to drive the goods to enter and exit the fork body. In the driving assembly and the rotating assembly, a driving motor is arranged as a power source. In addition, a cable and the like are arranged on the fork body to supply power and transmit control signals for these power sources. In order to minimize the width of the fork mechanism, the driving motors are arranged on the side of the fork body away from the goods inlet and outlet. Due to the existence of the cable, the fork body cannot be rotated by 360° relative to the base.

[0004] However, in the above fork mechanism, the driving motor is arranged on the side of the fork body away from the goods inlet and outlet. Therefore, the goods can only enter and exit the fork body from one direction of the goods inlet and outlet. In the case that the fork body cannot be rotated by 360° relative to the base, there is inevitably a blind area for picking up goods. In order to solve this problem, the carrying robot can only be rotated to realize the picking and placing of goods. Therefore, the efficiency of picking and placing goods is low. SUMMARY

[0005] In view of the above problems, the present application provides a fork mechanism and a carrying robot, which have high efficiency of picking and placing goods.

[0006] In order to achieve the above purpose, the first aspect of the present application provides a fork mechanism, comprising: a base, a base body, a tray capable of carrying goods, two mounting plates and a mechanical arm assembly arranged on the mounting plate. The base body is rotatably connected to the base. The mounting plate and the tray are arranged on the base body. The tray and the base are located on opposite sides of the base body. The two mounting plates are located on two opposite sides of the tray.

[0007] The fork mechanism further comprises a first driving assembly and a second driving assembly arranged on the base body, the first driving assembly comprises a first power unit and a first transmission unit, the first power unit is configured to drive the first transmission unit to drive the mechanical arm assembly to extend out of the edge of the mounting plate in the first direction or the second direction, the second driving assembly comprises a second power unit and a second transmission unit, the second power unit is configured to drive the second transmission unit to drive the base body to rotate relative to the base.

[0008] The first power unit and the second power unit are located between the tray and the base.

[0009] In a possible implementation, the top end of the first transmission unit and the second transmission unit is arranged at a position lower than the bottom end of the tray relative to the base.

[0010] In a possible implementation, the base body comprises a base plate, and the first power unit and the second power unit are arranged on the base plate.

[0011] In a possible implementation, the mechanical arm assembly comprises at least one mechanical arm, the mechanical arm extends out of the edge of the mounting plate in the direction in which the goods enter or exit the tray, and the mechanical arm is located on the side of the tray away from the base.

[0012] In a possible implementation, the number of mechanical arm assemblies is two, one mechanical arm assembly is connected to each mounting plate, and the first driving assembly and the second driving assembly are located between the two mounting plates.

[0013] In a possible implementation, the second transmission unit comprises a rotary bearing and a gear, the gear is connected to the output shaft of the second power unit, and the inner side wall of the inner ring of the rotary bearing is provided with gear teeth that are in mesh with the gear.

[0014] The rotary bearing is located between the base and the base body, the inner ring of the rotary bearing is connected to the base, the outer ring of the rotary bearing is connected to the base body, the gear is configured to rotate under the drive of the second power unit and rotate around the center of the inner ring of the rotary bearing, so as to relatively rotate the base body and the base.

[0015] In a possible implementation, the top end surface of the base is provided with a mounting groove, the rotary bearing is located in the mounting groove, the bottom end surface of the inner ring of the rotary bearing is fixed to the groove bottom surface of the mounting groove, the top end surface of the outer ring of the rotary bearing protrudes from the top end surface of the base, and the base body is supported and fixed on the top end surface of the outer ring of the rotary bearing.

[0016] The output shaft of the second power unit penetrates the base body and extends into the inner side of the inner ring of the bearing.

[0017] In a possible implementation, the base body is provided with a through hole, the inner diameter of the through hole is greater than or equal to the inner diameter of the inner ring of the rotary bearing, and less than or equal to the inner diameter of the outer ring of the rotary bearing.

[0018] In a possible implementation, the mounting plate is further provided with a mounting block, two ends of the mounting block are connected to the base body and the mounting plate respectively, and the end of the mounting block connected to the mounting plate is located at the bottom side of the corresponding mechanical arm assembly of the mounting plate.

[0019] In a possible implementation, the pallet further comprises at least one extension assembly, the pallet comprises a first pallet, the first pallet is slidably arranged on the base body, and the at least one extension assembly is arranged between the first pallet and the base body and used to extend the first pallet towards the edge of the base body in the first direction.

[0020] The direction in which the goods enter or exit the pallet comprises opposite first and second directions.

[0021] In a possible implementation, the fork mechanism comprises a first carrier and a second carrier located at the bottom side and the top side of the same extension assembly respectively, and the second carrier is slidably arranged on the first carrier.

[0022] When the at least one extension assembly is located between the base body and the first pallet, the base body forms the first carrier and the pallet forms the second carrier.

[0023] In a possible implementation, the pallet further comprises a second pallet, the second pallet is slidably arranged on the first pallet, and the second pallet is located on the side of the first pallet away from the base body; and the at least one extension assembly is arranged between the first pallet and the second pallet and used to extend the second pallet towards the edge of the first pallet in the second direction.

[0024] In a possible implementation, the fork mechanism comprises a first carrier and a second carrier located at the bottom side and the top side of the same extension assembly respectively, and the second carrier is slidably arranged on the first carrier.

[0025] When the extension assembly between the base body and the first pallet is working, the base body forms the first carrier and the pallet forms the second carrier.

[0026] When the extension assembly between the first pallet and the second pallet is working, the first pallet forms the first carrier and the second pallet forms the second carrier.

[0027] In a possible implementation, the extension assembly comprises:

[0028] The elastic force applying assembly is arranged between the first carrier and the second carrier and used to apply an elastic force towards the third direction to the second carrier.

[0029] The locking assembly is arranged on the first carrier and comprises a locking member arranged on the sliding path of the second carrier; and

[0030] The unlocking member is connected with the mechanical arm assembly, and is used to push the locking member to move towards the third direction when the mechanical arm assembly moves towards the third direction, so that the second carrier extends towards the third direction under the elastic force of the elastic force applying assembly, wherein the third direction is one of the first direction and the second direction.

[0031] In a possible implementation, the elastic force applying assembly comprises a tension spring, a first end of the tension spring is arranged on the first carrier, and a second end of the tension spring is arranged on the second carrier, wherein the first end is an end of the tension spring located in the third direction, and the second end is an end of the tension spring located in a fourth direction opposite to the third direction.

[0032] In a possible implementation, the elastic force applying assembly comprises two end plates arranged on opposite sides of the first carrier and the second carrier respectively, the two end plates have an overlapping portion in the third direction, and the first end and the second end of the tension spring are connected to the two end plates respectively.

[0033] In a possible implementation, the locking assembly further comprises a support seat arranged on the first carrier, and the locking member is arranged in the support seat and can slide relative to the support seat in the direction of the goods in and out of the tray.

[0034] In a possible implementation, the base body comprises a base plate, a support plate, and a support column supported between the base plate and the support plate, and the support plate is located on a side of the base plate away from the base.

[0035] When the first tray and the base body have the extension assembly, the support seat is arranged on the support plate.

[0036] In a possible implementation, the second carrier comprises a sliding block arranged on the bottom, the top of the first carrier is provided with a sliding rail extending in the direction of the goods in and out of the tray, and the sliding block can slide along the sliding rail to limit the sliding direction of the second carrier relative to the first carrier.

[0037] The locking member is located between the sliding rail and the mechanical arm assembly, and the locking member is provided with a stop arm extending towards the sliding rail, and the stop arm is arranged on a side of the sliding block away from the third direction.

[0038] In a possible implementation, the locking member is further provided with an extension arm extending towards the mechanical arm assembly on a side of the locking member away from the stop arm, and the extension arm is arranged on a movement path of the unlocking member.

[0039] In a possible implementation, the locking assembly further comprises an elastic reset member, the two ends of the elastic reset member are arranged on the extension arm and the support seat respectively, and the elastic reset member is configured to apply a restoring force to the locking member in the fourth direction when the mechanical arm assembly moves in the third direction.

[0040] In a possible implementation, the mechanical arm assembly comprises a mechanical arm and a connecting rod, the mechanical arm is capable of extending out of the edge of the mounting plate in the direction of the goods entering or exiting the pallet, the first transmission unit comprises a sprocket assembly, the sprocket assembly comprises a chain and two sprockets arranged at intervals in the direction of the goods entering or exiting the pallet, the two sprockets are arranged on the mounting plate and located at the bottom side of the mechanical arm assembly on the mounting plate, the sprockets are rotatable under the drive of the first power unit, the chain is arranged on the two sprockets, the connecting rod is linked with the chain, the connecting rod is configured to drive the mechanical arm to move when the chain operates, and the connecting rod forms the unlocking member.

[0041] In a possible implementation, the end of the connecting rod towards the chain has meshing teeth, the meshing teeth are capable of meshing with the links of the chain.

[0042] In a possible implementation, the number of the mounting plates is two, the two mounting plates are oppositely arranged and respectively located at the two ends in the width direction of the fork mechanism, wherein the width direction of the fork mechanism is perpendicular to the first direction.

[0043] When the number of the extension assemblies arranged between the first carrier and the second carrier is two, the two extension assemblies are arranged at intervals in the width direction of the fork mechanism and have the same distance relative to the center of the fork mechanism.

[0044] The second aspect of the present application provides a carrying robot, comprising: a mobile chassis, a lifting mechanism, a column, and the fork mechanism described above, the mobile chassis is configured to carry the lifting mechanism, the column, and the fork mechanism, the lifting mechanism is fixedly connected with the base in the fork mechanism, so as to drive the fork mechanism to ascend or descend along the column.

[0045] The fork mechanism and the carrying robot of the application. The fork mechanism comprises a base, a base body, a tray capable of carrying goods, two mounting plates and a mechanical arm assembly arranged on the mounting plates. The base body is rotatably connected to the base. The mounting plates and the tray are arranged on the base body. The tray and the base are located on opposite sides of the base body. The two mounting plates are located on two opposite sides of the tray. The fork mechanism further comprises a first driving assembly and a second driving assembly arranged on the base body. The first driving assembly comprises a first power unit and a first transmission unit. The first power unit is used to drive the first transmission unit to drive the mechanical arm assembly to extend out of the edge of the mounting plate in a first direction or a second direction. The second driving assembly comprises a second power unit and a second transmission unit. The second power unit is used to drive the second transmission unit to drive the base to rotate relative to the base body. The first power unit and the second power unit are located between the tray and the base. The two mounting plates are located on two opposite sides of the tray. In this way, the mounting plates and the tray jointly define a containing space for containing goods and form two goods import and export ports. Since the first power unit and the second power unit are located between the tray and the base, the first power unit and the second power unit are not arranged on the path of the goods entering and exiting the tray. In addition, the mechanical arm assembly can extend out of the edge of the mounting plate in the first direction or the second direction, so that the goods can enter and exit the tray from at least two sides of the tray. Compared with the prior art in which the goods can only enter the tray from one direction, there is an additional path for entering and exiting the tray. In the case that the base body rotates by the same angle relative to the base, the range of the angle of the mechanical arm assembly for picking up goods in the application is obviously twice the range of the angle for picking up goods in the prior art. The picking blind area of the mechanical arm assembly can be minimized, and the efficiency of picking and placing goods is relatively high.

[0046] The configuration of the application and other application purposes and beneficial effects thereof will be more obvious and understandable through the description of the preferred embodiments in conjunction with the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0047] Figure 1 The structural schematic diagram of the fork mechanism provided by the embodiment of the application is shown in the figure;

[0048] Figure 2 The structural schematic diagram of the fork mechanism provided by the embodiment of the application is shown in the figure;

[0049] Figure 3 The exploded structural schematic diagram of the fork mechanism provided by the embodiment of the application is shown in the figure;

[0050] Figure 4 The structural schematic diagram of the fork mechanism provided by the embodiment of the application is shown in the figure;

[0051] Figure 5 The structural schematic diagram of the fork mechanism provided by the embodiment of the application is shown in the figure;

[0052] Figure 6 A structural schematic diagram of a first carrier and a second carrier in a fork mechanism provided by an embodiment of the present application is shown in FIG. 1.

[0053] Figure 7 An exploded structural schematic diagram of a fork mechanism provided by an embodiment of the present application is shown in FIG. 2.

[0054] Figure 8 An exploded structural schematic diagram of a fork mechanism provided by an embodiment of the present application is shown in FIG. 2.

[0055] Figure 9 A whole structural schematic diagram of a carrying robot provided by an embodiment of the present application is shown in FIG. 3.

[0056] Explanation of reference numerals:

[0057] 100 - fork mechanism; 10 - base; 11 - mounting groove; 20 - base body; 21 - base plate; 211 - through hole; 22 - support plate; 23 - support column; 40 - mounting plate; 41 - mounting block; 411 - first connecting part; 412 - second connecting part; 50 - mechanical arm assembly; 51 - mechanical arm; 52 - movable part; 53, 54, 55 - connecting rod; 60 - first driving assembly; 61 - first power unit; 62 - first transmission unit; 63 - sprocket assembly; 631 - sprocket; 632 - chain; 64 - first speed reducer; 65 - driving shaft; 70 - second driving assembly; 71 - second power unit; 72 - second speed reducer; 80 - second transmission unit; 81 - gear; 82 - rotary bearing; 821 - inner ring; 822 - outer ring;

[0058] 111 - first carrier; 112 - second carrier; 113, 116 - sliding block; 114, 117, 118 - sliding rail; 120 - tray; 121 - first tray; 122 - second tray; 130, 131, 132 - extending assembly; 139 - elastic force applying assembly; 148, 140, 141 - tension spring; 142, 143, 144, 145, 146, 147 - end plate; 150 - locking assembly; 151, 152, 153 - support seat; 154, 155, 156 - locking part; 157, 158, 159 - elastic reset part; 1541, 1551, 1561 - stop arm; 1542, 1552, 1562 - extending arm; 160, 161, 162 - unlocking part;

[0059] 200 - carrying robot; 201 - mobile chassis; 202 - lifting mechanism; 203 - stand column; 204 - partition. DETAILED DESCRIPTION

[0060] In order to make the objects, technical solutions and advantages of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts should fall into the scope of the present application.

[0061] The existing forklift mechanism has the problem of low efficiency of taking and placing goods. In the existing forklift mechanism, there are driving motors for driving the base and the forklift body to rotate, and driving motors for driving the mechanical arm assembly to extend and retract. These driving motors are located on the side of the forklift body away from the goods inlet and outlet, and the goods can only enter and exit the forklift body from the goods inlet and outlet in one direction. In the case that the forklift body cannot rotate 360° relative to the base, in order to increase the range of taking goods, the robot body must be rotated, so the efficiency of taking and placing goods is low.

[0062] In the forklift mechanism of the present application, the first power unit and the second power unit are located between the pallet and the base, so the first power unit and the second power unit do not block the path of the goods entering and exiting the pallet, and the goods can enter and exit the pallet from at least two sides of the pallet, so the efficiency of taking and placing goods is high.

[0063] The forklift mechanism 100 and the handling robot 200 of the embodiments of the present application will be described below with reference to the drawings. It should be noted that in the embodiments of the present application, in order to facilitate description, the first direction F and the second direction S opposite to the direction of the goods entering and exiting the pallet 120 are defined, and the direction perpendicular to the direction of the goods entering and exiting the pallet 120, i.e. the relative direction of the two mounting plates 40, is defined as the width direction W of the forklift mechanism 100.

[0064] In addition, one of the first direction F and the second direction S is defined as the third direction T, and the other of the first direction F and the second direction S is defined as the fourth direction E.

[0065] Figure 1 The structural schematic diagram of the forklift mechanism provided by the embodiments of the present application is shown in Figure 2 The structural schematic diagram of the forklift mechanism provided by the embodiments of the present application is shown in

[0066] Reference Figure 1 , Figure 2The fork mechanism 100 provided by the embodiment of the present application comprises a base 10, a base body 20, a pallet 120 capable of carrying goods, two mounting plates 40, and a mechanical arm assembly 50 arranged on the mounting plates 40, the base body 20 is rotatably connected to the base 10, the mounting plates 40 and the pallet 120 are arranged on the base body 20, the two mounting plates 40 are located at two opposite sides of the pallet 120, and the pallet 120 and the base 10 are located at opposite sides of the base body 20;

[0067] The fork mechanism 100 further comprises a first driving assembly 60 and a second driving assembly 70 arranged on the base body 20, the first driving assembly 60 comprises a first power unit 61 and a first transmission unit 62, the first power unit 61 is used to drive the first transmission unit 62 to drive the mechanical arm assembly 50 to extend out of the edge of the mounting plate 40 in a first direction F or a second direction S, the second driving assembly 70 comprises a second power unit 71 and a second transmission unit 80, and the second power unit 71 is used to drive the second transmission unit 80 to drive the base body 20 to rotate relative to the base 10.

[0068] The first power unit 61 and the second power unit 71 are both located between the pallet 120 and the base 10.

[0069] In the above scheme, the two mounting plates 40 are located at two opposite sides of the pallet 120, so that the mounting plates 40 and the pallet 120 jointly define a containing space for containing goods, and two goods import and export ports are formed between the end of the mounting plate 40 along the path K and the pallet. Since the first driving assembly 60 and the second driving assembly 70 are both located between the pallet 120 and the base 10, the first power unit 61 and the second power unit 71 are not arranged on the path K through which the goods enter or exit the pallet 120, and the mechanical arm assembly 50 can extend out of the edge of the mounting plate 40 in the first direction F or the second direction S, so that the goods can enter or exit the pallet 120 from at least two sides of the pallet 120. Compared with the prior art in which the goods can only enter the pallet 120 from one direction, there is an additional path for the goods to enter or exit the pallet 120, so that, under the condition that the base body 20 rotates by the same angle relative to the base 10, the range of the angle of the mechanical arm assembly 50 for picking up goods in the present application is obviously twice the range of the angle for picking up goods in the prior art, the blind area of the mechanical arm assembly 50 for picking up goods can be minimized, the rotation of the carrying robot is reduced, and the efficiency of picking up and placing goods is high.

[0070] The first power unit 61 and the second power unit 71 are both located between the pallet 120 and the base 10. This can mean that the first power unit 61 and the second power unit 71 are located in the area directly opposite between the pallet 120 and the base 10, or it can mean that part of the structure of the first power unit 61 and the second power unit 71 is located outside the area directly opposite between the pallet 120 and the base 10. However, it is necessary to ensure that the setting position of the first power unit 61 and the second power unit 71 relative to the bottom of the base 10 is lower than the setting position of the bottom of the pallet 120 relative to the base 10. In this way, the first power unit 61 and the second power unit 71 will not affect the action of the robotic arm assembly 50 in moving the goods in and out of the pallet 120.

[0071] The following describes the specific structure of each part of the forklift mechanism 100.

[0072] Reference Figure 1 The base 10, serving as a support component for the fork mechanism 100, can be located at the bottom of the entire fork mechanism 100. The base 10 can be connected to the lifting mechanism 202 described below, which is used to drive the fork mechanism 100 to lift. Additionally, as mentioned earlier, the base 20 is rotatably connected to the base 10, the mounting plate 40 is disposed on the base 20, and the robotic arm assembly 50 is disposed on the mounting plate 40.

[0073] Reference Figure 1 The tray 120 and the base 10 can be located on opposite sides of the base 20; for example, the tray 120 is located on... Figure 1 On the top side of the drawing, tray 120, base 20, and base 10 are arranged according to... Figure 1 The mounting plates are arranged sequentially from top to bottom. Furthermore, this application uses two mounting plates 40 as an example. The two mounting plates 40 are located at the side ends of the pallet 120 in the width direction (width direction W of the fork assembly) and are arranged opposite each other, thus defining the path K for goods to enter and exit the pallet 120 between the two mounting plates 40.

[0074] For example, refer to Figure 2 , Figure 1 There are two robotic arm assemblies 50, with one robotic arm assembly 50 connected to each mounting plate 40. As mentioned earlier, the two mounting plates 40 are arranged opposite each other and are located at both ends of the width direction W of the fork mechanism 100. The pallet 120 and the base 20 can be arranged between the two mounting plates 40, and the first drive assembly 60 and the second drive assembly 70 are also located between the two mounting plates 40.

[0075] The mounting plate 40 is further provided with a mounting block 41, the two ends of the mounting block 41 are connected to the base body 20 and the mounting plate 40 respectively, and the end of the mounting block 41 connected to the mounting plate 40 is located on the bottom side of the corresponding mechanical arm assembly 50 of the mounting plate 40. In this way, the movement of the mounting block 41 can be prevented from affecting the mechanical arm assembly 50. The mounting block 41 has a first connecting portion 411 and a second connecting portion 412 connected to each other, the first connecting portion 411 and the second connecting portion 412 can be connected to the mounting plate 40 and the base body 20 respectively, and the first connecting portion 411 and the second connecting portion 412 can be perpendicular to each other, so as to facilitate the vertical installation of the mounting plate 40 on the base body 20.

[0076] The number of mounting blocks 41 can be set as needed, for example, two mounting blocks 41 can be provided corresponding to each mounting plate 40, and the two mounting blocks 41 are arranged at intervals on the path K.

[0077] As described above, the mechanical arm assembly 50 can be arranged on the mounting plate 40, for example, on the opposite surfaces of the two mounting plates 40 respectively. The mechanical arm assembly 50 can be located on the side of the tray 120 away from the base 10, and the mechanical arm assembly 50 can be located on the side of the tray 120 facing the base 10. Figure 1 In the embodiment, the mechanical arm assembly 50 can be located on the top side of the tray 120.

[0078] The mechanical arm assembly 50 can include at least one mechanical arm 51, the mechanical arm 51 extends out of the edge of the mounting plate 40 in the direction of the goods entering or leaving the tray 120, and the mechanical arm 51 is located on the side of the tray 120 away from the base 10, that is, the setting height of the mechanical arm 51 relative to the bottom end of the base 10 is higher than the setting height of the tray 120 relative to the bottom end of the base 10. The mechanical arm 51 is used to drive the goods to move by its own movement, for example, the mechanical arm 51 can be driven by the first driving assembly 60 to move along the path K of the goods entering or leaving the tray 120. It can be understood that the movement of the mechanical arm 51 along the path K should exceed the edge of the mounting plate 40, so that the goods can be separated from the tray 120, or the goods outside the tray 120 can be pulled back to the tray 120.

[0079] For example, each mechanical arm assembly 50 can include two mechanical arms 51, and the two mechanical arms 51 can move relative to each other, so that the entire mechanical arm assembly 50 is a telescopic mechanical arm assembly.

[0080] In some examples, at least one movable part 52 is arranged on the mechanical arm 51, and the movable part 52 can move relative to the mechanical arm 51, for example, the movable part 52 can be unfolded relative to the mechanical arm 51 to be arranged on the side of the path K; or the movable part 52 can be retracted relative to the mechanical arm 51 to open the path K. It can be understood that the mechanical arm assembly 50 can drive the movement towards the first direction F or the second direction S, therefore, the movable part 52 can be arranged at the end of the mechanical arm 51 along the first direction F and the end of the mechanical arm 51 along the second direction S respectively.

[0081] Referring to Figure 2 , when the movable element 52 is in the unfolded position, if the mechanical arm 51 moves towards the first direction F, the goods on the tray 120 can be moved towards the first direction F under the drive of the movable element 52 and be sent to the shelves or the backpack of the robot; if the mechanical arm 51 moves towards the second direction S, the goods on the tray 120 can be moved towards the second direction S under the drive of the movable element 52 and be sent to the shelves or the backpack of the robot.

[0082] In the embodiment of the present application, referring to Figure 3 、 Figure 2 As described above, the first power unit 61 is configured to drive the first transmission unit 62 to move the mechanical arm assembly 50 along the path K, and the first power unit 61 comprises a first driving motor. The mechanical arm assembly 50 further comprises a connecting rod 53 connected to the mechanical arm 51, and the first transmission unit 62 can comprise a sprocket assembly 63, which comprises a chain 632 and two sprockets 631 arranged at intervals in the direction of the goods entering or leaving the tray 120. The two sprockets 631 are rotatably arranged on the mounting plate 40 and located at the bottom side of the mechanical arm assembly 50 on the mounting plate 40. The sprockets 631 are rotatable under the drive of the first driving motor, and the chain 632 is arranged between the two sprockets 631. The connecting rod 53 is connected to the chain 632 and is configured to move the mechanical arm 51 when the chain 632 operates. In this way, the first driving motor can drive one of the sprockets 631 to rotate, and the sprocket 631 drives the other sprocket 631 to rotate through the chain 632, thereby converting the rotation of the first driving motor into the linear movement of the chain 632.

[0083] It should be noted that when the chain 632 is arranged between the two sprockets 631, the chain 632 is divided into a portion located at the top side of the sprocket 631 and a portion located at the bottom side of the sprocket 631, and there is an interval between the two portions. The mounting block 41 described above can be located between the interval, so that the space can be fully utilized and the height of the fork mechanism 100 can be reduced.

[0084] The two ends of the connecting rod 53 are connected to the chain 632 and the mechanical arm 51, respectively. The mechanical arm 51 can move under the drive of the connecting rod 53 to realize the loading and unloading of the goods.

[0085] In addition, as described above, the mechanical arm assembly 50 can be telescopic towards the first direction F and the second direction S. Therefore, it is considered that one chain 632 corresponds to two connecting rods 53, and the two connecting rods 53 can be arranged at intervals along the path K of the goods entering or leaving the tray 120. For example, referring to Figure 2As shown, on one of the mounting plates 40, the two connecting rods 53 can drive the mechanical arm 51 to move towards the first direction F when the chain 632 rotates anticlockwise, and the two connecting rods 53 can drive the mechanical arm 51 to move towards the second direction S when the chain 632 rotates clockwise.

[0086] For example, one end of the connecting rod 53 towards the chain 632 has a meshing tooth which can mesh with the chain link of the chain 632. In this way, one end of the connecting rod 53 is fixedly connected to the mechanical arm 51, and the other end is movably connected to the chain 632. Referring to Figure 3 The extension and retraction of the mechanical arm assembly 50 towards the first direction F is as follows: on one of the mounting plates 40, the connecting rod 54 and the connecting rod 55 can drive the mechanical arm 51 to move towards the first direction F when the chain 632 rotates anticlockwise, and in this process, when the connecting rod 54 moves close to the sprocket 631 at the end of the first direction, it gradually disengages from the meshing with the chain 632 and no longer drives the mechanical arm 51 to move towards the first direction F, but the connecting rod 55 continues to drive the mechanical arm 51 to move towards the first direction F; when the chain 632 rotates clockwise, the connecting rod 55 first drives the mechanical arm 51 to move towards the second direction S, and in this process, the connecting rod 54 gradually re-engages with the chain 632, at which time the connecting rod 54 and the connecting rod 55 together drive the mechanical arm 51 to move towards the second direction S until it moves to the initial position.

[0087] The extension and retraction of the mechanical arm assembly 50 towards the second direction S is as follows: on one of the mounting plates 40, the connecting rod 54 and the connecting rod 55 can drive the mechanical arm 51 to move towards the second direction S when the chain 632 rotates clockwise, and in this process, when the connecting rod 55 moves close to the sprocket 631 at the end of the second direction S, it gradually disengages from the meshing with the chain 632 and no longer drives the mechanical arm 51 to move towards the second direction S, but the connecting rod 54 continues to drive the mechanical arm 51 to move towards the second direction S; when the chain 632 rotates anticlockwise, the connecting rod 54 first drives the mechanical arm 51 to move towards the first direction F, and in this process, the connecting rod 55 gradually re-engages with the chain 632, at which time the connecting rod 54 and the connecting rod 55 together drive the mechanical arm 51 to move towards the first direction S until it moves to the initial position.

[0088] In addition, the above description takes the sprocket assembly 63 and the mechanical arm assembly 50 corresponding to one of the mounting plates 40 as an example, and the movement process of the sprocket assembly 63 and the mechanical arm assembly 50 corresponding to the other mounting plate 40 is similar, and the two processes are performed synchronously, which will not be described here.

[0089] In the embodiments of the present application, as described above, the number of mounting plates 40 and the number of mechanical arm assemblies 50 are both two, and in order to drive both of the mechanical arm assemblies 50, the number of sprocket assemblies 63 can also be two, which are corresponded to the mounting plates 40 one by one. In other words, one sprocket assembly 63 is installed on each mounting plate 40, and the sprocket assembly 63 is located between the mechanical arm assembly 50 and the base 10. The two sprockets 631 in the same sprocket assembly 63 are both connected to the same mounting plate 40.

[0090] With reference to Figure 2 , the first transmission unit 62 further comprises a driving shaft 65 extending along the opposite direction of the two mounting plates 40 (the width direction W of the fork assembly), and each sprocket 631 in each sprocket assembly 63 is connected to both ends of the driving shaft 65, so that when the driving shaft 65 rotates, the two sprockets 631 can be driven to rotate synchronously, so as to drive the chains 632 in the respective sprocket assemblies 63 to run synchronously. Of course, the two ends of the driving shaft 65 are supported between the two mounting plates 40 through the sprockets 631 connected thereto.

[0091] With reference to Figure 3 , the first transmission unit 62 can further comprise a first speed reducer 64, and the first driving motor can be connected to the driving shaft 65 through the first speed reducer 64, so that the rotation of the first driving motor can be transmitted to the driving shaft 65. The first driving motor and the first speed reducer 64 are both arranged on the base body 20.

[0092] In the embodiments of the present application, the base body 20 is rotatably connected to the base 10, which means that the base body 20 can rotate relative to the base 10, and the second driving assembly 70 included in the fork mechanism 100 can drive the base 10 to rotate relative to the base body 20, so as to realize the relative rotation of the base body 20 and the base 10.

[0093] In the embodiments of the present application, with reference to Figure 2 , the second driving assembly 70 comprises a second power unit 71 and a second transmission unit 80, and the second power unit 71 can be fixed on the base body 20.

[0094] The second transmission unit 80 comprises a rotating bearing 82 and a gear 81, the gear 81 is connected to the output shaft of the second power unit 71, and the inner side wall of the inner ring 821 of the rotating bearing 82 is provided with teeth that are meshed with the gear 81;

[0095] The rotating bearing 82 is located between the base 10 and the base body 20, the inner ring 821 of the rotating bearing 82 is connected to the base 10, and the outer ring 822 of the rotating bearing 82 is connected to the base body 20, and the gear 81 is used to rotate under the drive of the second power unit 71 and rotate around the center of the inner ring 821 of the rotating bearing 82, so as to make the base body 20 and the base 10 rotate relative to each other.

[0096] In the above solution, the gear 81 is connected with the output shaft of the second power unit 71, which means that the output shaft of the second power unit 71 can drive the gear 81 to rotate. For example, the second power unit 71 includes a second driving motor, and the second transmission unit 80 further includes a second speed reducer 72, the input shaft of the second speed reducer 72 is connected with the second driving motor, and the output shaft of the second speed reducer 72 is connected with the gear 81. In this way, when the second driving motor operates, the gear 81 is driven to rotate through the second speed reducer 72.

[0097] It should be noted that the inner ring 821 of the rotating bearing 82 is fixedly installed on the base 10, that is, the inner ring 821 of the rotating bearing 82 is fixed relative to the base 10, and the second driving motor and the second speed reducer 72 can be fixed on the base body 20, and the outer ring 822 of the rotating bearing 82 is fixedly installed on the base body 20. As described above, when the second driving motor drives the gear 81 to rotate, the teeth of the gear 81 are engaged with the teeth on the inner ring 821 of the rotating bearing 82, the gear 81 rotates around the center of the inner ring 821 of the rotating bearing 82, and drives the second speed reducer 72, the second driving motor and the base body 20 to rotate, so that the base body 20 can rotate relative to the base 10. At this time, the tray 120 is arranged on the base body 20, and when the base body 20 rotates relative to the base 10, the tray 120 and the goods carried thereon also rotate relative to the base 10.

[0098] It should be noted that in the above solution, the inner ring 821 and the outer ring 822 of the rotating bearing 82 are both parallel to the base 10 in the radial direction, and the output shaft of the second speed reducer 72 can extend along the height direction H of the fork mechanism 100. In order to save the space occupied by the second driving assembly 70, especially to reduce the space occupied by the second driving motor, the second speed reducer 72 can be a right-angle speed reducer, and the motor shaft of the second driving motor (the output shaft of the second power unit 71) can be perpendicular to the height direction of the fork mechanism 100. In this way, the second driving motor is actually arranged transversely between the base body 20 and the base 10.

[0099] In the embodiment of the application, the top end surface of the base 10 can be provided with a mounting groove 11, and the rotating bearing 82 can be located in the mounting groove 11. The inner ring 821 of the rotating bearing 82 is fixed in the mounting groove 11 of the base 10. It should be noted that the inner ring 821 and the outer ring 822 of the rotating bearing 82 are rotatably connected with each other, so the outer ring 822 of the rotating bearing 82 is also rotatably supported on the base 10.

[0100] It should be noted that the bottom end surface of the inner ring 821 of the rotating bearing 82 is fixed to the groove bottom surface of the mounting groove 11, the top end surface of the outer ring 822 of the rotating bearing 82 protrudes from the top end surface of the base 10, and the base body 20 is supported and fixed on the top end surface of the outer ring 822 of the rotating bearing 82. Thus, when the base body 20 is fixed on the outer ring 822, a certain gap can be provided between the base body 20 and the base 10 to prevent interference when they rotate relative to each other.

[0101] In addition, with reference to Figure 3 Since the output shaft of the second power unit 71 is connected with the gear 81, in order to make the gear 81 extend into the inner side of the inner ring 821 of the rotating bearing 82 and mesh with the gear teeth on the inner ring 821, the output shaft of the second power unit 71 also needs to penetrate the base body 20 and extend into the inner side of the bearing inner ring 821.

[0102] For example, a through hole 211 is provided on the base body 20, the inner diameter of the through hole 211 is greater than or equal to the inner diameter of the inner ring 821 of the rotating bearing 82, and less than or equal to the inner diameter of the outer ring 822 of the rotating bearing 82. In this way, the through hole 211 can sufficiently expose the inner ring 821 of the rotating bearing 82 to the top side of the base body 20, and also facilitate the connection of the base body 20 with the bearing outer ring 822.

[0103] In the embodiments of the present application, as described above, the first power unit 61 (first driving motor) and the second power unit 71 (second driving motor) are both located between the pallet 120 and the base 10.

[0104] On this basis, the output shaft of the first power unit 61 is perpendicular to the height direction H of the fork mechanism 100, which is equivalent to that the first power unit 61 is arranged transversely between the pallet 120 and the base 10. The first power unit 61 can transmit power to the mechanical arm assembly 50 through the first speed reducer 64, the driving shaft 65, the sprocket assembly 63, etc.

[0105] With reference to Figure 2 , if the output shaft of the second power unit 71 is also perpendicular to the height direction H of the fork mechanism 100, the first power unit 61 and the second power unit 71 are both arranged transversely between the pallet 120 and the base 10. For example, the output shaft of the first power unit 61 can be parallel to the width direction W of the base body 20, and the output shaft of the second power unit 71 is perpendicular to the direction of the output shaft of the first power unit 61. In this way, the first power unit 61 and the second power unit 71 are arranged perpendicular to each other, forming the English letter "T". It can be understood that, by arranging the first power unit 61 and the second power unit 71 between the pallet 120 and the base 10, the space between the pallet 120 and the base 10 can be effectively utilized.

[0106] Exemplarily, the base body 20 comprises a base plate 21, and the first power unit 61 and the second power unit 71 can be arranged on the base plate 21.

[0107] In the embodiment of the present application, with reference to Figure 3 , Figure 1 , the top ends of the first transmission unit 62 and the second transmission unit 80 can be arranged at a position lower than the arrangement position of the bottom end of the tray 120 relative to the base 10. In other words, the arrangement height of the first transmission unit 62 and the second transmission unit 80 is also lower than the tray 120, and does not interfere with the access of goods on the tray 120.

[0108] In addition, in the case where the mechanical arm 51 is located on the side of the tray 120 away from the base 10, the arrangement height of the first drive assembly 60 and the second drive assembly 70 relative to the base 10 is lower than the arrangement height of the mechanical arm assembly 50 relative to the base 10. In this way, the first drive assembly 60 and the second drive assembly 70 are not arranged in the path of the mechanical arm assembly 50, nor in the path of the goods accessing the tray 120.

[0109] With reference to Figure 4 , the mechanical arm assembly 50 can extend in both the first direction F and the second direction S to pick up goods, because the space in the direction of extension of the mechanical arm assembly 50 is completely open, and the base body 20 can be rotated by 180° relative to the base 10 to achieve complete circumferential coverage of the picking operation, and there is no blind area for picking up goods, and the efficiency of picking and placing goods is high.

[0110] In the embodiment of the present application, as described above, the tray 120 is located on the top side of the base body 20 and is used to carry goods. It can be understood that when the handling robot approaches the target logistics equipment for handling of goods, there can be a certain distance between the tray 120 and the storage unit of the logistics equipment, which can cause the goods to be stuck in the gap or to fall from the gap. At this time, the tray 120 can be considered to be arranged in a structure that can extend towards the logistics equipment, i.e., the fork mechanism 100 comprises at least one extension assembly for extending the tray 120 towards the logistics equipment.

[0111] Figure 5 FIG. 1 is a structural schematic view of a fork mechanism according to an embodiment of the present application, Figure 5 FIG. 2 is a structural schematic view of another structure of the fork mechanism according to an embodiment of the present application. In Figure 4 , a plurality of trays 120 are stacked in the height direction of the fork assembly on the base body 20, and each tray 120 is slidably arranged on the tray 120 located on the adjacent bottom side thereof.

[0112] Specifically, the number of trays 120 can be Figure 5 one or more in the embodiment of the present application.Figure 5 Regardless of whether the number of trays 120 is one or more, the trays 120 include a first tray 121 closest to the base 20, and the present application provides at least one extension assembly 131 between the first tray 121 and the base 20.

[0113] The first tray 121 is slidably arranged on the base 20, and the extension assembly 131 between the first tray 121 and the base 20 is configured to extend the first tray 121 toward the first direction F beyond the edge of the base 20. Here, the number of extension assemblies 131 is taken as two for illustration, but the present application is not limited thereto, and the number of extension assemblies can be set according to actual needs.

[0114] When the extension assembly is used as a reference to define the top side and the bottom side of the load-carrying structure, the fork mechanism 100 includes a second load carrier 112 and a first load carrier 111 arranged on the same extension assembly, respectively, on the top side and the bottom side of the extension assembly, and the second load carrier 112 is slidably arranged on the first load carrier 111.

[0115] When the extension assembly 131 is located between the base 20 and the first tray 121, the base 20 forms the first load carrier 111, and the tray 120 forms the second load carrier 112.

[0116] Referring to Figure 6 When the number of trays 120 is more than one, the trays 120 further include a second tray 122 adjacent to the first tray 121 on the top side of the first tray 121.

[0117] Similarly to the above, the first tray 121 is slidably arranged on the base 20, and at least one extension assembly 131 is provided between the first tray 121 and the base 20, and the extension assembly 131 between the first tray 121 and the base 20 is configured to extend the first tray 121 and the second tray 122 toward the first direction F beyond the edge of the base 20. And for the base 20 and the first tray 121, when the extension assembly 131 between the base 20 and the first tray 121 is working, the base 20 forms the first load carrier 111, and the tray 120 forms the second load carrier 112. It can be understood that the working of the extension assembly 131 between the base 20 and the first tray 121 means that the extension assembly 131 between the base 20 and the first tray 121 is not in the locked state, and at this time the first tray 121 can drive the second tray 122 to extend toward the first direction F beyond the edge of the base 20.

[0118] In addition, the second tray 122 is slidably arranged on the first tray 121, and the second tray 122 is located on the side of the first tray 121 away from the base 20; that is, the second tray 122 is stacked on the first tray 121, and at least one extension assembly 132 is arranged between the first tray 121 and the second tray 122, and the extension assembly 132 between the first tray 121 and the second tray 122 is used to extend the second tray 122 towards the second direction out of the edge of the first tray 121.

[0119] For the first tray 121 and the second tray 122, when the extension assembly 132 between the first tray 121 and the second tray 122 is working, the first tray 121 forms the first carrier 111, and the second tray 122 forms the second carrier 112. Similar to the above, the working of the extension assembly 132 between the first tray 121 and the second tray 122 means that the extension assembly 132 between the first tray 121 and the second tray 122 is not in the locked state, at this time, the second tray 122 can extend towards the second direction S out of the edge of the first tray 121.

[0120] In other words, in the present application, the components on the bottom side and the top side of the extension assembly 100 are defined as the first carrier 111 and the second carrier 112 respectively, and the first carrier 111 and the second carrier 112 can refer to different components according to the different components on the top side and the bottom side of the extension assembly.

[0121] For the case that the tray 120 has more quantities, the extension assembly 130 can be arranged between other trays as needed, or can not be arranged, which is not limited in the present application.

[0122] The connection between the first carrier 111 and the second carrier 112 will be described below.

[0123] Figure 6 The structure diagram of one structure of the first carrier 111 and the second carrier 112 in the fork mechanism provided in the embodiments of the present application. In addition, Figure 6 The types of the first carrier 111 and the second carrier 112 are not limited in the present application, and the first carrier 111 and the second carrier 112 can be the base 20 and the first tray 121 respectively, or the first carrier 111 and the second carrier 112 can be the first tray 121 and the second tray 122 respectively.

[0124] When the number of the extension assembly 130 arranged between the first carrier 111 and the second carrier 112 is two, the two extension assemblies 130 are arranged at intervals in the width direction W of the fork mechanism 100, and have the same interval relative to the center of the fork mechanism 100.

[0125] Referring toFigure 7 The extension assembly 130 comprises an elastic force applying assembly 139, which is arranged between the first carrier 111 and the second carrier 112 and is configured to apply an elastic force to the second carrier 112 in the third direction T;

[0126] A locking assembly 150, which is arranged on the first carrier 111 and comprises a locking member 154 arranged on the sliding path of the second carrier 112; and

[0127] An unlocking member 160, which is connected to the mechanical arm assembly 50 and is configured to push the locking member 154 to move in the third direction T when the mechanical arm assembly 50 moves in the third direction T, so that the second carrier 112 extends in the third direction T under the elastic force of the elastic force applying assembly 139, wherein the third direction T is one of the first direction F and the second direction S.

[0128] For example, the elastic force applying assembly 139 can comprise a tension spring 148, the first end of which is arranged on the first carrier 111 and the second end of which is arranged on the second carrier 112.

[0129] The elastic force applying assembly 139 further comprises two end plates 142 and 143, which are arranged on opposite surfaces of the first carrier 111 and the second carrier 112 respectively, and have an overlapping portion in the third direction T, and the first end and the second end of the tension spring 148 are connected to the two end plates 142 and 143 respectively.

[0130] When the tension spring 148 is fixed on the two end plates 142 and 143, it needs to be in a stretched state, so that the tension spring 148 always applies an elastic force to the second carrier 112 in the third direction T.

[0131] Figure 8 A disassembled structural schematic view of the fork mechanism 100 provided by the embodiment of the present application, Figure 7 A disassembled structural schematic view of the fork mechanism 100 provided by the embodiment of the present application from another angle. Here, the third direction T is taken as the first direction F and the fourth direction E is taken as the second direction S for example, of course, the third direction T can also be the second direction S and the fourth direction E can also be the first direction F, which is not limited here. The unlocking member 160 can be the connecting rod 53 described above.

[0132] Reference Figure 3When the first carrier and the second carrier are corresponded to the first tray 121 and the second tray 122, the first end of the tension spring 141 is arranged on the first tray 121, and the second end of the tension spring is arranged on the second tray 122, wherein the first end is the end of the tension spring 141 in the fourth direction E, and the second end is the end of the tension spring in the third direction T.

[0133] On this basis, the elastic force applying assembly 139 further comprises two end plates 146, 147, which are respectively arranged on the opposite surfaces of the first tray 121 and the second tray 122, and have an overlapping part in the third direction T, and the first end and the second end of the tension spring 141 are respectively connected to the two end plates 146, 147.

[0134] The specific positions of the two end plates 146, 147 are as follows: one end plate 147 is located at the end of the second tray 122 in the third direction T, and the other end plate 146 is located on the side of the first tray 121 close to the fourth direction E. The two end plates have a sufficient distance therebetween so that the tension spring 141 remains in a stretched state. In addition, the heights of the two end plates 146, 147 protruding from the first tray 121 or the second tray 122 can be selected according to actual needs, and are generally less than the gap between the first tray 121 and the second tray 122, so as not to interfere with the first tray 121 and the second tray 122.

[0135] When the tension spring 141 is fixed on the two end plates 146, 147, it needs to be in a stretched state, so that the tension spring 141 always exerts an elastic force on the second tray 122 towards the fourth direction.

[0136] For the elastic force applying assembly 139 between the first tray 121 and the base 20, refer to Figure 8 and Figure 6 , the first end of the tension spring is arranged on the base 20, and the second end of the tension spring is arranged on the first tray 121.

[0137] On this basis, the elastic force applying assembly 139 further comprises two end plates 144, 145, which are respectively arranged on the opposite surfaces of the base 20 and the first tray 121, and have an overlapping part in the third direction T, and the first end and the second end of the tension spring 140 are respectively connected to the two end plates 144, 145.

[0138] The specific positions of the two end plates 144, 145 are as follows, one end plate 145 is located at the end of the fourth direction E of the first tray 121, and the other end plate 144 is located on the side close to the third direction S of the base body 20. In addition, it is also necessary to have sufficient distance between the two end plates 144, 145, so that the tension spring 140 remains in a stretched state, so that the tension spring 140 always exerts an elastic force on the first tray 121 towards the third direction T. In addition, the height of the two end plates 144, 145 protruding from the first tray 121 or the base body 20 can be selected according to actual needs, and is generally less than the gap between the base body 20 and the first tray 121, so as not to interfere with the base body 20 and the first tray 121. Here, the distance between the base body 20 and the first tray 121 is far, which can be that the height of the end plate 144 is obviously higher than the height of the end plate 145, and the top end of the end plate 144 and the top end of the end plate 145 have an overlapping part in the third direction T, so as to keep the tension spring 140 horizontally connected between the end plate 144 and the end plate 145.

[0139] In the embodiments of the present application, with reference to Figure 7 As described above, the second carrier 112 is slidably arranged on the first carrier 111, for example, the second carrier 112 can be arranged on the first carrier 111 through a sliding block and a sliding rail structure.

[0140] For example, the second carrier 112 includes a sliding block 113 arranged on the bottom, and the top of the first carrier 111 is provided with a sliding rail 114 extending in the direction of the goods entering and exiting the tray 120, and the sliding block 113 can slide along the sliding rail 114 to limit the sliding direction of the second carrier 112 relative to the first carrier 111. Since the sliding block 113 must move along the sliding rail 114, the sliding of the second carrier 112 relative to the first carrier 111 is limited to the extension direction of the sliding rail 114.

[0141] Specific to the first tray 121 and the second tray 122, with reference to Figure 8 , the second tray 122 includes a sliding block 116 arranged on the bottom, and the top of the first tray 121 is provided with a sliding rail 118 extending in the direction of the goods entering and exiting the tray 120, and the sliding block 116 can slide along the sliding rail 118 to limit the sliding direction of the second tray 122 relative to the first tray 121. Since the sliding block 116 must move along the sliding rail 118, the sliding of the second tray 122 relative to the first tray 121 is limited to the extension direction of the sliding rail 118.

[0142] Specific to the first tray 121 and the base body 20, with reference to Figure 6The first tray 121 comprises a sliding block (not shown) arranged on the bottom, and the top of the base 20 is provided with a sliding rail 117 extending in the direction of the goods entering and exiting the tray 120, and the sliding block is slidable along the sliding rail 117 to limit the sliding direction of the first tray 121 relative to the base 20. Since the sliding block has to move along the sliding rail 117, the sliding of the first tray 121 relative to the base 20 is limited to the extension direction of the sliding rail 117.

[0143] In the embodiments of the present application, with reference to Figure 7 The locking assembly 150 further comprises a support seat 151 arranged on the first carrier 111, and the locking piece 154 is arranged in the support seat 151 and is slidable relative to the support seat 151 in the direction of the goods entering and exiting the tray 120.

[0144] The locking piece 154 is located between the sliding rail 114 and the mechanical arm assembly 50, and the locking piece 154 is provided with a stop arm 1541 extending towards the sliding rail 114, and the stop arm 1541 is arranged on the side of the sliding block 113 facing the third direction T.

[0145] As a possible implementation, the side of the locking piece 154 away from the stop arm 1541 is further provided with an extension arm 1542 extending towards the mechanical arm assembly 50, and the extension arm 1542 is arranged on the movement path of the unlocking piece 160.

[0146] In addition, the locking assembly 150 can further comprise a resilient return piece 157, and the resilient return piece 157 is arranged on the extension arm 1542 and the support seat 151 respectively, and is used to apply a restoring force towards the fourth direction E to the locking piece 154 when the mechanical arm assembly 50 moves towards the third direction T.

[0147] Specifically to the first tray 121 and the second tray 122, with reference to Figure 3 The locking assembly 150 further comprises a support seat 153 arranged on the first tray 121, and the locking piece 156 is arranged in the support seat 153 and is slidable relative to the support seat 153 in the direction of the goods entering and exiting the tray 120.

[0148] The locking piece 156 is located between the sliding rail 118 and the mechanical arm assembly 50, and the locking piece 156 is provided with a stop arm 1561 extending towards the sliding rail 118, and the stop arm 1561 is arranged on the side of the sliding block 116 facing the fourth direction E.

[0149] As a possible implementation, the side of the locking piece 156 away from the stop arm 1561 is further provided with an extension arm 1562 extending towards the mechanical arm assembly 50, and the extension arm 1562 is arranged on the movement path of the unlocking piece 162.

[0150] In addition, the locking assembly 150 can further include an elastic return member 159, which is arranged on the extension arm 1562 and the support base 153 respectively at two ends thereof, and is used to apply a restoring force towards the third direction T to the locking member 156 when the mechanical arm assembly 50 moves towards the fourth direction E.

[0151] Specifically to the first tray 121 and the base 20, referring to Figure 6 The locking assembly 150 further includes a support base 152, which is arranged on the base 20, and the locking member 155 is arranged in the support base 152 and can slide relative to the support base 152 along the direction of the goods in and out of the tray 120.

[0152] For example, the base 20 can include a base plate 21, a support plate 22, and a support column 23 supported between the base plate 21 and the support plate 22, the support plate 22 is located on the side of the base plate 21 away from the base 10, and when the extension assembly 131 is arranged between the first tray 121 and the base 20, the support base 152 is arranged on the support plate 22.

[0153] For example, the locking member 155 can be located between the sliding rail 117 and the mechanical arm assembly 50, and the locking member 155 is provided with a stop arm 1551 extending towards the sliding rail 117, and the stop arm 1551 is arranged on the side of the sliding block 116 away from the third direction.

[0154] As a possible implementation, the side of the locking member 155 away from the stop arm 1551 is further provided with an extension arm 1552 extending towards the mechanical arm assembly 50, and the extension arm 1552 is arranged on the moving path of the unlocking member 161.

[0155] In addition, the locking assembly 150 can further include an elastic return member 158, which is arranged on the extension arm 1552 and the support base 152 respectively at two ends thereof, and is used to apply a restoring force towards the fourth direction E to the locking member 155 when the mechanical arm assembly 50 moves towards the third direction F.

[0156] Next, referring to Figure 6 The mutual movement principle of the first carrier 111 and the second carrier 112 is described.

[0157] In Figure 7The first carrier 111 and the second carrier 112 are shown, wherein the tension spring 148 is installed between the two end plates 142 and 143, and always applies a force to the second carrier 112 in the third direction T. At this time, the slider 113 fixed at the bottom of the second carrier 112 is blocked by the stop arm 1541, and cannot move in the third direction T. When the chain 632 rotates clockwise, the connecting rod 53, i.e., the unlocking piece 160, hits the extended arm 1542, and the extended arm 1542 drives the stop arm 1541 to move in the third direction T. The stop arm 1541 releases the unlocking of the slider 113. At this time, the first carrier 111 extends in the third direction T under the elastic force of the tension spring 148.

[0158] When the chain 632 rotates counterclockwise, the unlocking piece 160 moves in the fourth direction E. At this time, the extended arm 1542 moves in the fourth direction E under the elastic force of the elastic return piece 157, drives the stop arm 1541 to move in the fourth direction E, and pushes the slider 113 to drive the second carrier 112 to return to the initial position.

[0159] The bidirectional extension principle of the tray 120 will be described below. Figure 8 Figure 7 The bidirectional extension principle of the tray 120 will be described below.

[0160] For the base 20 and the first tray 121, the tension spring 140 is installed between the two end plates 144 and 145, and always applies a force to the first tray 121 in the third direction T. At this time, the slider fixed at the bottom of the first tray 121 is blocked by the stop arm 1551, and cannot move in the third direction T. When the chain 632 rotates clockwise, the connecting rod 53, i.e., the unlocking piece 161, moves in the third direction and hits the extended arm 1552. The extended arm 1552 drives the stop arm 1551 to move in the third direction T (the first direction F), releases the unlocking of the slider, and at this time, the first tray 121 drives the second tray 122 to extend in the third direction T under the elastic force of the tension spring 140. It should be noted that in this process, the unlocking piece 162 will be linked with the unlocking piece 161 through the chain 632, i.e., move in the third direction T, but will not contact the extended arm 1562, i.e., will not affect the locking of the locking piece 156 between the first tray 121 and the second tray 122.

[0161] When the chain 632 rotates counterclockwise, the unlocking piece 161 moves in the fourth direction E (the second direction S). At this time, the extended arm 1552 moves in the fourth direction E under the elastic force of the elastic return piece 158, drives the stop arm 1551 to move in the fourth direction E, and pushes the slider to drive the first tray 121 to return to the initial position.

[0162] The bidirectional extension principle of the tray 120 will be described below. Figure 9 ​For the first tray 121 and the second tray 122, the tension spring 141 is installed between the two end plates 146, 147, and always applies a force to the second tray 122 in the fourth direction E, at this time, since the slider 116 at the bottom of the second tray 122 is blocked by the stop arm 1561 and cannot move in the fourth direction E, when the chain 632 rotates clockwise, the connecting rod, that is, the unlocking piece 162, hits the extension arm 1562, and then the extension arm 1562 drives the stop arm 1561 to move in the fourth direction E, and the stop arm 1561 releases the unlocking of the slider 116, at this time, the second tray 122 is extended in the fourth direction E under the elastic force of the tension spring 141. It should be noted that during this process, the unlocking piece 161 will be linked with the unlocking piece 162 through the chain 632, that is, move in the fourth direction E, and will not contact the extension arm 1552, that is, will not affect the locking of the first tray 121 and the base 20 by the locking piece 155.

[0163] When the chain 632 rotates counterclockwise, the unlocking piece 162 moves in the third direction F, at this time, the extension arm 1562 moves in the third direction T under the elastic force of the elastic return piece 159, drives the stop arm 1561 to move in the third direction F, and the stop arm 1561 pushes the slider 116 to drive the first tray 121 to return to the initial position.

[0164] Figure 9 The overall structure schematic diagram of the carrying robot provided by the embodiment of the present application is provided.

[0165] Referring to ​ Another aspect of the present application also provides a carrying robot 200, comprising a moving chassis 201, a lifting mechanism 202, a column 203, and the above-mentioned fork mechanism 100, the moving chassis 201 is used to carry the lifting mechanism 202, the column 203 and the fork mechanism 100, the lifting mechanism 202 is fixedly connected with the base 10 in the fork mechanism 100, so as to drive the fork mechanism 100 to ascend and descend along the column 203.

[0166] Among them, the moving chassis 201 is movable, and drives the carried lifting mechanism 202, column 203 and fork mechanism 100 to move together, in addition, the moving chassis 201 can also be provided with a plurality of partitions 204, a plurality of partitions 204 are fixed on the column 203 in the height direction of the carrying robot 200 and spaced from each other, so as to form a multi-layer shelf, any one of the partitions 204 in the multi-layer shelf can be used for temporary storage of the box, in this way, the carrying robot 200 can carry a plurality of boxes at a time, so as to improve the carrying efficiency of the carrying robot 200.

[0167] The mobile chassis 201 drives the fork mechanism 100 to move, so that the fork mechanism 100 can carry the box between the multi-layer shelves and the storage shelves, and the lifting mechanism 202 is used to drive the fork mechanism 100 to ascend along the column 203, so that the fork mechanism 100 can load and unload the box on any layer of the shelf 204 or any layer of the storage shelf.

[0168] The lifting mechanism 202 can be powered by a motor, and the power is transmitted by a transmission mechanism, for example, a chain wheel mechanism. In addition, the chain wheel mechanism can be omitted, and the lifting mechanism 202 is directly driven by the motor. At this time, the motor is a linear motor.

[0169] It can be understood that the fork mechanism 100 is not limited to be applied to the carrying robot 200, and can also be applied to the shuttle, the sorting platform and the like.

[0170] 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 above embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the above 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

[0171] In the description of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood in a broad sense, for example, it can be fixedly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0172] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation to the present application.

[0173] The terms "first", "second", "third", "fourth" and the like in the description and in the claims of the present application, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the use of these terms herein is to be construed to cover a generalised use of these terms to describe a similar element, for example, a first element can be termed a second element without departing from the scope of the present application.

[0174] Furthermore, the terms "comprising" and "including" and any of their derivatives, are intended to be construed as encompassing a non-exclusive inclusion, for example, a process, method, system, product or apparatus that comprises a list of steps or elements as alternatives, can include additional steps or elements not expressly listed or inherent to such process, method, product or apparatus.

[0175] Finally, it should be noted that the above-mentioned embodiments merely illustrate the technical solutions of the present application, rather than limit the present application; even though the present application has been described in detail with reference to the above-mentioned embodiments, those of ordinary skill in the art should understand that the technical solutions recorded in the above-mentioned embodiments can be modified, or some or all of the technical features can be replaced by equivalents; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A fork mechanism, characterized in that, The fork mechanism comprises a base, a base body, a pallet capable of carrying goods, two mounting plates, and a mechanical arm assembly arranged on the mounting plates, the base body is rotatably connected to the base, the mounting plates and the pallet are arranged on the base body, the pallet and the base are located on opposite sides of the base body, and the two mounting plates are located on two opposite sides of the pallet. The fork mechanism further comprises a first driving assembly and a second driving assembly arranged on the base body, the first driving assembly comprises a first power unit and a first transmission unit, the first power unit is used to drive the first transmission unit to drive the mechanical arm assembly to extend out of the edge of the mounting plate in a first direction or a second direction, and the second driving assembly comprises a second power unit and a second transmission unit, the second power unit is used to drive the second transmission unit to drive the base body to rotate relative to the base. The first power unit and the second power unit are located between the pallet and the base. The first direction and the second direction are directions of goods entering or exiting the pallet, and are opposite directions. The fork mechanism further comprises at least one extension assembly, and a first carrier and a second carrier respectively arranged on the bottom side and the top side of the same extension assembly, the second carrier is slidably arranged on the first carrier. The pallet comprises a first pallet, the first pallet is slidably arranged on the base body, and at least one extension assembly is arranged between the first pallet and the base body. The pallet further comprises a second pallet, the second pallet is slidably arranged on the first pallet, and the second pallet is located on the side of the first pallet away from the base body, and at least one extension assembly is arranged between the first pallet and the second pallet. When the extension assembly between the base body and the first pallet works, the base body forms the first carrier, and the first pallet forms the second carrier. When the extension assembly between the first pallet and the second pallet works, the first pallet forms the first carrier, and the second pallet forms the second carrier. The extension assembly comprises a locking assembly arranged on the first carrier, and the locking assembly comprises a locking piece arranged on the sliding path of the second carrier. The locking assembly further comprises a support seat arranged on the first carrier, the locking piece is arranged in the support seat and can slide relative to the support seat in the direction of the goods entering or exiting the pallet. The locking assembly further comprises an elastic return piece, the two ends of the elastic return piece are arranged on the extension arm of the locking piece and the support seat respectively, and the elastic return piece is used to apply a restoring force in a fourth direction to the locking piece when the mechanical arm assembly moves in a third direction. The third direction is one of the first direction and the second direction, and the fourth direction is opposite to the third direction. ​ 2. The fork mechanism of claim 1, wherein, The top end of the first transmission unit and the second transmission unit is arranged lower than the bottom end of the tray relative to the base.

3. The fork mechanism of claim 2, wherein, The base body comprises a base plate, and the first power unit and the second power unit are arranged on the base plate.

4. The fork mechanism of claim 2, wherein, The mechanical arm assembly comprises at least one mechanical arm, and the mechanical arm is located on a side of the tray away from the base.

5. The fork mechanism of claim 2, wherein, The number of the mechanical arm assemblies is two, and each of the installation plates is connected with one of the mechanical arm assemblies.

6. A fork mechanism according to any one of claims 1-5, characterized in that The second transmission unit comprises a rotating bearing and a gear, the gear is connected with the output shaft of the second power unit, and the inner wall of the inner ring of the rotating bearing is provided with gear teeth meshing with the gear. The rotating bearing is located between the base and the base body, the inner ring of the rotating bearing is connected with the base, the outer ring of the rotating bearing is connected with the base body, the gear is used to rotate under the drive of the second power unit and rotate around the center of the inner ring of the rotating bearing, so as to relatively rotate the base body and the base.

7. A fork mechanism according to claim 6, wherein, The top end surface of the base is provided with an installation groove, the rotating bearing is located in the installation groove, the bottom end surface of the inner ring of the rotating bearing is fixed on the groove bottom surface of the installation groove, the top end surface of the outer ring of the rotating bearing protrudes from the top end surface of the base, and the base body is supported and fixed on the top end surface of the outer ring of the rotating bearing. The output shaft of the second power unit penetrates the base body and extends into the inner side of the inner ring of the bearing.

8. The fork mechanism of claim 7, wherein, The base body is provided with a through hole, the inner diameter of the through hole is greater than or equal to the inner diameter of the inner ring of the rotating bearing, and less than or equal to the inner diameter of the outer ring of the rotating bearing.

9. The fork mechanism of claim 1, wherein, The installation plate is also provided with an installation block, the two ends of the installation block are connected with the base body and the installation plate respectively, and the end of the installation block connected with the installation plate is located on the bottom side of the corresponding mechanical arm assembly of the installation plate.

10. The fork mechanism of claim 1, wherein, The extension assembly located between the first tray and the base body is used to extend the first tray towards a first direction beyond the edge of the base body. The direction of the goods entering and exiting the tray includes opposite first and second directions.

11. The fork mechanism of claim 10, wherein, The extension assembly located between the first tray and the second tray is used to extend the second tray towards the second direction beyond the edge of the first tray.

12. The fork mechanism of claim 11, wherein, The extension assembly further comprises: an elastic force applying assembly arranged between the first carrier and the second carrier and used to apply an elastic force to the second carrier towards a third direction; and an unlocking member connected with the mechanical arm assembly, and used to push the locking member to move towards the third direction when the mechanical arm assembly moves towards the third direction, so that the second carrier extends towards the third direction under the elastic force of the elastic force applying assembly.

13. The fork mechanism of claim 12, wherein, The elastic force applying assembly comprises a tension spring, and the first end and the second end of the tension spring are arranged on the first carrier and the second carrier respectively.

14. The fork mechanism of claim 13, wherein, The elastic force applying assembly comprises two end plates, which are respectively arranged on opposite surfaces of the first bearing body and the second bearing body, and have an overlapping portion in the third direction, and the first end and the second end of the tension spring are respectively connected to the two end plates.

15. The fork mechanism of claim 13, wherein, The base body comprises a base plate, a support plate and a support column supported between the base plate and the support plate, the support plate is located on the side of the base plate away from the base, and the support seat is arranged on the support plate when the first tray and the base body have the extension assembly.

16. The fork mechanism of claim 12, wherein, The second bearing body comprises a sliding block arranged on the bottom, and the top of the first bearing body is provided with a sliding rail extending in the direction in which the goods enter or exit the tray, and the sliding block can slide along the sliding rail to limit the sliding direction of the second bearing body relative to the first bearing body. The locking member is located between the sliding rail and the mechanical arm assembly, and the locking member is provided with a stop arm extending towards the sliding rail, and the stop arm is arranged on the side of the sliding block facing the third direction.

17. The fork mechanism of claim 16, wherein, The side of the locking member away from the stop arm is also provided with an extension arm extending towards the mechanical arm assembly, and the extension arm is arranged on the movement path of the unlocking member. The locking member can lock the first tray and the second tray.

18. The fork mechanism of claim 17, wherein, The mechanical arm assembly comprises a mechanical arm and a connecting rod, the mechanical arm can extend beyond the edge of the mounting plate in the direction in which the goods enter or exit the tray, the first transmission unit comprises a sprocket assembly, the sprocket assembly comprises a chain and two sprockets arranged at intervals in the direction in which the goods enter or exit the tray, the two sprockets are arranged on the mounting plate and located on the bottom side of the mechanical arm assembly on the mounting plate, the sprockets can rotate under the drive of the first power unit, the chain is arranged on the two sprockets, the connecting rod is linked with the chain, and the connecting rod is used to drive the mechanical arm to move when the chain operates, and the connecting rod forms the unlocking member.

19. The fork mechanism of claim 18, wherein, The end of the connecting rod towards the chain has meshing teeth which can mesh with the links of the chain.

20. The fork mechanism of claim 12, wherein, When the number of extension assemblies arranged between the first bearing body and the second bearing body is two, the two extension assemblies are arranged at intervals in the width direction of the fork mechanism and have the same spacing relative to the center of the fork mechanism, and the width direction of the fork mechanism is perpendicular to the first direction.

21. A transport robot characterized by Comprise: A mobile chassis, a lifting mechanism, a column and the fork mechanism of any one of claims 1-20, the mobile chassis is used to bear the lifting mechanism, the column and the fork mechanism, the lifting mechanism is fixedly connected with the base in the fork mechanism, so as to drive the fork mechanism to ascend and descend along the column.

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