Double-fork-position fork arm device and working method thereof

Abstract

The invention relates to a double-fork-position fork arm device and a working method thereof, and belongs to the technical field of feeding and discharging carrying, and the working method of the double-fork-position fork arm device comprises the steps that S100, in a first working fork position, one side of a first fork arm assembly and one side of a second fork arm assembly are close to an object, and the first fork arm assembly and the second fork arm assembly jointly fork the carried object; therefore, the article blanking is realized; s200, the rotating unit rotates, so that the other side of the first fork arm assembly and the other side of the second fork arm assembly are close to the object, and the first working fork position is switched to the second working fork position; s300, at the second working fork position, the first fork arm assembly and the second fork arm assembly jointly fork the borne objects, and then object discharging is achieved; or, the first fork arm assembly and the second fork arm assembly jointly bear the to-be-machined object, and then feeding of the to-be-machined object is achieved. According to the double-side feeding and / or discharging device, double-side feeding and / or discharging of objects can be achieved.

Description

Technical Field

[0001] This invention application relates to the technical field of loading and unloading handling, and particularly relates to a double-fork position fork arm device and its working method. Background Art

[0002] With the rapid development of the manufacturing industry and the continuous improvement of the level of industrial automation, machine tool automatic loading and unloading equipment has been widely used in modern production. As a key component in this equipment, the machine tool automatic loading and unloading fork arm is mainly used to grab and transport workpieces, realizing automatic loading and unloading operations during the machining process of the machine tool. Its core function is to transport the workpiece to be processed from the storage position to the machining station in an automated manner, and after the machining is completed, transport the finished workpiece back to the storage position or the next process. This automated operation not only significantly improves production efficiency, reduces the labor intensity and cost of manual operation, but also enhances the stability and consistency of product quality by reducing human intervention, and is widely used in high-precision manufacturing fields such as automobile manufacturing, aerospace, and mold processing.

[0003] Existing machine tool automatic loading and unloading fork arm units usually adopt a single-fork arm design, and the fork arm can lift one product at a time to complete the loading and unloading operation. Specifically, the fork arm first lifts the machined workpiece from the machining station and moves it to the storage position for storage, and then picks up a workpiece to be processed from the storage position and places it on the machining station to complete a complete loading and unloading cycle. However, this design has some technical problems in practical applications, which limit the further improvement of its efficiency and performance.

[0004] (1) The loading and unloading efficiency is relatively low: The existing fork arm unit can only transport one workpiece in each loading and unloading cycle, that is, the fork arm needs to first move the machined workpiece from the machining station to the storage position before it can return to pick up the next workpiece to be processed. This one-way, single-workpiece handling method results in a long time-consuming loading and unloading process. Especially in the scenario of mass production, frequent reciprocating movements significantly reduce the overall production efficiency.

[0005] (2) The empty-load rate of the fork arm is high: During the loading and unloading process, after the fork arm completes unloading (sending the finished workpiece to the storage position), it usually needs to return to the storage position empty to pick up materials. This empty-load operation not only wastes time but also reduces the economy of the automated equipment.

[0006] (3) Insufficient adaptability to complex working conditions: The design of the existing fork arm unit is relatively single and it is difficult to adapt to workpieces of different sizes, shapes or weights. For example, in the production mode of multiple varieties and small batches, the fork arm needs to be frequently replaced to adapt to different workpieces, increasing the operation complexity and adjustment time.

[0007] In view of the above problems, it is urgent to improve the existing automatic loading and unloading fork arm unit of the machine tool, so as to improve the loading and unloading efficiency, reduce the no-load rate of the fork arm, and enhance the adaptability to diverse workpieces while doing so. For this purpose, the present invention proposes a double-fork-position fork arm device and its working method, aiming to solve the technical problems such as low loading and unloading efficiency, high no-load rate, and insufficient adaptability in the prior art, and provide a more efficient, stable and flexible solution for the automatic production of machine tools. Summary of the Invention

[0008] The purpose of this application of the present invention is to overcome the defects existing in the prior art, and provide a double-fork-position fork arm device and its working method to partially or completely solve the technical problems such as the existing fork arm unit can only unload one item, the loading and unloading takes a long time, the loading and unloading efficiency is low, the no-load rate is high, and the adaptability is insufficient. To achieve the above purpose, the present application of the invention provides the following technical solutions:

[0009] In the first aspect, the present application of the invention provides a double-fork-position fork arm device, including: a connecting frame, a rotating unit, a translation unit and a fork arm unit. The connecting frame is connected to the rotating unit, the rotating unit is connected to the translation unit, and the translation unit is connected to the fork arm unit. The rotating unit drives the translation unit and the fork arm unit to rotate. The fork arm unit includes a first fork arm assembly and a second fork arm assembly. The translation unit adjusts the distance between the first fork arm assembly and the second fork arm assembly. The first fork arm assembly and the second fork arm assembly jointly carry an item. The first fork arm assembly and the second fork arm assembly both include: a first fork arm, a second fork arm, a connecting seat and a connecting block. The first fork arm, the second fork arm and the connecting block are all connected to the connecting seat. The connecting seat is provided with spaced first mounting parts and second mounting parts. The first fork arm is provided with a first mounting groove and a first receiving groove. The first fork arm is also provided with a second mounting groove and a second receiving groove. The first fork arm abuts against the connecting seat through the first mounting groove, and the second fork arm abuts against the connecting seat through the second mounting groove. The connecting block is provided with a first protrusion and a second protrusion. At least part of the first protrusion is received in the first receiving groove, and at least part of the second protrusion is received in the second receiving groove.

[0010] Optionally, the double-fork-position fork arm device includes a first working fork position and a second working fork position. When the double-fork-position fork arm device works at the first working fork position, one side of the first fork arm assembly and the second fork arm assembly approaches the item, and one side of the first fork arm assembly and the second fork arm assembly jointly forks and carries the item, thereby realizing the unloading of the item. When the double-fork-position fork arm device works at the second working fork position, the other side of the first fork arm assembly and the second fork arm assembly jointly forks and carries the item, thereby realizing the unloading of the item. Or, the other side of the first fork arm assembly and the second fork arm assembly jointly carries the item to be processed, thereby realizing the loading of the item to be processed.

[0011] Optionally, the rotation unit includes a connecting plate, a motor, a first gear, and a second gear. The connecting plate is connected to the connecting frame. A motor is provided at the bottom of the connecting plate. The output shaft of the motor passes through the connecting plate. A first gear is provided above the connecting plate on the output shaft of the motor. The second gear is rotatably provided above the connecting plate, and the first gear meshes with the second gear.

[0012] Optionally, the translation unit includes a support plate, two slide rails, four sliders, and a driving mechanism. The driving mechanism includes a reduction gearbox, a first screw rod, and a second screw rod. The reduction gearbox drives the first screw rod and the second screw rod to rotate. The first screw rod is rotatably connected to the first fork arm assembly, and the second screw rod is rotatably connected to the second fork arm assembly. The support plate is connected to the second gear. Two slide rails are provided on the top of the support plate. Two sliders are connected to the first fork arm assembly, and the other two sliders are connected to the second fork arm assembly. Each slider is slidably engaged with each slide rail.

[0013] Optionally, the rotation angle range of the rotation unit is: 0 < θ ≤ 360°; or, the rotation angle range of the rotation unit is: 0 < θ ≤ 180°.

[0014] Optionally, the double-fork position fork arm device is installed on the telescopic rotation mechanism, and the telescopic rotation mechanism drives the double-fork position fork arm device to move up and down and / or rotate.

[0015] Optionally, both the first fork arm and the second fork arm include a bearing part. The bearing part is at least partially in contact with the article. The bearing part includes a vertical part, a narrowing part, a supporting part, and a limiting part. The vertical part is connected to the supporting part. An intersection line is formed between the vertical part and the narrowing part. A step surface is formed between the supporting part and the limiting part. The intersection line and the step surface are arranged at intervals.

[0016] In a second aspect, the present invention application provides a working method for a double-fork position fork arm device, which adopts any one of the double-fork position fork arm devices described in the first aspect above, and includes:

[0017] Step S100, when at the first working fork position, one side of the first fork arm assembly and the second fork arm assembly approaches the article, and the first fork arm assembly and the second fork arm assembly jointly fork and carry the article, thereby realizing the discharging of the article.

[0018] Step S200, the rotation unit rotates so that the other side of the first fork arm assembly and the second fork arm assembly approaches the article, so as to realize the switching from the first working fork position to the second working fork position.

[0019] Step S300, when at the second working fork position, the first fork arm assembly and the second fork arm assembly jointly fork and carry the article, thereby realizing the discharging of the article; or, the first fork arm assembly and the second fork arm assembly jointly carry the article to be processed, thereby realizing the loading of the article to be processed.

[0020] Optionally, the rotation angle range of the rotation unit is: 0 < θ ≤ 360°; or, the rotation angle range of the rotation unit is: 0 < θ ≤ 180°.

[0021] Optionally, after step S300, there is also step S400:

[0022] When both one side and the other side of the first fork arm assembly and the second fork arm assembly jointly carry an item, the item is transported to the storage position; or, when one side of the first fork arm assembly and the second fork arm assembly jointly carry an item and the other side of the first fork arm assembly and the second fork arm assembly is empty, the other side of the first fork arm assembly and the second fork arm assembly jointly forks and carries the item, thereby realizing the discharging of the item.

[0023] In summary, the present invention application has the following beneficial technical effects:

[0024] (1) In the present invention application, first, the rotation unit drives the translation unit and the fork arm unit to rotate, enabling the device to adapt to the handling requirements of items in different directions and angles. At the same time, the translation unit can adjust the distance between the first fork arm assembly and the second fork arm assembly, thereby adapting to items of different sizes, improving the versatility of the double-fork position device, and enabling it to handle diverse handling scenarios; in addition, the connecting seat is provided with spaced first mounting portions and second mounting portions, which are respectively in contact with the first fork arm and the second fork arm through the first mounting groove and the second mounting groove. The first protrusion and the second protrusion on the connecting block cooperate with the first receiving groove and the second receiving groove respectively, which can prevent the first fork arm and the second fork arm from shifting or loosening during use, enhancing the structural stability of the fork arm unit. Furthermore, the first fork arm assembly and the second fork arm assembly can form a double-fork working position to jointly carry an item, reducing the risk of the item slipping or being damaged during handling; in addition, the design of the first fork arm assembly and the second fork arm assembly makes the assembly and disassembly process relatively simple. The structures of the connecting seat and the connecting block allow for quick installation or replacement of the fork arms, reducing the time and cost required for maintenance, improving the practicality of the double-fork position fork arm device, and providing an efficient and reliable solution for item handling and operation, suitable for a variety of industrial and logistics scenarios.

[0025] (2) In the application of the present invention, first, step S100 (unloading at the first working fork position) is switched to step S300 (unloading or loading at the second working fork position) through the rotation of the rotating unit (step S200), forming an efficient item loading and unloading cycle process. The conversion from unloading to unloading / loading can be completed without additional equipment or complex adjustments. The rapid switching of the rotating unit (step S200) reduces the adjustment time of the fork arm from one working position to another, optimizes the production or handling rhythm, and significantly improves the work efficiency. Additionally, in step S300, both the first fork arm assembly and the second fork arm assembly can not only unload items but also load the items to be processed. This flexibility enables the device to dynamically adjust its functions according to actual needs, adapt to different production or logistics scenarios. Through the rotation of the rotating unit (step S200), both sides of the fork arm assembly can approach the items and perform tasks, making full use of the structural characteristics of the double-fork-position fork arm device. The design of the rotational switching enables the device to complete multifunctional operations within a limited space, which is particularly suitable for production environments with limited space, enhances the diversity of loading and unloading operations, can achieve bilateral loading and / or unloading of items, avoids the need to use multiple single-function devices, and reduces the equipment procurement and maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a structural schematic diagram of the double-fork-position fork arm device of the application of the present invention Figure 1 ;

[0027] Figure 2 is a structural schematic diagram of the double-fork-position fork arm device of the application of the present invention Figure 2 ;

[0028] Figure 3 is a partial structural schematic diagram of the double-fork-position fork arm device of the application of the present invention;

[0029] Figure 4 is a structural schematic diagram of the second fork arm assembly of the application of the present invention;

[0030] Figure 5 is a structural schematic diagram of the first fork arm and the second fork arm of the application of the present invention;

[0031] Figure 6 is a structural schematic diagram of the connecting seat of the application of the present invention;

[0032] Figure 7 is a structural schematic diagram of the connecting block of the application of the present invention;

[0033] Figure 8 is a partial structural schematic diagram of the first fork arm or the second fork arm of the application of the present invention;

[0034] Figure 9 is a flowchart of the working method of the double-fork-position fork arm device of the application of the present invention;

[0035] Figure 10 It is a schematic diagram of the switching between the first working fork position and the second working fork position of the present invention application;

[0036] Reference numerals:

[0037] 100 - connecting frame; 200 - rotating unit; 201 - connecting plate; 202 - motor; 203 - first gear; 204 - second gear; 300 - translation unit; 301 - support plate; 302 - slide rail; 303 - slider; 304 - driving mechanism; 400 - fork arm unit; 41 - first fork arm assembly; 42 - second fork arm assembly, 401 - first fork arm; 4011 - first installation groove; 4012 - first accommodation groove; 402 - second fork arm; 4021 - second installation groove; 4022 - second accommodation groove; 403 - connecting seat; 4031 - first installation part; 4032 - second installation part; 404 - connecting block; 4041 - first protrusion; 4042 - second protrusion. Detailed implementation manners

[0038] In the following description, a large number of specific details are given to provide a more thorough understanding of the present invention application. However, it is obvious to those skilled in the art that the present invention application can be implemented without one or more of these details. In other examples, some well-known technical features in the art are not described to avoid confusion with the present invention application.

[0039] In a first aspect, a double-fork position fork arm device includes: a connecting frame 100, a rotating unit 200, a translation unit 300, and a fork arm unit 400. The connecting frame 100 is connected to the rotating unit 200, the rotating unit 200 is connected to the translation unit 300, and the translation unit 300 is connected to the fork arm unit 400. The rotating unit 200 drives the translation unit 300 and the fork arm unit 400 to rotate. The fork arm unit 400 includes a first fork arm assembly 41 and a second fork arm assembly 42. The translation unit 300 adjusts the distance between the first fork arm assembly 41 and the second fork arm assembly 42. The first fork arm assembly 41 and the second fork arm assembly 42 jointly carry an object. The first fork arm assembly 41 and the second fork arm assembly 42 each include: a first fork arm 401, a second fork arm 402, a connecting seat 403, and a connecting block 404. The first fork arm 401, the second fork arm 402, and the connecting block 404 are all connected to the connecting seat 403. The connecting seat 403 is provided with spaced-apart first mounting portions 4031 and second mounting portions 4032. The first fork arm 401 is provided with a first mounting groove 4011 and a first receiving groove 4012. The second fork arm 402 is provided with a second mounting groove 4021 and a second receiving groove 4022. The first fork arm 401 abuts against the connecting seat 403 through the first mounting groove 4011. The second fork arm 402 abuts against the connecting seat 403 through the second mounting groove 4021. The connecting block 404 is provided with a first protrusion 4041 and a second protrusion 4042. The first protrusion 4041 is at least partially received in the first receiving groove 4012, and the second protrusion 4042 is at least partially received in the second receiving groove 4042.

[0040] In some embodiments, the connecting frame 100, the rotating unit 200, the translation unit 300, and the fork arm unit 400 are generally distributed along a third direction, which may be the Z direction, and the third direction may be the height direction of the double-fork position fork arm device; the first fork arm assembly 41 and the second fork arm assembly 42 are spaced apart along a second direction, which may be the Y direction, and the first fork arm assembly 41 and the second fork arm assembly 42 extend along a first direction, which may be the X direction. The first direction X, the second direction Y, and the third direction Z intersect pairwise. Preferably, the first direction X, the second direction Y, and the third direction Z are perpendicular to each other pairwise.

[0041] In some embodiments, the connecting frame 100 is connected to the rotating unit 200, the rotating unit 200 is connected to the translation unit 300, the translation unit 300 is connected to the fork arm unit 400. The rotating unit 200 drives the translation unit 300 and the fork arm unit 400 to rotate. The fork arm unit 400 includes a first fork arm assembly 41 and a second fork arm assembly 42. The translation unit 300 adjusts the distance between the first fork arm assembly 41 and the second fork arm assembly 42. The connecting frame 100 is connected to the translation unit 300 through the rotating unit 200, and the translation unit 300 is then connected to the fork arm unit 400, where the fork arm unit 400 includes a first fork arm assembly 41 and a second fork arm assembly 42. Thus, the translation unit 300 can adjust the distance between the first fork arm assembly 41 and the second fork arm assembly 42, and can adapt to objects of different sizes or shapes. For example, in grasping and handling objects, the distance between the first fork arm assembly 41 and the second fork arm assembly 42 can be dynamically adjusted according to the width or spacing requirements of the target object, improving the applicable range of the fork arm unit 400; at the same time, the rotating unit 200 provides a rotating function, which can drive the translation unit 300 and the fork arm unit 400 to rotate, enabling the fork arm unit 400 to not only change the rotation angle direction in space, but also adjust to an appropriate clamping space range according to the size of the object, and can perform operations of rotation and / or clamping.

[0042] In the present invention application, first, the rotating unit 200 drives the translation unit 300 and the fork arm unit 400 to rotate, enabling the device to adapt to the handling requirements of objects in different directions and angles. At the same time, the translation unit 300 can adjust the distance between the first fork arm assembly 41 and the second fork arm assembly 42, thereby adapting to objects of different sizes, improving the versatility of the double-fork position device, and enabling it to handle diverse handling scenarios; in addition, the connecting seat 403 is provided with spaced first mounting portions 4031 and second mounting portions 4032, which are respectively in abutment with the first fork arm 401 and the second fork arm 402 through the first mounting groove 4011 and the second mounting groove 4021. The first protrusion 4041 and the second protrusion 4042 on the connecting block 404 cooperate with the first receiving groove 4012 and the second receiving groove 4022 respectively, which can prevent the first fork arm 401 and the second fork arm 402 from shifting or loosening during use, enhancing the structural stability of the fork arm unit 400. Furthermore, the first fork arm assembly 41 and the second fork arm assembly 42 can form a double-fork working position to jointly carry objects, reducing the risk of the object slipping or being damaged during handling; in addition, the design of the first fork arm assembly 41 and the second fork arm assembly 42 makes the assembly and disassembly process relatively simple. The structures of the connecting seat 403 and the connecting block 404 allow for quick installation or replacement of the fork arms, reducing the time and cost required for maintenance, improving the practicality of the double-fork position fork arm device, and providing an efficient and reliable solution for object handling and operation, which is applicable to a variety of industrial and logistics scenarios.

[0043] Optionally, the double-fork position fork arm device includes a first working fork position P1 and a second working fork position P2. When the double-fork position fork arm device works at the first working fork position P1, one side of the first fork arm assembly 41 and the second fork arm assembly 42 approaches the article, and one side of the first fork arm assembly 41 and the second fork arm assembly 42 jointly forks and carries the article, thereby realizing the discharging of the article. When the double-fork position fork arm device works at the second working fork position P2, the other sides of the first fork arm assembly 41 and the second fork arm assembly 42 jointly fork and carry the article, thereby realizing the discharging of the article. Or, the other sides of the first fork arm assembly 41 and the second fork arm assembly 42 jointly carry the article to be processed, thereby realizing the loading of the article to be processed.

[0044] In some embodiments, the double-fork position fork arm device can realize the switching between the first working fork position P1 and the second working fork position P2. When the double-fork position fork arm device works at the first working fork position P1, one side of the first fork arm assembly 41 and the second fork arm assembly 42 jointly carry the article to realize the discharging of the article to be processed or the processed article. When the double-fork position fork arm device can be switched from the first working fork position P1 to the second working fork position P2, and when the second working fork position P2 is pre-set with the article to be processed, it can be used to realize the loading of the article to be processed. When the second working fork position P2 is empty (i.e., no article is loaded), it can realize the discharging of the article to be processed or the processed article. Thus, the functions of loading, discharging, and double-discharging can be realized. This versatility enables the device to flexibly adapt to different working requirements. For example, on a production line, it can both feed materials into the processing equipment and take out the processed products, and can be applicable to various scenarios such as automated production lines and warehousing logistics.

[0045] In some embodiments, a single double-fork position fork arm device can complete the tasks of discharging one article and loading another article, eliminating the need for additional independent loading and unloading equipment, reducing the equipment switching time and operation complexity, thereby improving the overall work efficiency. The design of the first working fork position and the second working fork position allows the device to quickly switch between different workstations, supports continuous operation, and shortens the production cycle.

[0046] In some embodiments, the functions of the first fork arm assembly 41 and the second fork arm assembly 42 under different working fork positions can be adjusted according to actual needs. For example, at the second working fork position P2, it can be used for both discharging and loading. This flexibility enhances the device's adaptability to complex tasks. Moreover, whether at the first working fork position P1 or the second working fork position P2, the two fork arm assemblies jointly carry the article, ensuring the stability of the article during handling, reducing the risk of dropping or damage, and improving the stability of handling.

[0047] In the application of the present invention, through the double - fork position design, the functions of loading and unloading are integrated into a double - fork position fork arm device, reducing the number of independent mechanical units in the system, simplifying the overall structure and control system. Compared with using two independent loading and unloading devices, the double - fork position design occupies less space, is suitable for production environments with limited space, reduces procurement and maintenance costs, makes full use of the functions of the rotating unit, translation unit and fork arm unit at different workstations, improves the utilization rate of the equipment, and is suitable for automated production and logistics scenarios that require efficient, flexible and compact solutions.

[0048] Optionally, the rotating unit 200 includes a connecting plate 201, a motor 202, a first gear 203 and a second gear 204. The connecting plate 201 is connected to the connecting frame 100. A motor 202 is provided at the bottom of the connecting plate 201. The output shaft of the motor 202 passes through the connecting plate 201. A first gear 203 is provided above the connecting plate 201 on the output shaft of the motor 202. The second gear 204 is rotatably provided above the connecting plate 201, and the first gear 203 meshes with the second gear 204.

[0049] In the application of the present invention, first of all, the connecting plate 201 serves as the basic structure. The motor 202 is installed at its bottom, and the output shaft passes through the connecting plate 201 and a first gear 203 is provided at the top of the connecting plate 201. At the same time, the second gear 204 is also located at the top of the connecting plate 201. This design closely integrates the motor and the gear system on the connecting plate, effectively saving space and making the overall rotating unit 200 more compact, suitable for installation in an environment with limited space. In addition, when the motor 202 works, the output shaft of the motor 202 drives the first gear 203 to rotate, and the first gear 203 drives the second gear 204 to rotate. The motor 202 realizes power transmission through the meshing of the first gear 203 and the second gear 204. Also, through the adjustment of a conventional controller, the rotation speed and direction of the motor 202 can be set, so as to control the rotation angle and speed of the rotating unit 200, which is applicable to application scenarios that require precise positioning. In addition, the gear transmission structure is relatively simple, facilitating maintenance and repair, and improving the interchangeability of the rotating unit 200.

[0050] Optionally, the translation unit 300 includes a support plate 301, two slide rails 302, four sliders 303 and a driving mechanism 304. The driving mechanism includes a reduction gearbox, a first screw rod and a second screw rod. The reduction gearbox drives the first screw rod and the second screw rod to rotate. The first screw rod is connected to the first fork arm assembly, and the second screw rod is rotatably connected to the second fork arm assembly 42. The support plate 301 is connected to the second gear 204. The two slide rails 302 are provided on the top of the support plate 301. Two sliders 303 are connected to the first fork arm assembly 41, and the other two sliders 303 are connected to the second fork arm assembly 42. Each slider 303 is slidably engaged with each slide rail 302.

[0051] In the application of the present invention, first, the support plate 301 is connected to the second gear 204. The spiral directions of the first screw rod and the second screw rod can be opposite. The first screw rod is connected to the first fork arm assembly 41, and the second screw rod is connected to the second fork arm assembly 42. The first screw rod and the second screw rod are driven to rotate by a reduction gearbox. The rotation of the first screw rod and the second screw rod drives the first fork arm assembly 41 and the second fork arm assembly 42 to approach or move away from each other, so that the first fork arm assembly 41 and the second fork arm assembly 42 can adjust their positions respectively, and further the distance between the first fork arm assembly 41 and the second fork arm assembly 42 can be adjusted to adapt to articles of different sizes. In addition, each slider 303 is slidably engaged with the slide rail 302. The four sliders 303 are evenly distributed on the two slide rails 302, providing stable support for the movement of the first fork arm assembly 41 and the second fork arm assembly 42, ensuring smooth movement of the first fork arm assembly and the second fork arm assembly during translation, reducing jitter and deviation. The sliders are usually made of wear-resistant materials, extending the service life and reducing the maintenance requirements.

[0052] Optionally, the rotation angle range of the rotation unit 200 is: 0 < θ ≤ 360°; or, the rotation angle range of the rotation unit 200 is: 0 < θ ≤ 180°.

[0053] In some embodiments, the rotation unit 200 can achieve a maximum rotation of 360 degrees, covering all-round rotation requirements. This design ensures that the device can adapt to complex scenarios that require large-angle adjustments. For example, in multi-directional handling or positioning tasks, the fork arm assembly can be flexibly adjusted to any required position.

[0054] In some embodiments, in practical applications, it is preferred that the 180° range can meet most common tasks (such as the switching from the first working fork position to the second working fork position), providing sufficient flexibility while avoiding unnecessary full-circle rotation. When the rotation angle is limited to 0 < θ ≤ 180°, the rotation unit 200 can complete the station switching within the shortest path (for example, from one side of the fork arm unit 400 to the other side of the fork arm unit 400), reducing the rotation time and improving the operation efficiency. This is particularly important for production lines that require rapid loading and unloading. Compared with a 360° full rotation, the 180° range avoids redundant rotation actions, reduces energy consumption and mechanical wear, and thus extends the service life of mechanical components.

[0055] In some embodiments, a 180-degree range is preferably adopted, which simplifies the control logic of the rotating unit and reduces the need for complex full-angle positioning. The control system only needs to focus on the angle adjustment within a half-turn range, reducing the programming and debugging difficulties. The 180-degree range usually corresponds to the bilateral switching of the fork arm assembly (such as approaching an item from one side to approaching the item from the other side), with clear operation intentions, facilitating the management by operators or automated systems; the rotation within the 180-degree range is easier to monitor and limit, avoiding the risks of accidental collisions or exceeding the working area that may be brought by 360-degree rotation, improving the safety of the device operation; preferably, the 180-degree range usually means that the rotation has clear starting and ending points, facilitating the setting of limit devices and further ensuring operation safety. Therefore, the preferred 180-degree range achieves an optimal balance in terms of efficiency, control, and durability, and is very suitable for the loading and unloading switching tasks of the double-fork position fork arm device.

[0056] Optionally, both the first fork arm 401 and the second fork arm 402 include a bearing part, at least part of the bearing part is in contact with the item, the bearing part includes a vertical part 4051, a narrowing part 4052, a supporting part 4053, and a limiting part 4054. The vertical part 4051 is connected to the supporting part 4053, the vertical part 4051 and the narrowing part 4052 form an intersection line 405, the supporting part 4053 and the limiting part 4054 form a stepped surface 4055, and the intersection line 405 and the stepped surface 4055 are arranged at intervals.

[0057] In some embodiments, the bearing part can be integrally formed. The vertical part 4051 and the narrowing part 4052 are connected, the supporting part 4053 and the limiting part 4054 are connected, the vertical part 4051 and the supporting part 4053 are connected, and the narrowing part 4052 and the limiting part 4054 are connected. The vertical part 4051 and the supporting part 4053 together form the basis of the bearing part. The supporting part 4053 provides initial vertical support, the vertical part 4051 is used for limiting the item, and the supporting part 4053 can evenly distribute the weight of the item on the bearing surface, reducing the risk of item offset or imbalance.

[0058] In some embodiments, the narrowing part 4052 provides a smooth transition area for the bearing part through a gradually narrowing design. This structure can adapt to items of different sizes, ensure that the item fits when moving along the fork arm, and can also be applicable to irregular items. The presence of the narrowing part makes the fork arm more flexible when handling items of various specifications.

[0059] In some embodiments, the supporting part 4053 and the limiting part 4054 work together, and the stepped surface 4055 plays a physical blocking role. The stepped surface 4055 further enhances the fixation of the item through a stepped structure. This limiting mechanism significantly improves the safety during handling or transportation, especially applicable to handling heavy or irregularly shaped items.

[0060] In some embodiments, the spaced arrangement between the intersection line 405 and the step surface 4055 is an innovative design. First, the spacing between the intersection line 405 and the step surface 4055 avoids direct contact or overlap, enabling flexible adaptation to items of various sizes and shapes. The space between the intersection line 405 and the step surface 4055 provides room for adjustment of the item. Even if the bottom of the item is uneven or its size varies slightly, the bearing portion can still effectively support and fix the item. This flexibility greatly enhances the versatility of the bearing portion. Additionally, the spaced arrangement between the intersection line 405 and the step surface 4055 forms a transition area, increasing the effective load-bearing area of the support portion 4053, allowing the item to be placed more stably, reducing the stress concentration on the edge of the second fork arm or the first fork arm. When the bearing portion bears weight or external impact, the stress can be more evenly distributed across the entire structure, avoiding concentration only on the edge of the second fork arm or the first fork arm, thereby enhancing the strength and durability of the bearing portion, effectively preventing local deformation or damage to the edge of the second fork arm or the first fork arm, and ensuring the stability of the bearing portion in heavy-load or high-frequency usage scenarios. Furthermore, as the transition line between the vertical portion and the narrowing portion, the intersection line 405 can guide the item to slide naturally on the support portion 4053, and the step surface 4055 restricts the item from exceeding the support range, ensuring that the item does not slip. The spaced arrangement makes the guiding and limiting process of the item smoother, avoiding jamming or misalignment when placing the item, thereby enhancing the flexibility and stability of the first fork arm assembly 41 and the second fork arm assembly 42 in jointly picking up and bearing the item.

[0061] Optionally, along the first direction, the included angle formed by the vertical portion 4051 and the narrowing portion 4052 is θ, the distance from the intersection line 405 to the step surface 4055 is D, and the length of the support portion is L, satisfying:

[0062] 5° ≤ θ ≤ 20°

[0063]

[0064] where F0 is the design load of the double-fork position fork arm device and M is the weight of the item.

[0065] In the present invention application, the limitation of the included angle θ ensures that the inclination angle of the narrowing portion 4052 relative to the vertical portion 4051 is appropriate. An overly large included angle θ may cause the narrowing portion to be too steep, making it difficult for the item to slide smoothly towards the support portion; an overly small θ may make the narrowing portion too gentle, reducing the guiding effect. The range of 5° to 20° achieves a basic balance between guiding and stability.

[0066] In the application of the present invention, first, when the weight M of the article increases, with g being the acceleration due to gravity, correspondingly, the range of D expands, allowing the bearing part to provide a larger support space. Conversely, when the weight M of the article is small, correspondingly, D can be reduced. The design where the distance from the intersection line 405 to the step surface 4055 is D enables the bearing part to adapt to various load scenarios, enhancing the versatility and practicality of the design. Additionally, the design with the distance D provides clear geometric constraints, facilitating the calculation and optimization of parameters during the design phase, ensuring that the distance between the intersection line 405 and the step surface 4055 is neither too small (to avoid insufficient support) nor too large (to affect the limit), providing a suitable transition space, reducing the risk of the article slipping or the structure failing, and enhancing the operation safety, thereby optimizing the overall stability of the bearing part.

[0067] Optionally, the double-fork position fork arm device is installed on the telescopic rotation mechanism, and the telescopic rotation mechanism drives the double-fork position fork arm device to move up and down and / or rotate.

[0068] In some embodiments, the telescopic rotation mechanism can endow the double-fork position fork arm device with the ability to lift in the vertical direction and rotate around the axis, enabling the double-fork position fork arm device to complete dynamic adjustments of height and angle within a limited space, flexibly adjusting the position and posture of the double-fork position fork arm device, and can be widely applied to various technical fields, such as material handling in industrial automation, dynamic adjustment of vehicle suspension systems, or precise operations of construction machinery.

[0069] In a second aspect, the present invention application provides a working method for a double-fork position fork arm device, which may or may not adopt the double-fork position fork arm device described in any one of the above first aspects, including:

[0070] Step S100, at the first working fork position, one side of the first fork arm assembly 41 and the second fork arm assembly 42 approaches the article, and the first fork arm assembly 41 and the second fork arm assembly 42 jointly fork and carry the article on one side, thereby realizing the discharging of the article.

[0071] Step S200, the rotating unit rotates, causing the other side of the first fork arm assembly 41 and the second fork arm assembly 42 to approach the article, so as to realize the switching from the first working fork position to the second working fork position.

[0072] Step S300, at the second working fork position, the first fork arm assembly 41 and the second fork arm assembly 42 jointly fork and carry the article on the other side, thereby realizing the discharging of the article; or, the first fork arm assembly 41 and the second fork arm assembly 42 jointly carry the article to be processed on the other side, thereby realizing the loading of the article to be processed.

[0073] In some embodiments, in step S200, the switching from the first working fork position to the second working fork position can be achieved only by the rotation of the rotating unit. The operation is simple and efficient. This design reduces the need for complex mechanical adjustments or multi-axis movements, lowers the control difficulty and failure rate. The entire process relies on the bilateral use of the fork arm assembly and the single action of the rotating unit, simplifying the mechanical structure of the double-fork-position fork arm device and facilitating manufacturing and maintenance.

[0074] In some embodiments, step S100 and step S300 respectively achieve unloading and unloading / loading, which are applicable to a variety of application scenarios. For example, in a production line, the processed products are unloaded (unloading) and new materials are fed in (loading), or in a warehouse, continuous handling of items is achieved; the common load-bearing design of the first fork arm assembly 41 and the second fork arm assembly 42 can accommodate items of different sizes and weights, enhancing the versatility of the double-fork-position fork arm device.

[0075] In the present invention application, first, step S100 (unloading at the first working fork position) is switched to step S300 (unloading or loading at the second working fork position) through the rotation of the rotating unit (step S200), forming an efficient item loading and unloading cycle process. The conversion from unloading to unloading / loading can be completed without additional equipment or complex adjustments. The quick switching of the rotating unit (step S200) reduces the adjustment time of the fork arm from one working position to another, optimizes the production or handling rhythm, and significantly improves the working efficiency. Additionally, in step S300, both the first fork arm assembly 41 and the second fork arm assembly 42 can achieve item unloading and also the loading of items to be processed. This flexibility enables the device to dynamically adjust its functions according to actual needs, adapt to different production or logistics scenarios. Through the rotation of the rotating unit (step S200), both sides of the fork arm assembly can approach the item and perform tasks, making full use of the structural characteristics of the double-fork-position fork arm device. The design of rotational switching enables the device to complete multi-functional operations within a limited space, which is particularly suitable for production environments with limited space, enhances the diversity of loading and unloading operations, can achieve bilateral loading and / or unloading of items, avoids the need to use multiple single-function devices, and reduces the equipment procurement and maintenance costs.

[0076] Optionally, the rotation angle range of the rotating unit 200 is: 0 < θ ≤ 360°; or, the rotation angle range of the rotating unit 200 is: 0 < θ ≤ 180°.

[0077] In some embodiments, 0 < θ ≤ 360° or 0 < θ ≤ 180° can refer to the technical content, technical solutions, and technical effects of 0 < θ ≤ 360° or 0 < θ ≤ 180° in the first aspect, which will not be elaborated in the present invention application.

[0078] Optionally, step S300 also includes step S400: when one side and the other side of the first fork arm assembly 41 and the second fork arm assembly 42 both carry items, the items are moved to a storage position; or, when one side of the first fork arm assembly 41 and the second fork arm assembly 42 both carry items and the other side of the first fork arm assembly 41 and the second fork arm assembly 42 is empty, the other side of the first fork arm assembly 41 and the second fork arm assembly 42 jointly fork the carried items, thereby realizing item unloading.

[0079] In some embodiments, when both one side and the other side of the first fork arm assembly 41 and the second fork arm assembly 42 jointly carry the processed items to be unloaded, the processed items are transported to a storage location; or, when both one side of the first fork arm assembly 41 and the second fork arm assembly 42 jointly carry the processed items and the other side of the first fork arm assembly 41 and the second fork arm assembly 42 is empty (i.e., it will be empty after the loading of the processed items is completed in step S300), the other side of the first fork arm assembly 41 and the second fork arm assembly 42 jointly fork the processed items, thereby realizing the unloading of the processed items.

[0080] In some embodiments, when both one side and the other side of the first fork arm assembly 41 and the second fork arm assembly 42 carry the processed items, the processed items are transported to the storage location; or, when one side of the first fork arm assembly 41 and the second fork arm assembly 42 carry the processed items and the other side of the first fork arm assembly 41 and the second fork arm assembly 42 is empty (i.e., it will be empty after the loading of the processed items is completed in step S300), the other side of the first fork arm assembly 41 and the second fork arm assembly 42 jointly fork the processed items, thereby realizing the loading of the processed items on the other side again.

[0081] In some embodiments, when both sides of the fork arm unit are loaded with items, step S400 allows two batches of items to be transported to the storage location at the same time. This capability significantly improves the handling efficiency and is particularly suitable for scenarios where batch processing of items is required, such as material transfer on a warehouse or production line. When one side is loaded with items and the other side is empty, the empty side can continue to fork new items to unload. This design makes full use of the double-sided function of the fork arm assembly, avoids empty waste, and improves the continuity of operation.

[0082] In some embodiments, through step S400, the fork arm unit can perform the handling or unloading task without returning to the initial position after completing S300, thereby reducing unnecessary reciprocating motion and shortening the working cycle. When both sides carry objects, they are transported to the storage position at one time, which greatly increases the handling volume per unit time compared to transporting a single object at a time.

[0083] In some embodiments, step S400 provides two optional operations (carry to the storage position or continue to feed), enabling the device to be flexibly adjusted according to actual requirements. For example, when the storage position is ready, it can be directly carried, and when feeding is still required, the operation can continue, with extremely strong adaptability; the functional independence of one side and the other side of the fork arm unit enables the device to work efficiently in different states, fully utilizing the design advantages of the double-fork position.

[0084] In the present invention application, first of all, carrying items on both sides and transporting them to the storage position reduces the temporary storage requirements in the intermediate links and optimizes the space utilization of the working area. When one side carries the items and the other side is empty, the empty side immediately engages in the feeding task, avoiding device idleness and improving equipment utilization rate; in addition, whether transporting to the storage position on both sides or feeding on one side, the fork arm assembly always works in a manner where the first fork arm assembly and the second fork arm assembly jointly carry the items, ensuring the stability of the item transportation process and reducing the risk of dropping or damage; furthermore, step S400 is naturally connected to step S300, forming a complete process from feeding / loading to transportation or continuous feeding, reducing operation interruptions and enhancing the degree of automation. The two optional operations (transportation or feeding) can be achieved based on a simple judgment of the fork arm unit state, with clear control logic, facilitating implementation, fully utilizing the bilateral functions of the double-fork position fork arm device, supporting batch transportation and continuous feeding, and being particularly suitable for industrial scenarios that require efficient, flexible, and stable operations, such as automated warehousing, production line material management, etc.

[0085] Those skilled in the art of this technology can understand that the various operations, methods, steps, measures, and solutions in the present invention application that have been discussed can be alternated, changed, combined, or deleted; further, other steps, measures, and solutions in the various operations, methods, and processes in the present invention application that have been discussed can also be alternated, changed, rearranged, decomposed, combined, or deleted; further, those in the prior art that have steps, measures, and solutions in the various operations, methods, and processes disclosed in the present invention application can also be alternated, changed, rearranged, decomposed, combined, or deleted. The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as these combinations of technical features do not conflict, they should all be considered as within the scope described in this specification;

[0086] The above-described embodiments merely represent several implementation manners of the embodiments of the present disclosure. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the embodiments of the present disclosure. It should be noted that for those of ordinary skill in the art, without departing from the concept of the embodiments of the present disclosure, several modifications and improvements can still be made, and these all belong to the protection scope of the embodiments of the present disclosure. Therefore, the protection scope of the embodiments of the present disclosure shall be subject to the appended claims. As described above, although the present invention application has been shown and described with reference to specific preferred embodiments, it should not be construed as a limitation on the present invention application itself. Various changes can be made to it in form and detail without departing from the spirit and scope of the present invention application defined by the appended claims.

Claims

1. A double-fork position fork arm device, comprising: A connecting frame, a rotating unit, a translation unit and a fork arm unit. The connecting frame is connected to the rotating unit, the rotating unit is connected to the translation unit, and the translation unit is connected to the fork arm unit. The rotating unit drives the translation unit and the fork arm unit to rotate. The fork arm unit includes a first fork arm assembly and a second fork arm assembly. The translation unit adjusts the distance between the first fork arm assembly and the second fork arm assembly. The first fork arm assembly and the second fork arm assembly jointly carry an item. Both the first fork arm assembly and the second fork arm assembly include: a first fork arm, a second fork arm, a connecting seat and a connecting block. The first fork arm, the second fork arm and the connecting block are all connected to the connecting seat. The connecting seat is provided with spaced first mounting portions and second mounting portions. The first fork arm is provided with a first mounting groove and a first receiving groove, and a second mounting groove and a second receiving groove are also provided on the first fork arm. The first fork arm abuts against the connecting seat through the first mounting groove, and the second fork arm abuts against the connecting seat through the second mounting groove. The connecting block is provided with a first protrusion and a second protrusion. At least a part of the first protrusion is received in the first receiving groove, and at least a part of the second protrusion is received in the second receiving groove.

2. The double-fork position fork arm device according to claim 1, characterized in that The double-fork position fork arm device includes a first working fork position and a second working fork position. When the double-fork position fork arm device works at the first working fork position, one side of the first fork arm assembly and the second fork arm assembly is close to the item, and the first fork arm assembly and the second fork arm assembly jointly fork and carry the item on one side, thereby realizing the blanking of the item. When the double-fork position fork arm device works at the second working fork position, the first fork arm assembly and the second fork arm assembly jointly fork and carry the item on the other side, thereby realizing the blanking of the item. Or, the first fork arm assembly and the second fork arm assembly jointly carry the item to be processed on the other side, thereby realizing the loading of the item to be processed.

3. A double-fork position fork arm device according to claim 2, characterized in that, The rotating unit includes a connecting plate, a motor, a first gear and a second gear. The connecting plate is connected to the connecting frame. A motor is provided at the bottom of the connecting plate. The output shaft of the motor passes through the connecting plate. A first gear is provided above the connecting plate on the output shaft of the motor. The second gear is rotatably provided above the connecting plate, and the first gear meshes with the second gear.

4. The double-fork position fork arm device according to claim 3, characterized in that The translation unit includes a support plate, two slide rails, four sliders and a driving mechanism. The driving mechanism includes a reduction gearbox, a first screw rod and a second screw rod. The reduction gearbox drives the first screw rod and the second screw rod to rotate. The first screw rod is rotatably connected to the first fork arm assembly, and the second screw rod is rotatably connected to the second fork arm assembly. The support plate is connected to the second gear. Two slide rails are provided on the top of the support plate. Two sliders are connected to the first fork arm assembly, and the other two sliders are connected to the second fork arm assembly. Each slider is slidably engaged with each slide rail.

5. A double-fork position fork arm device according to claim 4, characterized in that, The rotation angle range of the rotating unit is: 0 < θ ≤ 360°; or, the rotation angle range of the rotating unit is: 0 < θ ≤ 180°.

6. A double-fork position fork arm device according to claim 5, characterized in that, The double-fork position fork arm device is installed on a telescopic rotating mechanism, and the telescopic rotating mechanism drives the double-fork position fork arm device to move up and down and / or rotate.

7. A double-fork position fork arm device according to claim 6, characterized in that, Both the first fork arm and the second fork arm include a bearing portion. At least a part of the bearing portion is in contact with the item. The bearing portion includes a vertical portion, a narrowing portion, a support portion and a limiting portion. The vertical portion is connected to the support portion. The vertical portion and the narrowing portion form an intersection line. The support portion and the limiting portion form a stepped surface. The intersection line and the stepped surface are spaced apart.

8. A working method of a double-fork position fork arm device, which adopts a double-fork position fork arm device according to any one of claims 2-6 above, characterized in that, Including: Step S100, when at the first working fork position, one side of the first fork arm assembly and the second fork arm assembly approaches the article, and the first fork arm assembly and the second fork arm assembly jointly fork and carry the article, thereby realizing the discharging of the article. Step S200, the rotating unit rotates so that the other side of the first fork arm assembly and the second fork arm assembly approaches the article to realize the switching from the first working fork position to the second working fork position. Step S300, when at the second working fork position, the first fork arm assembly and the second fork arm assembly jointly fork and carry the article, thereby realizing the discharging of the article; or, the first fork arm assembly and the second fork arm assembly jointly carry the article to be processed, thereby realizing the loading of the article to be processed.

9. The working method of a double-fork position fork arm device according to claim 8, characterized in that, The rotation angle range of the rotating unit is: 0 < θ ≤ 360°; or, the rotation angle range of the rotating unit is: 0 < θ ≤ 180°.

10. The working method of a double-fork position fork arm device according to claim 8, characterized in that, After step S300, there is also step S400: When both one side and the other side of the first fork arm assembly and the second fork arm assembly jointly carry the article, the article is transported to the storage position; or, when one side of the first fork arm assembly and the second fork arm assembly jointly carry the article and the other side of the first fork arm assembly and the second fork arm assembly is empty, the other side of the first fork arm assembly and the second fork arm assembly jointly forks and carries the article, thereby realizing the discharging of the article.

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