AMR-based self-adaptive forking mechanical structure and matts-shaped tray carrying robot

Abstract

The invention discloses a self-adaptive forking mechanical structure based on AMR and a matts-shaped tray carrying robot, and relates to the technical field of carrying robots. The AMR-based self-adaptive forking mechanical structure comprises a plate body, a translation device is installed on the plate body, a pallet fork is installed on the translation device, and a lifting device is installed on the pallet fork; the lifting device comprises a mounting shell mounted on the pallet fork, the mounting shell is rotationally connected with a rotating shaft, the rotating shaft is connected with a rotation driving mechanism and further in transmission connection with a first sliding part and a second sliding part, the first sliding part and the second sliding part are jointly connected with a shear fork mechanism, and the shear fork mechanism is connected with a base used for abutting against the ground. The rotation driving mechanism is used for driving the first sliding piece and the second sliding piece to move in opposite directions through the rotating shaft so as to drive the base to get away from or get close to the pallet fork in the vertical direction through the shear fork mechanism; the bottom end of the base is rotationally connected with rolling pieces. Goods can be stably carried.

Description

Technical Field

[0001] This application relates to the technical field of handling robots, and particularly to an adaptive fork-taking mechanical structure based on AMR and a cross-shaped pallet handling robot. Background Art

[0002] In the field of modern logistics warehousing, with the continuous improvement of automation and intelligence levels, autonomous mobile robots (AMRs) have gradually become key equipment for realizing logistics handling automation due to their high flexibility and convenient deployment. The cross-shaped pallet is a container unit appliance widely used in logistics transportation, warehousing management, etc. Its structural feature lies in the fork openings distributed in a cross shape at the bottom, which can provide stable loading and stacking functions for goods.

[0003] Currently, an autonomous mobile robot generally includes at least a vehicle body, a driving unit, and a fork-taking mechanical structure. The driving unit can move the vehicle body, and the fork-taking mechanical structure can fork up the cross-shaped pallet and place it on the vehicle body. Specifically, the fork-taking mechanical structure includes a fork rod, which can be inserted into the fork opening of the cross-shaped pallet and lift the cross-shaped pallet to drive its movement. The fork rod has two functions: reciprocating translation and lifting.

[0004] Regarding the above related solutions, the inventor believes that there are the following defects: In terms of handling stability, if the goods carried by the cross-shaped pallet are heavy and the center of gravity deviates from the central position of the cross-shaped pallet, the cross-shaped pallet may shake or even the goods may overturn during the process of being forked up and moved by the fork rod, which will lead to the failure of goods handling. Summary of the Invention

[0005] In order to stably handle goods, this application provides an adaptive fork-taking mechanical structure based on AMR and a cross-shaped pallet handling robot.

[0006] The adaptive fork-taking mechanical structure based on AMR provided by this application adopts the following technical solutions: An adaptive fork-taking mechanical structure based on AMR includes a plate body, on which a translation device is installed. The translation device is provided with a fork, and the fork is installed with a lifting device; The translation device includes a slow translation mechanism installed on the plate body. The slow translation mechanism is vertically slidably connected with a frame body. The frame body is connected with a fast translation mechanism, and the fast translation mechanism is connected with an angle adjustment mechanism. The fork is connected to the angle adjustment mechanism; The lifting device includes a mounting shell installed on the forklift forks. The mounting shell is rotatably connected to a rotating shaft, and the rotating shaft is connected to a driving and rotating mechanism. The rotating shaft is also drivingly connected to a first sliding member and a second sliding member. The first sliding member and the second sliding member are commonly connected to a scissor mechanism. The scissor mechanism is connected to a base for abutting against the ground. The driving and rotating mechanism is used to drive the first sliding member and the second sliding member to move in opposite directions through the rotating shaft, so as to drive the base to move vertically away from or close to the forklift forks through the scissor mechanism. A rolling member is rotatably connected to the bottom end of the base.

[0007] By adopting the above technical solution, the operation of handling goods in this application is as follows: After the autonomous mobile robot moves to one side of the goods, the slow translation mechanism is used to drive the forklift forks to insert into the sockets of the cross pallet. Then, the driving and rotating mechanism is driven to drive the rotating shaft to rotate, thereby driving the first sliding member and the second sliding member to move in opposite directions. At this time, under the action of the scissor mechanism, the base will move away from the forklift forks in the vertical direction, and the base will abut against the ground to lift the goods. Then, the slow translation mechanism is driven to drive the forklift forks to move back to drive the goods to move towards the autonomous mobile robot. During the movement of the goods, the rolling member will roll to assist the movement of the goods. The goods will reach above the autonomous mobile robot, and then the driving and rotating mechanism is driven again to drive the base to reset so that the goods are placed on the autonomous mobile robot. In the above solution, since the movement of the goods is supported by the scissor mechanism and the base, the movement of the goods is relatively stable.

[0008] Preferably, the scissor mechanism includes a first linkage arm connected to the first sliding member and a second linkage arm connected to the second sliding member. The first linkage arm and the second linkage arm are cross - arranged and hinged at the cross - position. The lower end of the first linkage arm is also hinged to a third linkage arm, and the lower end of the second linkage arm is also hinged to a fourth linkage arm. The lower ends of the third linkage arm and the fourth linkage arm are hinged to the base.

[0009] By adopting the above technical solution, when the driving and rotating mechanism is driven to drive the first sliding member and the second sliding member to move in opposite directions, under the action of the first linkage arm, the second linkage arm, the third linkage arm and the fourth linkage arm, the base will move away from or close to the forklift forks.

[0010] Preferably, the first sliding member includes a sliding sleeve, and the sliding sleeve is in threaded connection with the rotating shaft. A sliding column is connected to the sliding sleeve, and a sliding groove is formed on the mounting shell. The sliding column is slidably connected to the sliding groove.

[0011] Preferably, the rapid translation mechanism includes a first tube connected to the frame body. A second tube is slidably connected to the inner wall of the first tube, and a third tube is slidably connected to the inner wall of the second tube. A rotating gear is rotatably connected to the second tube. A first rack is fixedly connected to the first tube and meshes with the rotating gear. A second rack is fixedly connected to the third tube and meshes with the rotating gear. The first rack and the second rack are respectively located on both sides of the rotating gear. The rotating gear is connected to a rotating member; the angle adjustment mechanism is connected to the third tube.

[0012] By adopting the above technical solution, driving the rotating member to drive the rotating gear to rotate, so that the rotating gear moves relative to the first rack and the second rack moves relative to the rotating gear, that is, the second tube moves relative to the first tube and the third tube moves relative to the second tube. This multi-stage structure will enable the forklift forks to be quickly moved. In addition, the multi-stage structure enables the forklift forks to extend to a farther position to meet different forklift requirements.

[0013] Preferably, the first tube includes a receiving tube section and an installation tube section, and the installation tube section is connected to one end of the receiving tube section close to the forklift forks; the second tube includes a complete tube section and an incomplete tube section, and the complete tube section is connected to one end of the incomplete tube section close to the forklift forks; the third tube section has a first limit position and a second limit position relative to the first tube section. The second limit position is located on the side of the first limit position away from the plate body. When the third tube section is at the first limit position, both the second rack and the incomplete tube section are located inside the receiving tube section.

[0014] Preferably, the incomplete tube section has a limiting post, a limiting groove is formed on the first tube, and the limiting post is slidably connected to the limiting groove. The limiting groove can limit the movement stroke of the limiting post so as to limit the movement stroke of the second tube.

[0015] By adopting the above technical solution, the sliding fit between the limiting groove and the limiting post enables the movement of the second tube to be guided and the movement stroke to be limited.

[0016] Preferably, the angle adjustment mechanism includes a first installation tube connected to the rapid translation mechanism. A reciprocating driving component is installed on the first installation tube. An arc-shaped plate is slidably connected to the outer wall of the first installation tube. The reciprocating driving component is connected to the arc-shaped plate; a second installation tube is rotatably connected to the first installation tube. A sliding head is arranged on the inner wall of the second installation tube. A spiral groove is formed on the outer wall of the arc-shaped plate. The sliding head is slidably connected to the spiral groove; the forklift forks are connected to the second installation tube.

[0017] By adopting the above technical solution, driving the reciprocating feeding component can drive the arc plate to slide on the outer wall of the first installation pipe. At this time, under the sliding cooperation of the sliding head and the spiral groove, the second installation pipe will rotate relative to the first installation pipe. Based on this, the fork can be rotated.

[0018] Preferably, the rolling member is a roller.

[0019] Preferably, one end of the fork away from the plate body has a conical portion.

[0020] By adopting the above technical solution, the conical portion can facilitate insertion into the fork opening of the cross-shaped pallet.

[0021] This application also discloses a cross-shaped pallet handling robot: including the AMR-based adaptive fork-taking mechanical structure described above.

[0022] In summary, the present invention includes at least one of the following beneficial technical effects: 1. The action of handling goods in this application is as follows: After the autonomous mobile robot moves to one side of the goods, the slow translation mechanism is used to drive the fork to insert into the socket of the cross-shaped pallet, and then the rotation driving mechanism is driven to drive the rotating shaft to rotate, thereby driving the first sliding member and the second sliding member to move in opposite directions. At this time, under the action of the scissor mechanism, the base will move away from the fork in the vertical direction, and the base will abut against the ground to lift the goods. Then, the slow translation mechanism is driven to drive the fork to move back to drive the goods to move towards the autonomous mobile robot. During the movement of the goods, the rolling member will roll to assist the movement of the goods. The goods will reach above the autonomous mobile robot, and then the rotation driving mechanism is driven again to drive the base to reset so that the goods are placed on the autonomous mobile robot. In the above solution, since the movement of the goods is supported by the scissor mechanism and the base, the movement of the goods is relatively stable; 2. This application can drive the fork to translate quickly and can make the fork extend to a relatively far position. This application can also drive the fork to rotate. The action of the quick movement of the fork is: driving the rotating member to drive the rotating gear to rotate, so that the rotating gear moves relative to the first rack and the second rack moves relative to the rotating gear, that is, the second pipe body moves relative to the first pipe body and the third pipe body moves relative to the second pipe body, and the fork will move quickly following the third pipe body; the action of the rotation of the fork is: driving the reciprocating feeding component to drive the arc plate to slide on the outer wall of the first installation pipe. At this time, under the sliding cooperation of the sliding head and the spiral groove, the second installation pipe will rotate relative to the first installation pipe, and the fork will rotate following the second installation pipe. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a schematic structural diagram of a cross-shaped pallet; Figure 2 is a schematic structural diagram of an AMR-based adaptive fork-taking mechanical structure in an embodiment of this application; Figure 3 is a cross-sectional view for showing the translation device; Figure 4 is Figure 2 an enlarged view of part A in Figure 5 is Figure 3 an enlarged view of part B in Figure 6 is an exploded view for showing the first pipe body, the second pipe body and the third pipe body; Figure 7 is a cross-sectional view for showing the angle adjustment mechanism; Figure 8 is a schematic structural view for showing the arc-shaped plate; Figure 9 is a cross-sectional view for showing the second installation pipe; Figure 10 is a schematic structural view for showing the lifting device; Figure 11 is a schematic structural view for showing the scissor mechanism; Figure 12 is a schematic structural view for showing the robot body.

[0024] Markings in the drawings: a, square tray; a1, fork opening; a2, groove body; b, robot body; b1, receiving area; 1, plate body; 2, translation device; 21, slow translation mechanism; 211, synchronous driving transmission mechanism; 2111, block; 2112, column; 22, frame; 221, guiding groove; 23, fast translation mechanism; 231, first pipe body; 2311, accommodating pipe section; 23111, limiting groove; 2312, installation pipe section; 232, second pipe body; 2321, complete pipe section; 2322, incomplete pipe section; 23221, limiting column; 233, third pipe body; 234, rotating gear; 235, first rack; 236, second rack; 24, angle adjustment mechanism; 241, first installation pipe; 2411, guiding groove; 242, reciprocating feeding assembly; 243, arc-shaped plate; 2431, spiral groove; 244, second installation pipe; 245, sliding head; 3, fork; 4, conical part; 5, lifting device; 51, installation shell; 511, sliding groove; 52, rotating shaft; 53, driving rotation mechanism; 54, first sliding part; 541, sliding sleeve; 542, sliding column; 55, second sliding part; 56, scissor mechanism; 561, first linkage arm; 562, second linkage arm; 563, third linkage arm; 564, fourth linkage arm; 57, base; 58, rolling part. Detailed implementation manners

[0025] The present invention will be further described in detail below with reference to the accompanying drawings.

[0026] In the description of the present invention, it should be understood that when it comes to orientation descriptions, such as the orientation or positional relationship indicated by up, down, front, back, left, right, etc., it is based on the orientation or positional relationship shown in the drawings. This is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0027] An embodiment of the present application discloses an adaptive fork-taking mechanical structure based on AMR, which is used to stably carry goods. Refer to Figure 1 , specifically, the present application is based on carrying the cross-shaped pallet a to carry goods. Among them, the cross-shaped pallet a includes two fork openings a1 running through horizontally and a trough a2 at the bottom end, and the trough a2 runs upward and communicates with the fork openings a1.

[0028] Refer to Figure 1 and Figure 2 , an adaptive fork-taking mechanical structure based on AMR and a cross-shaped pallet handling robot include a plate body 1 for mounting on an autonomous mobile robot. A translation device 2 is installed on the plate body 1, a fork 3 is installed on the translation device 2, a conical part 4 is provided at the right end of the fork 3, and a lifting device 5 is installed on the fork 3.

[0029] After installing the adaptive fork-taking mechanical structure based on AMR on the autonomous mobile robot, first drive the autonomous mobile robot to move to the side of the cross-shaped pallet a, that is, the goods side. Then use the translation mechanism to drive the fork 3 to translate and insert into the fork opening a1, use the lifting device 5 to lift the cross-shaped pallet a, and then drive the translation mechanism to drive the fork 3 to reset so that the cross-shaped pallet a, that is, the goods, reaches above the autonomous mobile robot. Finally, drive the lifting device 5 again to lower the cross-shaped pallet a so as to place the cross-shaped pallet a on the autonomous mobile robot.

[0030] Refer to Figure 2 and Figure 3 , the translation device 2 includes a slow translation mechanism 21 installed on the plate body 1. A frame body 22 is vertically slidably connected to the slow translation mechanism 21. The frame body 22 is connected to a fast translation mechanism 23, and the fast translation mechanism 23 is connected to an angle adjustment mechanism 24. The fork 3 is connected to the angle adjustment mechanism 24.

[0031] Refer to Figure 2 and Figure 4, in this embodiment, the slow translation mechanism 21 is preferably a synchronous belt drive mechanism 211. The specific structure of the synchronous belt drive mechanism 211 is prior art and will not be elaborated here. The frame 22 is slidably connected to the synchronous belt drive mechanism 211. Specifically, the synchronous belt drive mechanism includes a block 2111 connected to the synchronous belt, and a cylinder 2112 is connected to the block 2111. A guiding groove 221 is provided on the frame 22 along the vertical direction, and the cylinder 2112 is slidably connected to the guiding groove 2411. Under normal circumstances, that is, when the lifting device 5 is not activated, under the action of gravity, the cylinder 2112 abuts against the upper notch of the guiding groove 2411. When the lifting device 5 is activated to lift the fork 3, the frame 22 moves upward synchronously, Figure 4 is a schematic structural diagram after the fork 3 is lifted.

[0032] Refer to Figure 2 and Figure 5 , the fast translation mechanism 23 includes a first pipe body 231 connected to the frame 22. A second pipe body 232 is slidably connected to the inner wall of the first pipe body 231, and a third pipe body 233 is slidably connected to the inner wall of the second pipe body 232. The first pipe body 231, the second pipe body 232, and the third pipe body 233 are all square pipes; a rotating gear 234 is rotatably connected to the second pipe body 232. A first rack 235 is fixedly connected to the first pipe body 231 and the first rack 235 meshes with the rotating gear 234. The first rack 235 is horizontally arranged. A second rack 236 is fixedly connected to the third pipe body 233 and the second rack 236 meshes with the rotating gear 234. The second rack 236 is also horizontally arranged. The first rack 235 and the second rack 236 are respectively located on the upper and lower sides of the rotating gear 234. The rotating gear 234 is connected to a rotating member, and the rotating member is preferably a motor; the angle adjustment mechanism 24 is connected to the third pipe body 233.

[0033] Refer to Figure 5 and Figure 6 , specifically, the first pipe body 231 includes a receiving pipe section 2311 and an installation pipe section 2312, and the installation pipe section 2312 is connected to the right end of the receiving pipe section 2311; the second pipe body 232 includes a complete pipe section 2321 and an incomplete pipe section 2322, and the complete pipe section 2321 is connected to the right end of the incomplete pipe section 2322; the third pipe body 233 has a first limit position and a second limit position relative to the first pipe body 231. The second limit position is located on the right side of the first limit position. When the third pipe body 233 is in the first limit position, both the second rack 236 and the incomplete pipe section 2322 are located inside the receiving pipe section 2311. At this time, the right end of the third pipe body 233 slightly protrudes from the first pipe body 231. Figure 5 The figure shows a schematic diagram when the third pipe body 233 is in the first limit position.

[0034] Refer to Figure 6, To prevent the second pipe body 232 from moving out of position and to guide the movement of the second pipe body 232, the incomplete pipe section 2322 has a limiting post 23221. A limiting groove 23111 is formed on the first pipe body 231. The limiting groove 23111 is arranged horizontally. The limiting post 23221 is slidably connected to the limiting groove 23111. The limiting groove 23111 can limit the movement stroke of the limiting post 23221, thereby limiting the movement stroke of the second pipe body 232.

[0035] The driving and rotating member drives the rotating gear 234 to rotate, so that the rotating gear 234 moves relative to the first rack 235 and the second rack 236 moves relative to the rotating gear 234. That is, the second pipe body 232 will move relative to the first pipe body 231, and at the same time the third pipe body 233 will move relative to the second pipe body 232. The movement of the third pipe body 233 will drive the angle adjustment mechanism 24 to move, thereby driving the forklift 3 to move.

[0036] With the above multi-stage structure, the forklift 3 can be quickly moved and the forklift 3 can reach a relatively far position. Usually, the fast translation mechanism 23 will not be activated. Only when the autonomous mobile robot cannot move to a position close to the cross-shaped pallet a, will the slow translation mechanism 21 and the fast translation mechanism 23 be controlled and enabled simultaneously to meet the need to carry the cross-shaped pallet a at a relatively far position, that is, the goods.

[0037] Refer to Figure 6 and Figure 7 , The angle adjustment mechanism 24 includes a first mounting pipe 241 connected to the third pipe body 233. A reciprocating feeding component 242 is installed on the first mounting pipe 241. An arc-shaped plate 243 is slidably connected to the outer wall of the first mounting pipe 241. The reciprocating feeding component 242 is connected to the arc-shaped plate 243. Specifically, the reciprocating feeding component 242 is a lead screw transmission mechanism, and the arc-shaped plate 243 is connected to the output end of the lead screw transmission mechanism; the first mounting pipe 241 includes a guiding groove 2411 with a horizontally arranged outer wall. The arc-shaped plate 243 is slidably connected to the guiding groove 2411. Driving the reciprocating feeding component 242 can drive the arc-shaped plate 243 to move left and right along the guiding groove 2411.

[0038] Refer to Figure 7 , Figure 8 and Figure 9 , The first mounting pipe 241 is rotatably connected to a second mounting pipe 244. The second mounting pipe 244 has a square outer and circular inner shape. A sliding head 245 is provided on the inner wall of the second mounting pipe 244. A spiral groove 2431 is formed on the outer wall of the arc-shaped plate 243. The sliding head 245 is slidably connected to the spiral groove 2431; the forklift 3 is fixedly connected to the second mounting pipe 244. With the cooperation of the sliding head 245 and the spiral groove 2431, the left and right movement of the arc-shaped plate 243 will drive the second mounting pipe 244 to rotate relative to the first mounting pipe 241.

[0039] The reciprocating feeding assembly 242 is driven to drive the arc plate 243 to move left and right, thereby driving the second mounting tube 244 to rotate forward and reverse relative to the first mounting tube 241.

[0040] When the zigzag pallet a is not placed properly, its fork a1 may be tilted to the ground. In this regard, the above structure can be used to drive the second mounting tube 244 to rotate so that the fork 3 can be rotated to ensure that the fork 3 can be inserted into the fork a1 later. Of course, when transporting the zigzag pallet a, in order to ensure that the goods will not overturn, after the fork 3 is rotated and inserted into the fork a1, when the fork 3 is raised, it is necessary to drive the fork 3 to rotate and reset at the same time to ensure that the moved zigzag pallet a remains in a horizontal state.

[0041] It should be noted that if the speed of the arc plate 243 moving left and right remains unchanged, the helix angle of the spiral groove 2431 will be related to the rotation speed and rotation accuracy of the fork 3. The smaller the helix angle and the longer the spiral groove 2431, the slower the rotation speed of the fork 3 will be but the higher the accuracy will be.

[0042] Reference Figure 10 The lifting device 5 includes two mounting shells 51, combined with Figure 2 , two mounting shells 51 are arranged horizontally and mounted on the fork 3, the fork 3 is hollow and has a downward opening, the two mounting shells 51 are connected to a rotating shaft 52 for common rotation, the rotating shaft 52 is connected to a driving mechanism 53, the driving mechanism 53 is preferably a reduction motor, the driving mechanism 53 can drive the rotating shaft 52 to rotate; the rotating shaft 52 corresponds to each mounting shell 51, and a first sliding member 54 and a second sliding member 55 are connected to a scissor mechanism 56, the scissor mechanism 56 is connected to a base 57 for contacting the ground, the driving mechanism 53 is used to drive the first sliding member 54 and the second sliding member 55 to move in opposite directions through the rotating shaft 52, thereby driving the base 57 to move away from or close to the fork 3 vertically through the scissor mechanism 56; refer to Figure 11 The bottom end of the base 57 is rotatably connected to a rolling member 58, which is preferably a roller.

[0043] Reference Figure 11 Specifically, the structure of the first sliding member 54 is the same as that of the second sliding member 55. Taking the structure of the first sliding member 54 as an example: the first sliding member 54 includes a sliding sleeve 541, and the sliding sleeve 541 is threadedly connected to the rotating shaft 52; a sliding column 542 is connected to the sliding sleeve 541, and a sliding groove 511 is opened on the mounting shell 51, and the sliding groove 511 is horizontally arranged, and the sliding column 542 is slidably connected to the sliding groove 511.

[0044] Reference Figure 11, the scissor mechanism 56 includes a first linkage arm 561 connected to the first sliding member 54 and a second linkage arm 562 connected to the second sliding member 55. The first linkage arm 561 and the second linkage arm 562 are arranged in a cross shape and are hinged at the cross position. The lower end of the first linkage arm 561 is also hinged with a third linkage arm 563, and the lower end of the second linkage arm 562 is also hinged with a fourth linkage arm 564. The lower ends of the third linkage arm 563 and the fourth linkage arm 564 are hinged and connected to the base 57.

[0045] After the forklift 3 is inserted into the fork opening a1 of the cross-shaped pallet a, the driving and rotating mechanism 53 drives the rotating shaft 52 to rotate, thereby driving the first sliding member 54 and the second sliding member 55 to move in opposite directions. At this time, under the action of the scissor mechanism 56, the base 57 will move downward away from the forklift 3, and the base 57 will abut against the ground to lift the goods. Then, the driving translation device 2 drives the forklift 3 to move back to drive the goods to move towards the autonomous mobile robot. During the movement of the goods, the rolling member 58 will roll to assist the movement of the goods. The goods will reach above the autonomous mobile robot, and then the driving and rotating mechanism 53 is driven again to drive the base 57 to reset so that the goods are placed on the autonomous mobile robot.

[0046] The implementation principle of the AMR-based adaptive fork-taking mechanical structure in the embodiment of the present application is as follows: After the AMR-based adaptive fork-taking mechanical structure is installed on the autonomous mobile robot, first drive the autonomous mobile robot to move to one side of the cross-shaped pallet a, and then drive the synchronous belt transmission mechanism to drive the forklift 3 to translate away from the autonomous mobile robot and insert it into the fork opening a1. Then, drive the driving and rotating mechanism 53 to drive the rotating shaft 52 to rotate, thereby driving the first sliding member 54 and the second sliding member 55 to move in opposite directions. At this time, under the action of the first linkage arm 561, the second linkage arm 562, the third linkage arm 563 and the fourth linkage arm 564, the base 57 will move downward away from the forklift 3. At this time, the base 57 will abut against the ground to cause the forklift 3 to move upward to lift the cross-shaped pallet a, that is, the goods. As the forklift 3 moves upward, the column body 2112 will slide upward in the guiding groove 221. Then, drive the synchronous belt transmission mechanism to drive the forklift 3 to move back to drive the goods to move towards the autonomous mobile robot. During the movement of the goods, the rolling member 58 will roll to assist the movement of the goods. The goods will finally reach above the autonomous mobile robot, and then the driving and rotating mechanism 53 is driven again to drive the base 57 to reset, that is, retract the base 57 so that the goods are placed on the autonomous mobile robot.

[0047] The present application also discloses a cross-shaped pallet handling robot. Refer to Figure 12, which includes a robot body b and an AMR-based adaptive fork-taking mechanical structure installed on the robot body b; wherein, two receiving areas b1 for receiving the AMR-based adaptive fork-taking mechanical structure are formed on the robot body b. In addition, in order to be able to stably carry the square tray a, that is, the goods, two AMR-based adaptive fork-taking mechanical structures are provided.

[0048] The embodiments of the specific implementation manners are all preferred embodiments of the present invention, and do not limit the protection scope of the present invention accordingly. Therefore, all equivalent changes made according to the structure, shape, and principle of the present invention shall be covered within the protection scope of the present invention.

Claims

1. An adaptive forking mechanical structure based on AMR, characterized by: It comprises a plate body (1), the plate body (1) is equipped with a translation device (2), the translation device (2) is equipped with a fork (3), and the fork (3) is equipped with a lifting device (5); The translation device (2) comprises a slow translation mechanism (21) installed on the plate body (1), the slow translation mechanism (21) is vertically slidably connected to a frame body (22), the frame body (22) is connected to a fast translation mechanism (23), the fast translation mechanism (23) is connected to an angle adjustment mechanism (24), and the fork (3) is connected to the angle adjustment mechanism (24); The lifting device (5) comprises a mounting shell (51) mounted on the fork (3); the mounting shell (51) is rotatably connected to a rotating shaft (52); the rotating shaft (52) is connected to a driving mechanism (53); the rotating shaft (52) is also drivingly connected to a first sliding member (54) and a second sliding member (55); the first sliding member (54) and the second sliding member (55) are commonly connected to a scissor mechanism (56); the scissor mechanism (56) is connected to a base (57) for contacting the ground; the driving mechanism (53) is used to drive the first sliding member (54) and the second sliding member (55) to move in opposite directions through the rotating shaft (52), thereby driving the base (57) to move away from or close to the fork (3) in the vertical direction through the scissor mechanism (56); and a rolling member (58) is rotatably connected to the bottom end of the base (57).

2. The AMR-based adaptive forking mechanical structure according to claim 1, characterized in that: The scissor-fork mechanism (56) comprises a first linkage arm (561) connected to a first sliding member (54) and a second linkage arm (562) connected to a second sliding member (55); the first linkage arm (561) and the second linkage arm (562) are cross-arranged and hingedly connected at the cross position; the lower end of the first linkage arm (561) is also hingedly connected to a third linkage arm (563); the lower end of the second linkage arm (562) is also hingedly connected to a fourth linkage arm (564); the lower ends of the third linkage arm (563) and the fourth linkage arm (564) are hingedly connected to a base (57).

3. The AMR-based adaptive forking mechanical structure according to claim 1, characterized in that: The first sliding member (54) comprises a sliding sleeve (541), and the sliding sleeve (541) is threadedly connected to the rotating shaft (52); a sliding column (542) is connected to the sliding sleeve (541), and a sliding groove (511) is formed on the mounting shell (51), and the sliding column (542) is slidably connected to the sliding groove (511).

4. The AMR-based adaptive forking mechanical structure according to claim 1, characterized in that: The rapid translation mechanism (23) comprises a first tube body (231) connected to the frame body (22); the inner wall of the first tube body (231) is slidably connected to the second tube body (232); the inner wall of the second tube body (232) is slidably connected to the third tube body (233); the second tube body (232) is rotatably connected to a rotating gear (234); the first tube body (231) is fixedly connected to a first rack (235) and the first rack (235) is meshed with the rotating gear (234); the third tube body (233) is fixedly connected to a second rack (236) and the second rack (236) is meshed with the rotating gear (234); the first rack (235) and the second rack (236) are respectively located on two sides of the rotating gear (234); the rotating gear (234) is connected to a rotating member; the angle adjustment mechanism (24) is connected to the third tube body (233).

5. The AMR-based adaptive forking mechanical structure according to claim 4, characterized in that: The first tube body (231) comprises a receiving tube section (2311) and a mounting tube section (2312), wherein the mounting tube section (2312) is connected to one end of the receiving tube section (2311) close to the fork (3); the second tube body (232) comprises a complete tube section (2321) and a defective tube section (2322), wherein the complete tube section (2321) is connected to one end of the defective tube section (2322) close to the fork (3); the third tube body (233) has a first extreme position and a second extreme position relative to the first tube body (231), wherein the second extreme position is located on a side of the first extreme position away from the plate body (1), and when the third tube body (233) is located at the first extreme position, the second rack (236) and the defective tube section (2322) are both located in the receiving tube section (2311).

6. The AMR-based adaptive forking mechanical structure according to claim 5, characterized in that: The incomplete pipe section (2322) has a limiting column (23221), and a limiting groove (23111) is opened on the first pipe body (231). The limiting column (23221) is slidably connected to the limiting groove (23111), and the limiting groove (23111) can limit the movement range of the limiting column (23221) and thus limit the movement range of the second pipe body (232).

7. The AMR-based adaptive forking mechanical structure according to claim 1, characterized in that: The angle adjustment mechanism (24) comprises a mounting tube 1 (241) connected to the rapid translation mechanism (23); the mounting tube 1 (241) is provided with a reciprocating feeding assembly (242); the outer wall of the mounting tube 1 (241) is slidably connected with an arc plate (243); the reciprocating feeding assembly (242) is connected to the arc plate (243); the mounting tube 1 (241) is rotatably connected with a mounting tube 2 (244); the inner wall of the mounting tube 2 (244) is provided with a sliding head (245); the outer wall of the arc plate (243) is provided with a spiral groove (2431); the sliding head (245) is slidably connected to the spiral groove (2431); the fork (3) is connected to the mounting tube 2 (244).

8. The AMR-based adaptive forking mechanical structure according to claim 1, characterized in that: The rolling element (58) is a roller.

9. The AMR-based adaptive forking mechanical structure according to claim 1, characterized in that: The end of the fork (3) away from the plate body (1) has a cone (4).

10. A pallet handling robot, characterized in that: It comprises an AMR-based adaptive forking mechanical structure as described in any one of claims 1-9.

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