AMR-based Adaptive Forking Mechanical Structure and Quadrilateral Pallet Handling Robot

Abstract

The present application discloses an adaptive fork-taking mechanical structure based on AMR and a cross-shaped tray handling robot, relating to the technical field of handling robots. An adaptive fork-taking mechanical structure based on AMR includes a plate body, a translation device is installed on the plate body, a fork is installed on the translation device, and a lifting device is installed on the fork; the lifting device includes a mounting shell installed on the fork, a rotating shaft is rotatably connected to the mounting shell, the rotating shaft is connected to a rotation driving 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, and the rotation driving 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 fork through the scissor mechanism; a rolling member is rotatably connected to the bottom end of the base. The present application can stably handle goods.

Description

Technical Field

[0001] The present application relates to the technical field of handling robots, and in particular, 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 of reciprocating translation and lifting.

[0004] Regarding the above related solutions, the inventor believes there are the following defects: In terms of handling stability, when 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 tip over 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, the present 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 the present application adopts the following technical solutions:

[0007] An adaptive fork-taking mechanical structure based on AMR includes a plate body, a translation device is installed on the plate body, a fork is installed on the translation device, and a lifting device is installed on the fork.

[0008] The translation device includes a slow translation mechanism installed on the plate body. The slow translation mechanism is vertically slidably connected to a frame body. The frame body is connected to a fast translation mechanism. The fast translation mechanism is connected to an angle adjustment mechanism. The fork is connected to the angle adjustment mechanism.

[0009] 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 jointly 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.

[0010] 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 insertion openings 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.

[0011] 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.

[0012] 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.

[0013] 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.

[0014] Preferably, the fast 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.

[0015] 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.

[0016] 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 in the first limit position, both the second rack and the incomplete tube section are located in the receiving tube section.

[0017] 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.

[0018] 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.

[0019] Preferably, the angle adjustment mechanism includes a first installation tube connected to the fast 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.

[0020] 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 forklift can be rotated.

[0021] Preferably, the rolling member is a roller.

[0022] Preferably, one end of the forklift away from the plate body has a tapered portion.

[0023] By adopting the above technical solution, the tapered portion can be easily inserted into the fork opening of the cross-shaped pallet.

[0024] This application also discloses a cross-shaped pallet handling robot: including the AMR-based adaptive fork-taking mechanical structure described above.

[0025] In summary, the present invention includes at least one of the following beneficial technical effects:

[0026] 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 forklift 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 forklift in the vertical direction, and the base will contact the ground to lift the goods. Then, the slow translation mechanism is driven to drive the forklift 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, and the goods will reach above the autonomous mobile robot. 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;

[0027] 2. This application can drive the forklift to translate quickly and can make the forklift extend to a relatively far position. This application can also drive the forklift to rotate. The action of the forklift moving quickly 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 forklift will move quickly following the third pipe body; the action of the forklift rotating 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 forklift will rotate following the second installation pipe. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a schematic structural diagram of a cross-shaped pallet;

[0029] Figure 2It is a schematic structural diagram of an adaptive fork-taking mechanical structure based on AMR in an embodiment of the present application;

[0030] Figure 3 It is a cross-sectional view used to show the translation device;

[0031] Figure 4 It is Figure 2 an enlarged view of part A in

[0032] Figure 5 It is Figure 3 an enlarged view of part B in

[0033] Figure 6 It is an exploded view used to show the first pipe body, the second pipe body and the third pipe body;

[0034] Figure 7 It is a cross-sectional view used to show the angle adjustment mechanism;

[0035] Figure 8 It is a schematic structural diagram used to show the arc-shaped plate;

[0036] Figure 9 It is a cross-sectional view used to show the second installation pipe;

[0037] Figure 10 It is a schematic structural diagram used to show the lifting device;

[0038] Figure 11 It is a schematic structural diagram used to show the scissor mechanism;

[0039] Figure 12 It is a schematic structural diagram used to show the robot body.

[0040] Markings in the drawings:

[0041] a, a cross-shaped tray; a1, a fork opening; a2, a groove; b, a robot body; b1, a receiving area;

[0042] 1. Plate body; 2. Translation device; 21. Slow translation mechanism; 211. Synchronous driving transmission mechanism; 2111. Block; 2112. Cylinder; 22. Frame; 221. Guide 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. Guide groove; 242. Reciprocating feeding component; 243. Arc 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 mode

[0043] The present invention will be further described in detail below with reference to the accompanying drawings.

[0044] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by terms such as up, down, front, back, left, right, etc. is based on the orientation or positional relationship shown in the accompanying drawings. It 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, and thus should not be construed as a limitation to the present invention.

[0045] The 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 penetrating horizontally and a groove body a2 at the bottom end, and the groove body a2 penetrates upward to communicate with the fork openings a1.

[0046] 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 installation 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.

[0047] After installing the AMR-based adaptive fork-taking mechanical structure on the autonomous mobile robot, first drive the autonomous mobile robot to move to the cross-shaped tray a, i.e., one side of the goods. Then, use the translation mechanism to drive the forklift 3 to translate and insert it into the fork opening a1. Use the lifting device 5 to lift the cross-shaped tray a. After that, drive the translation mechanism to drive the forklift 3 to reset so that the cross-shaped tray a, i.e., the goods, reaches above the autonomous mobile robot. Finally, drive the lifting device 5 again to lower the cross-shaped tray a so as to place the cross-shaped tray a on the autonomous mobile robot.

[0048] Referring to Figure 2 and Figure 3 , the translation device 2 includes 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. The forklift 3 is connected to the angle adjustment mechanism 24.

[0049] Referring to Figure 2 and Figure 4 , in this embodiment, the slow translation mechanism 21 is preferably a synchronous driving transmission mechanism 211. The specific structure of the synchronous driving transmission mechanism 211 is prior art, so it will not be described in detail here. The frame body 22 is slidably connected to the synchronous driving transmission mechanism 211. Specifically, the synchronous belt transmission mechanism includes a block 2111 connected to the synchronous belt. A cylinder 2112 is connected to the block 2111. A guiding groove 221 is formed on the frame body 22 along the vertical direction. The cylinder 2112 is slidably connected to the guiding groove 2411. In the normal state, that is, when the lifting device 5 is not started, under the action of gravity, the cylinder 2112 abuts against the upper notch of the guiding groove 2411. When the lifting device 5 is started to lift the forklift 3, the frame body 22 moves up synchronously. Figure 4 is a schematic structural diagram after the forklift 3 is lifted.

[0050] Referring to Figure 2 and Figure 5 , the fast translation mechanism 23 includes a first tube body 231 connected to the frame body 22. A second tube body 232 is slidably connected to the inner wall of the first tube body 231. A third tube body 233 is slidably connected to the inner wall of the second tube body 232. The first tube body 231, the second tube body 232, and the third tube body 233 are all square tubes. A rotating gear 234 is rotatably connected to the second tube body 232. A first rack 235 is fixedly connected to the first tube 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 tube 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 tube body 233.

[0051] Referring to Figure 5 and Figure 6 , specifically, the first pipe body 231 includes a receiving pipe section 2311 and a mounting pipe section 2312, and the mounting 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, and the second limit position is located on the right side of the first limit position. When the third pipe body 233 is located at the first limit position, both the second rack 236 and the incomplete pipe section 2322 are located within the receiving pipe section 2311, and at this time, the right end of the third pipe body 233 slightly extends out of the first pipe body 231. Figure 5 The schematic diagram when the third pipe body 233 is located at the first limit position is shown as

[0052] Referring to Figure 6 , in order to prevent the second pipe body 232 from moving over-position and to guide the movement of the second pipe body 232, the incomplete pipe section 2322 has a limiting post 23221, and a limiting groove 23111 is formed on the first pipe body 231. The limiting groove 23111 is arranged horizontally, and 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 so as to limit the movement stroke of the second pipe body 232.

[0053] 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 while 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 adjusting mechanism 24 to move, thereby driving the forklift 3 to move.

[0054] Using the above multi-stage structure can enable the forklift 3 to be quickly moved and enable the forklift 3 to extend to 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 square pallet a, will the slow translation mechanism 21 and the fast translation mechanism 23 be simultaneously enabled through control to meet the need of transporting the square pallet a at a relatively far position, that is, the goods.

[0055] Referring 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 driving 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 driving component 242 is connected to the arc-shaped plate 243. Specifically, the reciprocating driving 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 horizontally arranged on the outer wall, and the arc-shaped plate 243 is slidably connected to the guiding groove 2411. Driving the reciprocating driving component 242 can drive the arc-shaped plate 243 to move left and right along the guiding groove 2411.

[0056] Referring to Figure 7 , Figure 8 and Figure 9 , a second mounting pipe 244 is rotatably connected to the first mounting pipe 241. The second mounting pipe 244 has a square outside and a circular inside. 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, and 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.

[0057] Driving the reciprocating driving component 242 drives the arc-shaped plate 243 to move left and right, thereby driving the second mounting pipe 244 to rotate forward and backward relative to the first mounting pipe 241.

[0058] When the cross-shaped pallet a is not placed properly, its fork opening a1 may be inclined to the ground. In this regard, by using the above structure, the second mounting pipe 244 can be driven to rotate, so that the forklift 3 rotates to ensure that the forklift 3 can be inserted into the fork opening a1 subsequently. Of course, when handling the cross-shaped pallet a, in order to ensure that the goods will not overturn, after the forklift 3 is rotated and inserted into the fork opening a1, when the forklift 3 is lifted, it is necessary to drive the forklift 3 to rotate and reset at the same time to ensure that the moved cross-shaped pallet a remains in a horizontal state.

[0059] It should be noted that: if the speed of the left and right movement of the arc-shaped plate 243 remains unchanged, the size of the spiral angle of the spiral groove 2431 will be related to the rotation speed and rotation accuracy of the forklift 3. The smaller the spiral angle and the longer the spiral groove 2431, the slower the rotation speed of the forklift 3 will be, but the higher the accuracy will be.

[0060] Referring to Figure 10 , the lifting device 5 includes two mounting shells 51, combined with Figure 2, two mounting shells 51 are horizontally arranged and mounted on the forklift forks 3. The forklift forks 3 are hollow and have a downward opening. The two mounting shells 51 are jointly rotatably connected to a rotating shaft 52, and the rotating shaft 52 is connected to a rotation driving mechanism 53. The rotation driving mechanism 53 is preferably a reduction motor, and the rotation driving mechanism 53 can drive the rotating shaft 52 to rotate; corresponding to each mounting shell 51, the rotating shaft 52 is drivingly connected to a first sliding member 54 and a second sliding member 55. A first sliding member 54 and a second sliding member 55 are jointly connected to a scissor mechanism 56, and the scissor mechanism 56 is connected to a base 57 for abutting against the ground. The rotation 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, so as to drive the base 57 to move vertically away from or close to the forklift forks 3 through the scissor mechanism 56; Refer to Figure 11 , the bottom end of the base 57 is rotatably connected with a rolling member 58, and the rolling member 58 is preferably a roller.

[0061] Refer to 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 in threaded connection with 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. The sliding groove 511 is horizontally arranged, and the sliding column 542 is slidably connected to the sliding groove 511.

[0062] Refer to 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 cross - arranged and are hinged at the cross - position; A third linkage arm 563 is also hinged at the lower end of the first linkage arm 561, and a fourth linkage arm 564 is also hinged at the lower end of the second linkage arm 562. The lower ends of the third linkage arm 563 and the fourth linkage arm 564 are hinged to the base 57.

[0063] After the forklift forks 3 are inserted into the fork openings a1 of the cross - shaped pallet a, drive the rotation driving 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 scissor mechanism 56, the base 57 will move downward away from the forklift forks 3, and the base 57 will abut against the ground to lift the goods. Then drive the translation device 2 to drive the forklift forks 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 drive the rotation driving mechanism 53 again to drive the base 57 to reset so that the goods are placed on the autonomous mobile robot.

[0064] The implementation principle of the AMR - based adaptive fork - taking mechanical structure in the embodiment of the present application is:

[0065] After installing the AMR-based adaptive fork-taking mechanical structure on the autonomous mobile robot, first drive the autonomous mobile robot to move to one side of the grid pallet a, 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. After that, drive the rotation mechanism 53 to drive the rotation 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 contact the ground, causing the forklift 3 to move upward and lift the grid 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 its original position, thereby driving 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. Then drive the rotation mechanism 53 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.

[0066] This application also discloses a grid pallet handling robot, referring 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 handle the grid pallet a, that is, the goods, two AMR-based adaptive fork-taking mechanical structures are provided.

[0067] The embodiments of this specific implementation manner 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 should be covered within the protection scope of the present invention.

Claims

1. An adaptive fork-taking mechanical structure based on AMR, characterized in that: It includes a plate body (1), a translation device (2) is installed on the plate body (1), a fork (3) is installed on the translation device (2), and a lifting device (5) is installed on the fork (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). The fast translation mechanism (23) is connected to an angle adjustment mechanism (24). The fork (3) is connected to the angle adjustment mechanism (24); The lifting device (5) includes a mounting shell (51) installed on the fork (3). A rotating shaft (52) is rotatably connected to the mounting shell (51). The rotating shaft (52) is connected to a rotation 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 jointly connected to a scissor mechanism (56). The scissor mechanism (56) is connected to a base (57) for abutting against the ground. The rotation 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), so as to drive the base (57) to move vertically away from or close to the fork (3) through the scissor mechanism (56); A rolling member (58) is rotatably connected to the bottom end of the base (57); The angle adjustment mechanism (24) includes a first mounting pipe (241) connected to the fast translation mechanism (23). 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); A second mounting pipe (244) is rotatably connected to the first mounting pipe (241). 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 fork (3) is connected to the second mounting pipe (244).

2. The adaptive fork-taking mechanical structure based on AMR according to claim 1, wherein: 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 manner and are hinged at the cross position; A third linkage arm (563) is also hinged to the lower end of the first linkage arm (561). A fourth linkage arm (564) is also hinged to the lower end of the second linkage arm (562). The lower ends of the third linkage arm (563) and the fourth linkage arm (564) are hinged to the base (57).

3. The adaptive fork-taking mechanical structure based on AMR according to claim 1, wherein: The first sliding member (54) includes a sliding sleeve (541), and the sliding sleeve (541) is in threaded connection with the rotating shaft (52); a sliding column (542) is connected to the sliding sleeve (541), a sliding groove (511) is formed in the mounting shell (51), and the sliding column (542) is slidably connected to the sliding groove (511).

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

5. The adaptive fork-taking mechanical structure based on AMR according to claim 4, characterized in that: The first pipe body (231) includes a receiving pipe section (2311) and a mounting pipe section (2312), and the mounting pipe section (2312) is connected to one end of the receiving pipe section (2311) close to the forklift fork (3); 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 one end of the incomplete pipe section (2322) close to the forklift fork (3); the third pipe body (233) has a first limit position and a second limit position relative to the first pipe body (231), and the second limit position is located on the side of the first limit position away from the plate body (1). 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 in the receiving pipe section (2311).

6. The adaptive fork-taking mechanical structure based on AMR according to claim 5, characterized in that: The incomplete pipe section (2322) has a limiting column (23221), a limiting groove (23111) is formed in 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 stroke of the limiting column (23221) so as to limit the movement stroke of the second pipe body (232).

7. The adaptive fork-taking mechanical structure based on AMR according to claim 1, characterized in that: The rolling member (58) is a roller wheel.

8. The adaptive fork-taking mechanical structure based on AMR according to claim 1, wherein: One end of the forklift fork (3) away from the plate body (1) has a conical portion (4).

9. A cross-shaped tray handling robot, characterized in that: It includes the AMR-based adaptive fork-taking mechanical structure according to any one of claims 1-8.

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