A cantilevered fork carrying robot and a method of loading cargo therefor

Abstract

This invention provides a cantilevered fork-type handling robot and its cargo loading method. The robot includes a fork assembly, a cantilever mechanism, a steering wheel device, a structural frame, and a controller. The steering wheel device, cantilever mechanism, and fork assembly are sequentially connected to the front, middle, and rear of the structural frame. The fork assembly includes a lifter, fork units, roller units, and a linkage mechanism. The lifter drives the linkage mechanism, causing the roller units to rise / fall with the fork units at the fork teeth. The cantilever mechanism includes a lifting platform and auxiliary wheel units. The lifting platform is connected to the structural frame, and the auxiliary wheel units are connected to the lifting end of the lifting platform. The controller is connected to both the lifting platform and the lifting platform to drive the roller units and auxiliary wheel units to ensure that at least one of them remains on the ground and supported by the steering wheel device during the rising / falling of the fork units. This supports the synchronous and integrated movement of the roller units and fork units in the structure and maintains the stability of the robot.

Description

Technical Field

[0001] This invention relates to material handling equipment technology, and more particularly to a cantilevered fork-tooth handling robot and its cargo loading method. Background Technology

[0002] In the freight industry, forklifts, as a common industrial handling tool, are widely used in various cargo handling scenarios. Generally speaking, a forklift refers to a wheeled handling vehicle that uses its forks to lift palletized goods and transport them to a predetermined location for loading, unloading, and stacking to complete short-distance transportation operations. Therefore, forklifts are one of the most widely used pieces of machinery in the industrial field. Whether in warehouses, factories, or construction sites, a large amount of cargo handling work requires the use of forklifts.

[0003] With the development of forklift technology, in order to improve the load-bearing capacity and ensure the stability of the forks during transport, traditional forklift equipment usually has a roller structure at the end of the fork teeth. For example, the prior art proposed "A two-wheel drive differential forklift with scissor lift" (patent application number: 202123167155.9), in which the scissor lift structure can drive the two forks to lift, and the bottom of the two forks is connected to the casters through adjustable support members, so as to realize the extension and retraction control of the casters.

[0004] However, this existing technology also has some drawbacks. For example, the casters at the forks of this type of structure always participate in the vehicle body support, so it can only be used with zigzag pallets. When picking up and placing zigzag pallets, the rollers on the forks need to forcefully impact the bottom support structure of the zigzag pallet in order for the forks to extend into place and release the casters. This will cause an impact on the pallet, and the vehicle body itself cannot maintain balance, thus affecting the smooth operation of the entire freight loading and unloading process.

[0005] Furthermore, since the fork lifting mechanism and the telescopic mechanism of the fork rollers in this type of structure are two independent transmission systems that need to be controlled separately, if there is a problem with the joint control and either mechanism fails to work together, it may cause an operational accident. Therefore, there are still some shortcomings in terms of reliability. Summary of the Invention

[0006] Therefore, the main objective of this invention is to provide a cantilevered fork-type handling robot and its cargo loading method, so as to support the synchronous and integrated operation of the roller unit and the fork unit in terms of structure, and to adapt to the grid-shaped pallet to maintain the stability of the vehicle body.

[0007] To achieve the above objectives, according to a first aspect of the present invention, a cantilevered fork-type handling robot is provided, comprising: a fork assembly, a cantilever mechanism, a steering wheel device, a structural frame, and a controller. The steering wheel device, the cantilever mechanism, and the fork assembly are sequentially connected to the front, middle, and rear parts of the structural frame, respectively. The fork assembly includes: a lifter, a fork unit, a roller unit, and a linkage mechanism. The lifter, the fork unit, and the roller unit are respectively connected to the first, second, and third transmission ends of the linkage mechanism. The fulcrum end of the roller unit is connected to the fork teeth of the fork unit, so as to move via the linkage mechanism and retract / release at the fork teeth as the fork unit rises / falls. The cantilever mechanism includes: a lifting platform and an auxiliary wheel unit. The lifting platform is connected to the structural frame, and the auxiliary wheel unit is connected to the lifting end of the lifting platform. The controller is respectively connected to the lifting platform and the lifting platform control to drive the roller unit and the auxiliary wheel unit to always maintain at least one of them on the ground for support together with the steering wheel device during the lifting / falling process of the fork unit.

[0008] In a possible preferred embodiment, the linkage mechanism includes: a lifting linkage, a swing arm, and a pull rod. The swing arm is provided with P, N, and B corner ends. The first end of the lifting linkage is connected to the lifting device for transmission, and the second end is rotatably connected to the P corner end of the swing arm. The back plate of the fork unit is provided with a connecting arm. The first ends of the connecting arm and the pull rod are respectively rotatably connected to the N and B corner ends of the swing arm, so that the N corner end serves as a rotatable fulcrum for lifting and lowering. The fork unit is raised / lowered by the lifting / lowering and swinging traction of the P corner end, and the B corner end is linked to swing with the N corner end as the fulcrum to extend / retract the pull rod. The rotation fulcrum end of the roller unit is rotatably connected to the fork teeth of the fork unit, and the connecting end is rotatably connected to the second end of the pull rod.

[0009] In a possible preferred embodiment, the fork tooth belly is provided with a linkage groove to accommodate the roller unit. The roller unit includes: a wheel frame and a roller. The wheel frame is provided with M, A, and C corner ends extending in different directions. The C corner end of the wheel frame is rotatably connected to the roller, the M corner end is rotatably connected to the support at the linkage groove of the fork tooth to form a rotation fulcrum, and the A corner end is rotatably connected to the second end of the pull rod to receive the extension / retraction linkage of the pull rod, so that the C corner end swings with the M corner end as the fulcrum to drive the roller to extend / retract from the linkage groove.

[0010] In a possible preferred embodiment, the lifting device or lifting platform is a single-acting hydraulic cylinder, and the cantilever mechanism further includes: a limiting plate, a support frame, and a first elastic element. The limiting plate is fixed on the structural frame, the support frame is connected to the auxiliary wheel unit, and the limiting plate and the support frame are connected by the first elastic element. The linkage mechanism further includes: a second elastic element, and spring seats are respectively provided on the pull rod and at the fork tooth linkage groove for connecting to both ends of the second elastic element.

[0011] In a possible preferred embodiment, the cantilever fork-type transport robot further includes: a guide and a guided component, wherein the guide is fixed on the structural frame, and the back plate of the fork unit is also provided with a bracket. The guided component is respectively disposed on the lifting link and the bracket. The guided component is connected to the guide, so that the guided component is constrained by the guide, and the fork unit and the link move together along the guiding direction of the guide.

[0012] In a possible preferred embodiment, the connecting arm is provided with a support platform, the guide is located on the lifting / lowering path of the support platform, and when the fork unit is raised to its limit, the support platform abuts against the guide.

[0013] In a possible preferred embodiment, the center line L1 of the swing arm at corner B and N is equidistant from and parallel to the center line L2 of the wheel frame at corner M and A.

[0014] In a possible preferred embodiment, the pull rod is housed in the linkage groove, and there is a height difference between the first and second ends of the pull rod relative to the pull rod body, so that the first and second ends of the pull rod are allowed to swing below the N-angle end of the swing arm and the M-angle end of the wheel frame, respectively, during transmission.

[0015] In a possible preferred embodiment, the fork tooth is provided with a skylight at the roller unit storage position, and when the roller unit is stored in the linkage groove, at least part of the roller body extends out of the skylight beyond the fork tooth.

[0016] To achieve the above objectives, corresponding to controlling any of the aforementioned cantilever fork-type handling robots, according to a second aspect of the present invention, a cargo loading method is also provided, the steps of which include:

[0017] Step S100 controls the lifting device to descend, which in turn activates the linkage mechanism, causing the roller unit to retract at the fork teeth as the fork unit descends.

[0018] Step S200 controls the elevator to lower the auxiliary wheel unit, so that it and the steering wheel device are placed on the ground for support;

[0019] In step S300, after the drive wheel device suspends the fork unit and inserts it into the pallet, the lifter is controlled to rise, and the linkage mechanism is activated so that the roller unit is released at the fork teeth as the fork unit rises. After the roller unit passes the bottom of the pallet and lands on the support, the lifter is controlled to raise the auxiliary wheel unit so that the roller unit replaces the auxiliary wheel unit and lands on the support together with the drive wheel device.

[0020] The cantilevered fork-type handling robot and its cargo loading method provided by this invention cleverly design a linkage structure for the lifting device, fork unit, linkage mechanism, and roller unit. This achieves integrated linkage between the retraction / extension of the roller unit and the lifting / lowering of the fork unit, ensuring the synergy of each linkage unit and providing higher reliability than control schemes involving multiple independent mechanisms. Through this scheme, when the fork unit is not lifted, the roller unit is in a retracted state, allowing the forks to be suspended when entering the grid-shaped pallet. Once the forks are in position, lifting and adjusting the fork unit allows the roller unit to extend and land in an integrated manner, thus preventing impact between the forks and rollers and the grid-shaped pallet during loading / unloading operations. Therefore, it is particularly suitable for grid-shaped pallets.

[0021] In addition, through the cooperation of the fork assembly and the cantilever mechanism, the auxiliary wheel unit and the roller unit can always be kept on the ground for support along with the steering wheel device during the entire cargo loading process, so as to maintain the balance of the vehicle body during cargo loading and unloading and improve the stability of freight transportation.

[0022] On the other hand, since the auxiliary wheel unit and the roller unit are located at two spacing positions in the middle and rear of the structural frame, when adapted with the steering wheel device, the turning radius of the robot body can be adjusted by alternating the auxiliary wheel unit and the roller unit with its ground support, so as to turn around / turn in some narrow spaces, thereby improving the robot's obstacle crossing ability and environmental adaptability. Attached Figure Description

[0023] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0024] Figure 1 This is a schematic diagram of the overall structure of the cantilever fork-tooth transport robot of the present invention;

[0025] Figure 2 This is a schematic diagram of the structural frame of the cantilever fork-tooth transport robot of the present invention;

[0026] Figure 3 This is a schematic diagram of the assembly structure of the cantilever mechanism, steering wheel device and part of the structural frame of the cantilever fork-tooth transport robot of the present invention, wherein the structural frame part is a perspective view;

[0027] Figure 4 This is a partial perspective structural diagram of the fork assembly of the cantilever fork-tooth handling robot of the present invention, wherein one side of the fork tooth is in perspective view;

[0028] Figure 5 This is a schematic diagram of the bottom structure of the fork assembly of the cantilever fork-tooth handling robot of the present invention;

[0029] Figure 6 This is a schematic diagram of the overall linkage structure of the cantilevered fork-tooth transport robot of the present invention when the roller unit is in the deployed state, wherein one side of the fork tooth is in a perspective view;

[0030] Figure 7 This is a side view of the linkage mechanism in the cantilevered fork-tooth handling robot of the present invention, with the roller unit in the stored state and the fork unit in the initial position, wherein one side of the fork tooth is in perspective view;

[0031] Figure 8 This is a schematic diagram of the linkage mechanism transmission trajectory when the roller unit is in the stored state and the fork unit is in the initial position in the cantilevered fork-tooth handling robot of the present invention;

[0032] Figure 9 This is a side view of the linkage mechanism in the cantilevered fork-tooth handling robot of the present invention, with the roller unit in the deployed state and the fork unit in the lifted position, wherein one side of the fork tooth is in perspective view;

[0033] Figure 10 This is a schematic diagram of the linkage mechanism transmission trajectory when the roller unit is in the extended state and the fork unit is in the raised position in the cantilevered fork-tooth handling robot of the present invention.

[0034] Figure 11 This is a schematic diagram of the cantilever mechanism in the cantilever fork-tooth handling robot of the present invention, when the lifting mechanism uses a single-acting hydraulic cylinder;

[0035] Figure 12 This is a schematic diagram of the structure of the fork and the tie rod in the cantilever fork-type transport robot of the present invention, when the lifting mechanism adopts a single-acting hydraulic cylinder, wherein the fork is in perspective view;

[0036] Figures 13 to 14 This is a schematic diagram of the transmission trajectory of the fork assembly in the cantilevered fork-type handling robot of the present invention, when it includes a guiding mechanism;

[0037] Figure 15 This is the overall structural design of the cantilever fork-tooth transport robot of the present invention when it includes a guiding mechanism;

[0038] Figure 16 This is a schematic diagram of the overall linkage structure of the cantilever fork-tooth transport robot of the present invention when the roller unit is in the storage state, including the guide mechanism.

[0039] Figure 17 This is a schematic diagram of the overall linkage structure of the cantilevered fork-tooth transport robot of the present invention when the roller unit is in the deployed state, including the guide mechanism.

[0040] Figures 18 to 19This is a schematic diagram of the overall linkage structure of the fork unit in the lifting / lowering state when the cantilever fork handling robot of the present invention includes a guiding mechanism, wherein the back plate is in a perspective view;

[0041] Figures 20 to 21 This is a schematic diagram showing the auxiliary wheel unit and roller unit alternately supporting the landing gear together with the steering wheel device in the cantilevered fork-tooth transport robot of the present invention;

[0042] Figures 22 to 23 This is a schematic diagram showing that after the cantilevered fork-tooth transport robot of the present invention is loaded with a grid-shaped pallet, the roller unit extends from the bottom of the grid-shaped pallet and touches the ground according to the linkage mechanism;

[0043] Figure 24 This is a schematic diagram of the steps of the cargo loading method of the present invention.

[0044] Explanation of reference numerals in the attached figures

[0045] 1. Lifter, 2. Fork unit, 3. Linkage mechanism, 4. Roller unit, 5. Guide wheel, 6. Roller rail, 7. Cantilever mechanism, 8. Structural frame, 9. Steering wheel device, 99. Grid pallet, 98. Housing, 21. Back plate, 22. Fork tooth, 23. Linkage arm, 31. Lifting link, 32. Swing rod, 33. Second elastic element, 34. Spring seat, 35. P-angle end P, N-angle end N, B-angle end B, 41. Wheel frame, 42. Roller, M-angle end M, A-angle end A, C-angle end C, 71. Lifting machine, 72. Sub-wheel unit, 73. Linear module, 74. Limiting plate, 75. Support frame, 76. First elastic element, 81. Wheel seat, 82. Universal wheel, 211. Bracket, 221. Linkage groove, 222. Sunroof, 321. Synchronous shaft, 231. Detailed Implementation

[0046] To enable those skilled in the art to better understand the technical solutions of the present invention, the specific technical solutions of the present invention will be clearly and completely described below in conjunction with embodiments, so as to help those skilled in the art further understand the present invention. Obviously, the embodiments described in this application are merely some embodiments of the present invention, and not all embodiments. It should be noted that, for those skilled in the art, the embodiments and features in the embodiments of this application can be combined with each other without departing from the concept of the present invention and without conflict. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the disclosure and protection scope of the present invention.

[0047] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0048] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use. These terms are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," "third," "S100," "S200," etc., are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such examples of use can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those described herein. The terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0049] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," not that the structure must be completely horizontal, but can be slightly tilted.

[0050] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set up," "lay out," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances and in conjunction with existing technology. Furthermore, unless otherwise specified, the embodiments and features in the embodiments of this invention can be combined with each other. One or more of the components shown in the figures may be necessary or not, and the relative positional relationships between the components shown in the figures can be adjusted according to actual needs.

[0051] Please see Figures 1 to 10 As shown, in order to achieve structural synchronization and integrated operation between the roller unit and the fork unit, and to maintain vehicle stability, this invention provides a cantilevered fork-type transport robot, which includes: a fork assembly, a cantilever mechanism 7, a steering wheel device 9, a structural frame 8, and a controller. The steering wheel device 9 is connected to the front of the structural frame 8, the cantilever mechanism 7 is connected to the middle of the structural frame 8, and the fork assembly is connected to the rear of the structural frame 8, with a support distance on the structural frame 8 to maintain vehicle balance.

[0052] Among them, such as Figures 4 to 10 As shown, the fork assembly includes: a lifter 1, a fork unit 2, a linkage mechanism 3, and a roller unit 4. The fork unit 2 includes: a back plate 21 and fork teeth. The fork teeth extend from the loading surface of the back plate 21 and are arranged in pairs at intervals. A connecting arm 23 is provided on the back of the back plate 21. The fulcrum end of the roller unit 4 is connected to the fork teeth, and its transmission end is connected to the first transmission end of the linkage mechanism 3. The second transmission end of the linkage mechanism 3 is connected to the connecting arm 23 on the back plate 21. The lifter 1 is connected to the linkage mechanism 3... The third transmission end of mechanism 3 is connected, wherein in this example, the lifting device 1 is a double-acting lifting hydraulic / oil cylinder. Through the linkage mechanism 3, only the lifting / lowering movement of the lifting device 1 needs to be controlled to simultaneously drive the roller unit 4 to retract / extend and the fork unit 2 to lift / lower. This makes the roller unit 4 and the fork unit 2 move synchronously and in a unified manner, so as to ensure the coordination of each linkage unit and the controllable linkage rhythm. There will be no interference between mechanisms or conflict in the execution program, and the reliability and stability are extremely high.

[0053] Specifically, to achieve the linkage effect of the aforementioned linkage mechanism 3, the lifting / lowering motion of the elevator 1 is actually converted into different motion directions through the linkage mechanism 3. Therefore, as Figures 4 to 10 As shown, in this example, the linkage mechanism 3 preferably includes: a lifting linkage 31, a swing rod 32, and a pull rod 33. The swing rod 32 is provided with P, N, and B angular ends extending in three different directions to form a triangular vertex distribution. The first end of the lifting linkage 31 (i.e., the third transmission end of the linkage mechanism 3) is connected to the lifting end of the elevator 1, and the second end is rotatably connected to the P angular end of the swing rod 32. In this example, each rotatable connection can be understood as a shaft connection. The first end of the connecting arm 23 is rotatably connected to the N angular end of the swing rod 32 (i.e., the second transmission end of the linkage mechanism 3), and the first end of the pull rod 33 is rotatably connected to the B angular end of the swing rod 32.

[0054] This design cleverly utilizes the N-angle end of the rocker arm 32 as a fulcrum for lifting, lowering, and rotating. When the rocker arm 32 is raised / lowered by the lifter 1 connected to the P-angle end, the N-angle end will also rise / lower synchronously, thus creating conditions for the lifting / lowering of the fork unit 2. Furthermore, as... Figures 13 to 14 As shown, the P-angle end of the swing arm 32 will also swing with the N-angle end as the fulcrum, that is, swing between the P1 and P2 positions. Through this transmission and traction, on the one hand, the fork unit 2 connected to the N-angle end can be raised / lowered to drive its lifting / lowering. At the same time, it can also drive the B-angle end to swing with the N-angle end as the fulcrum between the B1 and B2 positions, thereby driving the pull rod 33 to extend / retract, thus providing the transmission conditions for driving the roller unit 4.

[0055] Furthermore, such as Figures 5 to 10As shown, in order to enable the roller unit 4 to move synchronously with the fork unit 2 and retract / release at the fork teeth, this example provides an example scheme in which the roller unit 4 is hidden inside the fork teeth so that the fork teeth can stably support the pallet. The fork teeth have a linkage groove 221 on their belly to at least partially accommodate the roller unit 4 and the pull rod 33. The roller unit 4 includes a wheel frame 41 and a roller 42. The wheel frame 41 has M, A, and C corner ends extending in three different directions to form a triangular vertex distribution.

[0056] The C-corner end of the wheel frame 41 is fork-shaped and rotatably connected to the roller 42. In optional examples, the roller 42 can be a roller assembly or a single wheel structure. The M-corner end of the wheel frame 41 is rotatably connected to the support at the fork tooth linkage groove 221 to form a rotation fulcrum. Figure 10 As shown, the A-corner end of the wheel frame 41 is rotatably connected to the second end of the pull rod 33 (i.e., the first transmission end of the linkage mechanism 3), and receives the extension / retraction linkage of the pull rod 33, so that the second end of the pull rod 33 can swing between the A1 and A2 position points, and then the C-corner end can swing between the C2 and C1 position points with the M-corner end as the fulcrum, so as to drive the roller 42 to extend / retract from the linkage groove 221.

[0057] One noteworthy point is that, to prevent the lever 33 from being interfered with during operation, while simultaneously allowing the wheel carrier 41 to perform large-scale swinging movements within the narrow fork tooth linkage slot 221, such as... Figure 8 , Figure 10 As shown, the pull rod 33 is housed within the linkage slot 221. The first and second ends of the pull rod 33 have an arc-shaped drop relative to the rod body, allowing the first end of the pull rod 33 to swing in an arc below the N-angle end of the swing arm 32 (swinging between positions B1 and B2) during transmission, and the second end of the pull rod 33 to swing in an arc below the M-angle end of the wheel frame 41 (swinging between positions A1 and A2). Furthermore, to ensure the synchronization and consistency of the fork unit 2 and the roller unit 4 during linkage, the linkage mechanism 3 preferably has the center lines L1 of the B and N-angle ends of the swing arm 32 and L2 of the M and A-angle ends of the wheel frame 41 equidistant and parallel.

[0058] With this design, the linkage mechanism 3 can form a swing extension / retraction linkage between the pull rod 33, the wheel frame 41, and the swing rod 32 in a narrow space. With a small swing, the pull rod 33 extends / retracts, and the wheel frame 41 swings significantly, thereby enabling the linkage roller unit 4 to retract / extend at the fork tooth linkage groove 221. At the same time, thanks to the floating shape of the pull rod 33, the pull rod 33 can be hidden in a smaller space on the belly of the fork tooth, thereby greatly reducing the space requirements for the linkage groove 221 on the belly of the fork tooth. This not only saves costs, but also ensures that the belly of the fork tooth is no longer obstructed by controlling the position of the hidden roller unit 4 at the front of the fork tooth through the tray, so as to leave sufficient adjustment space for the fork tooth to extend into the tray.

[0059] In addition, in order to further improve the linkage synchronization consistency and transmission structure reliability of the linkage mechanism 3, in an optional example, the rocker arms 32 are connected to each other via a synchronization shaft 321 to form synchronization. In a preferred example, the two ends of the synchronization shaft 321 are respectively connected to the P-corner end near each rocker arm 32.

[0060] Furthermore, in order to enhance the stability of the transmission structure between the linkage mechanism 3 and the fork unit 2, such as... Figures 13 to 19 As shown, in an optional example, the fork assembly further includes a guide mechanism, wherein the guide mechanism includes a guide member and a guided member. In this example, the guided member and the guide member are illustrated using guide wheel 5 and roller rail 6 as examples. Of course, those skilled in the art can also implement it in other equivalent ways, such as using a slider and ball rail scheme. Therefore, other alternative implementations of the guide mechanism without departing from the concept of the present invention are all within the scope of the disclosure of the present invention.

[0061] Among them, such as Figures 15 to 19 As shown, the roller slide rail 6 can be fixed on the structural frame 8, and the guide wheel 5 is connected to the first end of the lifting link 31. The guide wheel 5 is engaged with the roller slide rail 6, so that the guide wheel 5 is constrained by the roller slide rail 6, thereby causing the first end of the lifting link 31 to move along the guiding direction of the guide member, so as to ensure that the movement trajectory during linkage will not deviate, thereby enhancing the structural stability of the transmission mechanism.

[0062] Furthermore, to prevent the linkage mechanism 3 from exceeding its limit during transmission, which could lead to structural collapse or damage, in optional embodiments, such as... Figures 18 to 19 As shown, the connecting boom 23 is also provided with a support platform 231, and the position of the roller slide rail 6 on the structural frame 8 is located on the lifting / lowering path of the support platform 231. When the fork unit 2 is raised to the limit, the support platform 231 abuts against the roller slide rail 6.

[0063] Specifically, since the position of the roller slide rail 6 on the structural frame 8 is fixed, by pre-setting the track length of the roller slide rail 6, it is ensured that the guide wheel 5 at the first end of the lifting linkage 31 will not displace from the track at the positions S2 to S1 during the lifting process. At the same time, a preset lifting limit distance is left between the support platform 231 and the bottom of the roller slide rail 6. In this way, the roller slide rail 6 can be used as a safety limit to achieve both guiding and limiting functions, avoid over-limit transmission, and improve the reliability of the mechanism transmission.

[0064] Furthermore, to better guide the lifting trajectory of the fork unit 2 and enhance the stability of the transmission structure between the linkage mechanism 3 and the fork unit 2, in optional examples, such as... Figures 16 to 19 As shown, the back plate 21 of the fork unit 2 is also provided with a bracket 211. The guide wheel 5 is connected to one side of the bracket 211. The guide is a double-sided roller slide rail or a pair of roller slide rails 6 connected back to back. The guide wheel 5 on the first end of the bracket 211 and the lifting linkage 31 are respectively connected to the slide rails on both sides of the double-sided roller slide rail, so that each guide wheel 5 is constrained by the double-sided roller slide rail, so that the fork unit 2 and the first end of the linkage move together along the guiding direction of the double-sided roller slide rail.

[0065] Furthermore, since the fork teeth generate surface friction when picking up the pallet, thus creating resistance, in order to cleverly utilize the retractable / extendable characteristics of the roller unit 4, such as... Figure 4 , Figure 19 As shown, in an optional example, the fork tooth is provided with a skylight 222 at the location where the roller unit 4 is housed. By setting the roller diameter, when the roller unit 4 is housed in the linkage groove 221, at least part of the roller 42 can extend out of the skylight 222 beyond the fork tooth. Therefore, when the fork tooth picks up the pallet through the skylight 222, it will drive the roller 42 to rotate, thereby reducing the surface friction resistance between the fork tooth and the pallet and facilitating the smooth insertion of the fork tooth into the pallet.

[0066] Furthermore, such as Figure 3 As shown, the cantilever mechanism 7 includes: a lifting platform 71 and a secondary wheel unit 72. In this example, the lifting platform 71 is preferably a double-acting lifting hydraulic / oil cylinder. The lifting platform 71 is connected to the structural frame 8, and the secondary wheel unit 72 is connected to the lifting end of the lifting platform 71. In an optional example, the cantilever mechanism 7 further includes: a linear module 73, whose track is set on the structural frame 8 and whose slider is connected to the secondary wheel unit 72, thereby ensuring that the secondary wheel unit 72 can stably rise and fall along the position points Q1 to Q2 under the drive of the lifting platform 71.

[0067] Furthermore, in an alternative implementation, if a single-acting lifting hydraulic / cylinder is used, such as Figure 11As shown, the cantilever mechanism 7 further includes: a limiting plate 74, a support frame 75, and a first elastic element 76, wherein the limiting plate 74 is fixed on the structural frame 8, the support frame 75 is connected to the auxiliary wheel unit 72, and the limiting plate 74 and the support frame 75 are connected by the first elastic element 76 (such as a spring) to provide stroke restoring force for the single-acting lifting hydraulic / cylinder.

[0068] On the other hand, in optional examples, such as Figure 12 As shown, if the lifting device 1 adopts a single-acting lifting hydraulic / oil cylinder, the linkage mechanism 3 further includes: a second elastic element 34. The pull rod 33 and the linkage groove 221 of the fork tooth 22 are respectively provided with spring seats 35 for connecting to both ends of the second elastic element 34 (such as a spring). Thus, when the lifting device 1 loses its lifting force and descends freely, the second elastic element 34 can provide elastic thrust to the pull rod 33, preventing the linkage mechanism 3 from becoming rigid and ensuring that the linkage wheel frame 41 is retracted.

[0069] Furthermore, the controller (not shown in the figure) can be installed on the structural frame 8 and is connected to the lifting device 1 and the lifting platform 71 respectively. According to the preset loading / unloading procedure, the roller unit 4 and the auxiliary wheel unit 72 are driven to always keep at least one of the auxiliary wheel unit 72 and the roller unit 4 alternately supporting the ground together with the steering wheel device 9 during the lifting / lowering of the fork unit 2, thereby maintaining the stability of the robot body.

[0070] With this setting, such as Figure 22 As shown, when the fork unit 2 is not raised, the roller unit 4 is in a retracted state, thereby allowing the fork tines 22 to be suspended when entering the grid-shaped pallet 99. Once the fork tines 22 are in position, as... Figure 23 As shown, by lifting and adjusting the fork unit 2, the roller unit 4 can be extended and placed on the ground in one piece, thereby avoiding the impact between the fork teeth 22 and the roller 42 and the grid pallet 99 during loading / unloading operations. Therefore, it is particularly suitable for the grid pallet 99.

[0071] In addition, such as Figures 20 to 21As shown, since the auxiliary wheel unit 72 and the roller unit 4 are located at two intervals in the middle and rear of the structural frame 8, when adapted to the steering wheel device 9, the turning radius of the robot body can be adjusted by alternating the landing support of the auxiliary wheel unit 72 and the roller unit 4. That is, when the landing point T1 of the steering wheel device 9 is matched with the landing point T3 of the roller unit 4, the actual turning point is at T3, so the turning radius is larger. When the landing point T1 of the steering wheel device 9 is matched with the landing point T2 of the auxiliary wheel unit 72, the actual turning point is at T2, so the turning radius is greatly reduced. This makes it easier to turn around in some narrow spaces, thereby improving the robot's obstacle crossing ability and environmental adaptability, and leaving more operating space. For example, while the roller unit is supporting the ground, the auxiliary wheel unit 72 is also controlled to support the ground to improve the load support strength.

[0072] Furthermore, such as Figure 3 As shown, in order to improve the stability of the robot body when turning and carrying cargo, in an optional example, the front of the structural frame 8 is also provided with a wheel seat 81 for mounting casters 82 on both sides of the steering wheel device 9, so as to help the steering wheel device 9 improve the stability of the body when turning.

[0073] On the other hand, such as Figure 24 As shown, corresponding to the above example of a cantilevered fork-tooth handling robot, the present invention also provides a cargo loading method, the steps of which include:

[0074] Cargo loading phase execution:

[0075] Step S100 controls the lifting device 1 to descend, which in turn activates the linkage mechanism 3, causing the roller unit 4 to retract at the fork teeth 22 as the fork unit 2 descends.

[0076] In step S200, the elevator 71 is controlled to lower the auxiliary wheel unit 72, so that it and the steering wheel device 9 are placed on the ground for support.

[0077] In step S300, after the drive wheel device 9 suspends the fork unit 2 and inserts it into the pallet, the lifter 1 is controlled to rise, and the linkage mechanism 3 is activated so that the roller unit 4 is released at the fork tooth 22 as the fork unit 2 rises. After the roller unit 4 passes the bottom of the pallet and lands to support it, the lifter 71 is controlled to raise the auxiliary wheel unit 72 so that the roller unit 4 takes over from the auxiliary wheel unit 72 and lands to support it together with the drive wheel device 9.

[0078] Unloading phase execution:

[0079] Step S110 controls the lifting device 1 to descend, which in turn activates the linkage mechanism 3, causing the roller unit 4 to retract at the fork teeth 22 as the fork unit 2 descends.

[0080] In step S210, the elevator 71 is controlled to lower the auxiliary wheel unit 72, so that it and the steering wheel device 9 are placed on the ground for support.

[0081] Step S310 drives the steering wheel device 9 to pull the fork unit 2 out of the pallet.

[0082] In summary, the cantilevered forklift robot and its cargo loading method provided by this invention cleverly design a linkage structure for the lifting device 1, fork unit 2, linkage mechanism 3, and roller unit 4. This achieves integrated linkage between the roller unit 4 and fork unit 2 within a compact space, ensuring the synergy of each linkage unit and providing higher reliability than control schemes involving multiple independent mechanisms. Furthermore, as... Figures 22 to 23 As shown, with this scheme, when the fork unit 2 is not raised, the roller unit 4 is in a retracted state, thereby allowing the fork teeth to be suspended when entering the grid-shaped pallet 99. When the fork teeth 22 are in place, the roller unit 4 can be extended and landed by raising and adjusting the fork unit 2, thus avoiding impact between the fork teeth 2 and roller 42 and the grid-shaped pallet 99 during loading / unloading operations. Therefore, it is particularly suitable for the grid-shaped pallet 99.

[0083] Meanwhile, through the cooperation of the fork assembly and the cantilever mechanism 7, the auxiliary wheel unit 72 and the roller unit can always be kept on the ground and supported by the steering wheel device 9 during the entire cargo loading process, so as to maintain the balance of the vehicle body during cargo loading and unloading and improve the stability of freight transportation.

[0084] On the other hand, since the auxiliary wheel unit 72 and the roller unit are located at two spacing positions in the middle and rear of the structural frame 8, when adapted to the steering wheel device 9, by alternating the auxiliary wheel unit 72 and the roller unit 4 with its ground support, the turning radius of the robot body can be adjusted to turn around in some narrow spaces, thereby improving the robot's obstacle crossing ability and environmental adaptability.

[0085] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The present invention is limited only by the claims and their full scope and equivalents. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the invention should be included within the protection scope of the invention.

Claims

1. A cantilevered fork-tooth transport robot, comprising: The system comprises a fork assembly, a cantilever mechanism, a steering wheel assembly, a structural frame, and a controller. The steering wheel assembly, cantilever mechanism, and fork assembly are sequentially connected to the front, middle, and rear parts of the structural frame, respectively. The fork assembly includes a lifter, fork units, roller units, and a linkage mechanism. The lifter, fork units, and roller units are respectively connected to the first, second, and third transmission ends of the linkage mechanism. The fulcrum end of the roller unit is connected to the fork teeth of the fork unit, and is linked by the linkage mechanism to move with the fork unit, retracting / releasing at the fork teeth as it rises / falls. The cantilever mechanism includes a lifting platform and an auxiliary wheel unit. The lifting platform is connected to the structural frame, and the auxiliary wheel unit is connected to the lifting end of the lifting platform. The controller is connected to both the lifter and the lifting platform to drive the roller unit and the auxiliary wheel unit. During the lifting / lowering process, at least one of the components remains grounded and supported together with the steering wheel device. The linkage mechanism includes a lifting linkage, a swing arm, and a pull rod. The swing arm has P, N, and B corner ends. The first end of the lifting linkage is connected to the lifting device, and the second end is rotatably connected to the P corner end of the swing arm. The back plate of the fork unit has a connecting arm. The first ends of the connecting arm and the pull rod are rotatably connected to the N and B corner ends of the swing arm, respectively, so that the N corner end serves as a rotatable fulcrum. The fork unit is raised / lowered by the lifting / lowering and swinging traction of the P corner end, and the B corner end is linked to swing with the N corner end as the fulcrum to extend / retract the pull rod. The rotation fulcrum end of the roller unit is rotatably connected to the fork teeth of the fork unit, and the connecting end is rotatably connected to the second end of the pull rod.

2. The cantilevered fork-tooth transport robot according to claim 1, wherein the fork tooth belly is provided with a linkage groove to accommodate a roller unit, the roller unit comprising: The wheel frame and rollers are provided, wherein the wheel frame is provided with M, A and C corner ends extending in different directions, wherein the C corner end of the wheel frame is rotatably connected to the roller, the M corner end is rotatably connected to the support at the fork tooth linkage groove to form a rotation fulcrum, and the A corner end is rotatably connected to the second end of the pull rod to receive the extension / retraction linkage of the pull rod, so that the C corner end swings with the M corner end as the fulcrum, thereby driving the roller to extend / retract from the linkage groove.

3. The cantilever fork-type transport robot according to claim 2, wherein the lifting device and lifting platform are single-acting hydraulic cylinders, and the cantilever mechanism further includes: The linkage mechanism includes a limiting plate, a support frame, and a first elastic element. The limiting plate is fixed on the structural frame, and the support frame is connected to the auxiliary wheel unit. The limiting plate and the support frame are connected by the first elastic element. The linkage mechanism also includes a second elastic element. Spring seats are provided on the pull rod and at the fork tooth linkage groove for connecting to both ends of the second elastic element.

4. The cantilevered fork-tooth transport robot according to claim 1, further comprising: The guide and the guide are provided, wherein the guide is fixed on the structural frame and the back plate of the fork unit is also provided with a bracket. The guide is respectively set on the lifting link and the bracket. The guide and the guide are connected to the guide, so that the guide is constrained by the guide, and the fork unit and the link move together along the guide direction.

5. The cantilever fork-type transport robot according to claim 4, wherein the connecting arm is provided with a support platform, the position of the guide on the structural frame is located on the lifting / lowering path of the support platform, and when the fork unit is raised to its limit, the support platform abuts against the guide.

6. The cantilever fork-tooth transport robot according to claim 2, wherein the center line L1 of the swing arm at corner B and N is equidistant from and parallel to the center line L2 of the wheel frame at corner M and A.

7. The cantilever fork-tooth transport robot according to any one of claims 2 or 6, wherein the pull rod is housed in the linkage groove, and the first and second ends of the pull rod have a height difference relative to the pull rod body, so that the first and second ends of the pull rod are allowed to swing below the N-angle end of the swing arm and the M-angle end of the wheel frame, respectively, during transmission.

8. The cantilevered fork-type transport robot according to any one of claims 2 or 6, wherein the fork is provided with a skylight at the roller unit storage position, and when the roller unit is stored in the linkage groove, at least a portion of the roller extends out of the skylight beyond the fork.

9. A cargo loading method for controlling a cantilever forklift robot as described in any one of claims 1 to 8, comprising the steps of: Step S100 controls the lifting device to descend, which in turn activates the linkage mechanism, causing the roller unit to retract at the fork teeth as the fork unit descends. Step S200 controls the elevator to lower the auxiliary wheel unit, so that it and the steering wheel device are placed on the ground for support; In step S300, after the drive wheel device suspends the fork unit and inserts it into the pallet, the lifter is controlled to rise, and the linkage mechanism is activated so that the roller unit is released at the fork teeth as the fork unit rises. After the roller unit passes the bottom of the pallet and lands on the support, the lifter is controlled to raise the auxiliary wheel unit so that the roller unit replaces the auxiliary wheel unit and lands on the support together with the drive wheel device.

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