Submarine forklift robot and deviation correcting method thereof

Abstract

The invention provides a submarine forklift robot and a deviation rectifying method thereof. The submarine forklift robot comprises a vehicle body, a fork leg assembly and a floating guide mechanism. The vehicle body comprises a containing groove with an outlet. The fork leg assembly comprises fork legs. The floating guide mechanisms are arranged on the vehicle body and / or the fork legs, each pair of floating guide mechanisms comprises two guide parts, and the two guide parts are arranged on the two side walls of the containing groove or the two sides of the fork legs in the width direction of the fork legs respectively. When the fork leg moves relative to the vehicle body, the guide part can swing between the first position and the second position so as to change the difference value between the width of the containing groove and the width of the fork leg. When the fork leg leaves the containing groove, the guide part is located at the first position, the difference value between the width of the containing groove and the width of the fork leg is minimum, and the guide part is used for conducting deviation rectifying and guiding on the fork leg. When the fork leg enters the accommodating groove, the guide part can swing from the first position to the second position under the action of external force, and the difference value between the width of the accommodating groove and the width of the fork leg is increased so as to enlarge the fault-tolerant space.

Description

Technical Field

[0001] This application relates to the field of warehousing and logistics technology, and in particular to a stealthy forklift robot and its correction method. Background Technology

[0002] Hidden forklift robots are unmanned material handling devices widely used in industrial production and logistics warehousing. They automatically transport goods along pre-set paths, significantly improving production efficiency and reducing worker workload. However, when using a hidden forklift robot to store, retrieve, and move items, the forks and the robot body frequently need to move relative to each other. If the forks deviate from their designated path when extended or during movement, the forks will fail to move into or out of the receiving compartment. This is especially true in harsh environments, such as when there are foreign objects on the ground or the ground conditions are extremely poor, increasing both the probability and severity of fork deviation and further increasing the likelihood of failure to move into or out of the receiving compartment.

[0003] Currently, to reduce the probability of forklift failure when the fork enters or leaves the receiving slot, stealth forklift robots either use fixed rollers, focusing on correcting deviations when the fork leaves the receiving slot, or use floating rollers, focusing on fault tolerance when the fork enters the receiving slot. However, neither approach can achieve the effect of correcting deviations when the fork leaves the receiving slot and tolerating faults when the fork enters the receiving slot. Summary of the Invention

[0004] The purpose of this application is to provide a stealthy forklift robot and its correction method, so as to reduce the probability of fork failure when the stealthy forklift robot is used in harsh environments. The specific technical solution is as follows:

[0005] This application provides a stealthy forklift robot, comprising: a vehicle body including at least one receiving slot, the receiving slot including an outlet for fork legs to extend or retract; a fork leg assembly including the fork legs, the fork legs being movable relative to the vehicle body; and a floating guide mechanism disposed on the vehicle body and / or the fork legs, and disposed opposite to each other on the side walls of the receiving slot or on both sides of the fork legs along the width direction of the fork legs, the floating guide mechanism including a guide component, wherein when the fork legs move relative to the vehicle body, the guide component is oscillating between a first position and a second position to change the difference between the width of the receiving slot and the width of the fork legs; when the fork legs leave the receiving slot, the guide component is in the first position, the difference between the width of the receiving slot and the width of the fork legs is minimized, for guiding the fork legs to correct deviation; when the fork legs enter the receiving slot, the guide component can be oscillating from the first position to the second position under the action of an external force, the difference between the width of the receiving slot and the width of the fork legs increases, thereby increasing the fault tolerance space.

[0006] In some embodiments, the guide component includes a swing arm and an elastic member. The swing arm is rotatably connected to the vehicle body and / or the fork leg according to the setting position of the floating guide mechanism. One end of the elastic member is connected to the swing arm, and the other end is fixed to the vehicle body and / or the fork leg according to the setting position of the floating guide mechanism. The elastic member is used to reset the swing arm to the first position.

[0007] In some embodiments, the guiding component further includes a guide wheel, which is disposed at the end of the swing arm and rotatably connected to the swing arm, and the swing arm can drive the guide wheel to swing between the first position and the second position.

[0008] In some embodiments, the floating guide mechanism further includes a first stop portion for limiting the guide member at the first position; or, the floating guide mechanism further includes a first stop portion and a second stop portion, the first stop portion for limiting the guide member at the first position and the second stop portion for limiting the guide member at the second position.

[0009] In some embodiments, the floating guide mechanism further includes a base. Depending on the location of the floating guide mechanism, a mounting groove is provided at the corresponding position of the vehicle body and / or the fork leg. The base is installed in the mounting groove. The swing arm is rotatably connected to the base via a pivot. One end of the elastic element is connected to the swing arm, and the other end is connected to the base. When the floating guide mechanism includes a first stop, the first stop is located on the base. When the floating guide mechanism includes a first stop and a second stop, the first stop and the second stop are located on the base.

[0010] In some embodiments, the elastic element is a tension spring, a compression spring, or a torsion spring.

[0011] In some embodiments, each of the receiving slots of the vehicle body is provided with at least one pair of floating guide mechanisms, wherein the pair of floating guide mechanisms are located in the receiving slot near the outlet; the first position is located closer to the outlet than the second position, and as the guide member swings from the first position to the second position, the distance between the ends of the guide members disposed opposite each other on the two side walls of the receiving slot gradually increases.

[0012] In some embodiments, the receiving groove includes a first groove segment and a second groove segment connected to each other, the first groove segment being disposed away from the outlet of the receiving groove, the width of the first groove segment remaining constant along the extension direction of the receiving groove, and the width of the second groove segment gradually increasing along the direction closer to the outlet; wherein one of the pairs of floating guide mechanisms is disposed at the connection between the second groove segment and the first groove segment.

[0013] In some embodiments, the fork leg is provided with at least one pair of roller sets, each pair of roller sets including two rollers, the two rollers being arranged opposite each other along the width direction of the fork leg, and the wheel surfaces of the rollers being able to abut against the sidewalls of the receiving groove respectively.

[0014] In some embodiments, the fork leg is provided with a pair of rollers and is located near the end of the fork leg that is connected to the vehicle body.

[0015] In some embodiments, when the guide component includes a swing arm and a guide wheel rotatably connected to the swing arm, the minimum distance between the two side walls of the receiving groove is L1, the minimum distance between the wheel surfaces of the guide wheels of the two guide components located in the same receiving groove is L2, the maximum distance between the wheel surfaces of the two rollers of the same fork leg is L3, and the width of the fork leg is L4, where L1 > L2 > L3 > L4.

[0016] In some embodiments, each fork leg is provided with at least one pair of floating guide mechanisms, wherein one pair of floating guide mechanisms is located at the end of the fork leg near the end connected to the vehicle body; relative to the second position, the first position is further away from the outlet, and as the guide member swings from the first position to the second position, the distance between the ends of the guide members disposed opposite each other on the two side walls of the fork leg gradually decreases.

[0017] In some embodiments, at least one pair of roller sets are provided on the two side walls of each of the receiving slots, each pair of roller sets including two rollers, the two rollers being arranged opposite each other along the width direction of the fork leg, and the wheel surfaces of the rollers being able to abut against the side walls of the fork leg respectively.

[0018] In some embodiments, when the guide component includes a swing arm and a guide wheel rotatably connected to the swing arm, the minimum distance between the two side walls of the receiving groove is D1, the minimum distance between the wheel surfaces of the two rollers located in the same receiving groove is D2, the minimum distance between the wheel surfaces of the guide wheels of the two guide components located in the same fork leg is D3, and the width of the fork leg is D4, where D1 > D2 > D3 > D4.

[0019] A second aspect of this application provides a correction method for a stealthy forklift robot, applied to the aforementioned stealthy forklift robot, comprising the following steps: the guide component is in a first position; when the fork leaves the receiving slot, the guide component guides the fork; when the fork enters the receiving slot, if the fork is in a deflected state, the guide component will be subjected to pressure, under which the guide component swings to a second position, increasing the difference between the width of the receiving slot and the width of the fork, thereby increasing the tolerance space and enabling the deflected fork to enter the receiving slot; until the guide component is in the second position, the difference between the width of the receiving slot and the width of the fork reaches its maximum, and the deflection state of the fork is further corrected.

[0020] Beneficial effects of the embodiments in this application:

[0021] The lurking forklift robot and its correction method provided in this application embodiment have one or more floating guide mechanisms on the side walls of the receiving slot. Each pair of floating guide mechanisms is arranged opposite to each other along the width direction of the fork and in a mirror relationship. The guide components can swing between a first position and a second position. When the fork leaves the receiving slot, the guide component is in the first position, and the end of the guide component abuts against the side wall of the receiving slot or the side wall of the fork, preventing the fork from deviating during the extension process. At this time, the guide component cannot swing to the second position, so that the distance between the ends of the two oppositely arranged guide components remains unchanged. At this time, the guide component is used as a rigid arm to play a correction role. When the fork enters the receiving slot, the guide component can swing from the first position to the second position when it is pressured by the fork or the side wall of the receiving slot. During the swing, the distance between the ends of the two oppositely arranged guide components increases accordingly, making the guide component have the characteristics of a flexible wheel and playing a fault-tolerant role. In this way, even if the fork deviates to a certain extent, it can smoothly enter the receiving slot. By setting up a floating guide mechanism, which corrects deviation when the fork legs exit the slot and adds fault tolerance when the fork legs enter the slot, the probability of the lurking forklift robot failing to enter or exit the slot when used in harsh environments can be significantly reduced.

[0022] Of course, implementing any product or method of this application does not necessarily require achieving all of the advantages described above at the same time. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0024] Figure 1 A schematic diagram of the structure of a stealthy forklift robot provided in one embodiment of this application;

[0025] Figure 2 for Figure 1 Exploded view of a stealthy forklift robot;

[0026] Figure 3 for Figure 2 A top view of a stealthy forklift robot;

[0027] Figure 4 This is a partial structural diagram of the fork entering the receiving groove when the fork is deviated.

[0028] Figure 5 A schematic diagram of the structure of the floating guide mechanism provided in one embodiment of this application;

[0029] Figure 6 for Figure 5 Cross-sectional view of the floating guide mechanism;

[0030] Figure 7 This is a partial structural diagram showing the fork leg located within the receiving groove.

[0031] Figure 8 for Figure 7 An enlarged schematic diagram of part A in the middle;

[0032] Figure 9 This is a schematic diagram of the roller assembly provided in an embodiment of this application;

[0033] Figure 10 A partial structural diagram of a forklift with forks not equipped with roller assemblies provided in an embodiment of this application;

[0034] Figure 11 A schematic diagram showing the dimensional relationship between the receiving slot, floating guide mechanism (located in the vehicle body), roller assembly and fork legs of the submersible forklift provided in the embodiments of this application;

[0035] Figure 12 This is a partial structural diagram showing the forked legs extending out of the receiving groove and not deviating from their original position.

[0036] Figure 13 for Figure 12 Enlarged schematic diagram of part B in the middle;

[0037] Figure 14 A partial structural diagram showing the fork leg deviating from the receiving groove;

[0038] Figure 15 A partial structural diagram showing the fork legs completely separated from the receiving groove;

[0039] Figure 16 for Figure 15 An enlarged schematic diagram of section C;

[0040] Figure 17 This is a schematic diagram of a partial structure where the fork enters from the exit.

[0041] Figure 18 for Figure 17 An enlarged schematic diagram of section D in the middle;

[0042] Figure 19 A partial structural diagram showing the guide component retracting into the fork leg as it enters the receiving groove;

[0043] Figure 20 for Figure 19 An enlarged schematic diagram of section E in the middle;

[0044] Figure 21 A partial structural diagram showing the guide component for the fork entering the receiving groove fully retracting into the fork.

[0045] Figure 22 A schematic diagram of the structure of the stealthy forklift robot provided in another embodiment of this application;

[0046] Figure 23 for Figure 22 An exploded view of a stealthy forklift robot in the image;

[0047] Figure 24 for Figure 23 Top view;

[0048] Figure 25 A schematic diagram of the structure of the floating guide mechanism provided in one embodiment of this application in another embodiment;

[0049] Figure 26 for Figure 25 Cross-sectional view of the floating guide mechanism;

[0050] Figure 27 A schematic diagram of a pair of floating guide mechanisms provided for the forks of a stealthy forklift robot according to an embodiment of this application;

[0051] Figure 28 A schematic diagram of the structure of the forklift robot with two pairs of floating guide mechanisms on its fork legs provided in the embodiments of this application;

[0052] Figure 29 A schematic diagram of the structure of the forklift robot provided in the embodiment of this application, which has multiple pairs of first floating mechanism groups on its fork legs;

[0053] Figure 30 A schematic diagram showing the dimensional relationship between the receiving slot, floating guide mechanism (located on the fork legs), roller assembly, and fork legs of a forklift provided in an embodiment of this application;

[0054] Figure 31 A partial structural diagram showing the fork legs located inside the receiving groove when a floating guide mechanism is installed for the fork legs;

[0055] Figure 32 for Figure 31 Enlarged schematic diagram of section F in the middle;

[0056] Figure 33 A partial structural diagram showing the fork leg leaving the receiving groove without deviating when a floating guide mechanism is set for the fork leg;

[0057] Figure 34 for Figure 33 Enlarged schematic diagram of section G in the middle;

[0058] Figure 35 A partial structural diagram showing the fork leg leaving the receiving groove and deviating when a floating guide mechanism is set for the fork leg;

[0059] Figure 36 A schematic diagram showing the fork legs completely leaving the receiving groove when a floating guide mechanism is installed for the fork legs;

[0060] Figure 37 for Figure 36 Enlarged schematic diagram of section H in the middle;

[0061] Figure 38 A schematic diagram of the structure near the outlet of the receiving groove when a floating guide mechanism is installed for the fork legs;

[0062] Figure 39 for Figure 38 Enlarged schematic diagram of section I;

[0063] Figure 40 A schematic diagram showing the structure of the fork entering the receiving groove and deviating when a floating guide mechanism is set for the fork;

[0064] Figure 41 A schematic diagram showing the structure in which the fork enters the receiving groove and the guide component is completely retracted into the fork when a floating guide mechanism is set for the fork.

[0065] The attached figures are labeled as follows:

[0066] Vehicle body 100; receiving slot 110; outlet 111; first slot section 112; second slot section 113; first traveling wheel 120; fork leg assembly 200; fork leg 210; second traveling wheel 211; fork leg drive mechanism 220; floating guide mechanism 300; guide component 310; swing arm 311; first hook post 3111; hanging hole 3112; guide wheel 312; base 313; second hook post 3131; rotating shaft 314; elastic element 315; first stop part 316; second stop part 317; guide wheel rotating shaft 318; roller assembly 400; roller 410; bracket 420; width direction W of fork leg; height direction H. Detailed Implementation

[0067] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0068] When a stealth forklift robot is used in harsh environments, such as when there are foreign objects on the ground or the ground conditions are extremely poor, the probability and extent of fork leg 210 deviation increase, which will increase the probability of fork leg 210 failing to enter or exit the receiving slot 110. To solve this problem, this application provides a stealth forklift robot, such as... Figure 1 , Figure 2 , Figure 3 As shown, the stealthy forklift robot includes: a vehicle body 100, the vehicle body 100 including a receiving groove 110, the receiving groove 110 including an outlet 111 for the fork legs 210 to extend or retract; a fork leg assembly 200, including fork legs 210, the fork legs 210 being movable relative to the vehicle body 100; and a floating guide mechanism 300, disposed on the vehicle body 100 and / or the fork legs 210, and disposed opposite to each other on the two side walls of the receiving groove 110 or on both sides of the fork legs 210 along the width direction of the fork legs 210, for reference. Figure 5 The floating guide mechanism 300 includes a guide component 310. When the fork 210 moves relative to the vehicle body 100, the guide component 310 can swing between a first position and a second position to change the difference between the width of the receiving groove 110 and the width of the fork 210. When the fork 210 leaves the receiving groove 110, the guide component 310 is in the first position, and the difference between the width of the receiving groove 110 and the width of the fork 210 is minimal, which is used to guide the fork 210 to correct its deviation. When the fork 210 enters the receiving groove 110, the guide component 310 can be swung from the first position to the second position by external force, and the difference between the width of the receiving groove 110 and the width of the fork 210 becomes larger, thereby increasing the fault tolerance space.

[0069] When the floating guide mechanism 300 is installed on the vehicle body 100, the width of the receiving groove 110 depends on the specific position of the guide component 310. When the guide component 310 is in the first position, the width of the receiving groove 110 is the smallest, so the difference between the width of the receiving groove 110 and the width of the fork 210 is also the smallest. It mainly plays a corrective guiding role when the fork 210 leaves the receiving groove 110. When the guide component 310 swings to the second position, the width of the receiving groove 110 gradually increases, so the difference between the width of the receiving groove 110 and the width of the fork 210 also gradually increases, so as to increase the fault tolerance space and allow the fork 210 that has deviated to return smoothly into the receiving groove.

[0070] refer to Figure 3 , Figure 4 When the floating guide mechanism 300 is set on the fork 210, the width of the fork 210 depends on the specific position of the guide component 310. When the guide component 310 is in the first position, the width of the fork 210 is the largest, so the difference between the width of the receiving groove 110 and the width of the fork 210 is the smallest. It mainly plays a corrective guiding role when the fork 210 leaves the receiving groove 110. When the guide component 310 swings to the second position, the width of the fork 210 gradually decreases, so the difference between the width of the receiving groove 110 and the width of the fork 210 gradually increases, so as to increase the fault tolerance space and allow the fork 210 that has deviated to return smoothly into the receiving groove.

[0071] Understandably, the floating guide mechanism 300 can be installed on both the vehicle body 100 and the fork leg 210.

[0072] By setting a floating guide mechanism 300, correction can be performed when the fork 210 leaves the receiving groove 110, and fault tolerance can be provided when the fork 210 enters the receiving groove 110, reducing the probability of failure when the fork 210 enters or leaves the receiving groove 110.

[0073] In some embodiments of this application, the guide component 310 includes a swing arm 311 and an elastic member 315. The swing arm 311 is rotatably connected to the vehicle body 100 and / or the fork leg 210 according to the setting position of the floating guide mechanism 300. One end of the elastic member 315 is connected to the swing arm 311, and the other end is fixed to the vehicle body 100 and / or the fork leg 210 according to the setting position of the floating guide mechanism 300. The elastic member 315 is used to reset the swing arm 311 to the first position.

[0074] In this embodiment, when the floating guide mechanism 300 is mounted on the vehicle body 100, the swing arm 311 is rotatably connected to the side wall of the receiving groove 110 of the vehicle body 100, and the other end of the elastic member 315 is fixedly connected to the side wall of the receiving groove 110 of the vehicle body 100. When the floating guide mechanism 300 is mounted on the fork leg 210, the swing arm 311 is rotatably connected to the side wall of the fork leg 210, and the other end of the elastic member 315 is fixedly connected to the side wall of the fork leg 210. The elastic member 315 is used to reset the swing arm 311. Specifically, when the fork leg 210 in a deflected state enters the receiving groove 110, the swing arm 311 is subjected to pressure and gradually swings from the first position to the second position, increasing the fault tolerance function of the fork leg 210, and correcting the deflection state of the fork leg 210 as the fork leg 210 continues to enter. After the fork leg 210 returns to its normal position, the swing arm 311 is no longer subjected to pressure, and at this time, it can be reset to the first position under the action of the elastic member 315. The pressure may come from the fork 210 or the side wall of the receiving groove 110, depending on whether the floating guide mechanism 300 is located on the vehicle body 100 or on the fork 210.

[0075] For example, the elastic element 315 can be a tension spring, a compression spring, or a torsion spring. Taking the elastic element 315 as a tension spring as an example, one end of the tension spring is fixed to the rocker arm 311, and the other end is fixed to the bottom wall or side wall of the mounting groove.

[0076] In some embodiments of this application, the guide component 310 further includes a guide wheel 312, which is located at the end of the swing arm 311 and is rotatably connected to the swing arm 311. The swing arm 311 can drive the guide wheel 312 to swing between a first position and a second position.

[0077] In this embodiment, a guide wheel 312 is rotatably connected to the swing arm 311. The guide wheel 312 provides correction and guidance, converting sliding friction into rolling friction, which helps reduce friction. For example, the floating guide mechanism 300 is mounted on the vehicle body 100, meaning the guide component 310 is mounted on both side walls of the receiving groove 110. The guide wheel 312 can abut against the side wall of the fork leg 210, and the friction between them is rolling, which helps reduce the friction between the guide wheel 312 and the side wall of the fork leg 210.

[0078] Furthermore, when the guide component 310 is disposed on the side wall of the receiving groove 110 of the vehicle body 100, the side wall of the receiving groove 110 is provided with a mounting groove, which can reduce the space occupied by the guide component 310 outside the receiving groove 110. When the guide component 310 is disposed on the side wall of the fork leg 210, the side wall of the fork leg 210 is provided with a mounting groove, which can reduce the space occupied by the guide component 310 outside the fork leg 210. The guide component 310 is installed in the mounting groove. The first stop 316 can be a protrusion provided on the bottom wall of the mounting groove, or the bottom wall of the mounting groove is provided with a mounting hole. The first stop 316 is a structure such as a bolt or screw that protrudes from the bottom wall and is connected to the mounting hole. Alternatively, the first stop 316 can also be directly served by the groove wall of the mounting groove. The second position can be a certain area within the mounting groove, and it can be constrained by the elastic force of the elastic member 315 without being limited by the stop.

[0079] Of course, a second stop 317 can also be provided at the second position. The second stop 317 can be a protrusion provided on the bottom wall of the mounting groove, or the bottom wall of the mounting groove can be provided with a mounting hole. The second stop 317 can be a structure such as a bolt or screw that protrudes from the bottom wall and is connected to the mounting hole.

[0080] Further, refer to Figure 5 , Figure 6 The floating guide mechanism 300 also includes a base 313. Depending on the location of the floating guide mechanism 300, the vehicle body 100 and / or the fork leg 210 are provided with mounting grooves at corresponding positions. The base 313 is installed in the mounting grooves. The swing arm 311 is rotatably connected to the base 313 via a rotating shaft 314. One end of the elastic member 315 is connected to the swing arm 311, and the other end is connected to the base 313. When the floating guide mechanism 300 includes a first stop 316, the first stop 316 is located on the base 313. When the floating guide mechanism 300 includes a first stop 316 and a second stop 317, the first stop 316 and the second stop 317 are located on the base 313.

[0081] By setting the base 313, the swing arm 311, the elastic element 315, and the first stop 316 and second stop 317 (if any) can all be set on the base 313. This allows the floating guide mechanism 300 to be made into an independent module, which simplifies the installation structure of the floating guide mechanism 300 and improves assembly efficiency. Furthermore, when the floating guide mechanism 300 is damaged, it can be replaced separately, reducing maintenance costs. By setting the mounting slot, the floating guide mechanism 300 can be installed in the mounting slot, thus reducing the space occupied by the guide component 310.

[0082] The first stop 316 can be a protrusion on the base 313, or the base 313 can have a mounting hole, and the first stop 316 can be a structure protruding from the bottom wall, such as a bolt or screw, connected to the mounting hole. The second position can be a certain area within the mounting groove, and can be constrained by the elastic force of the elastic member 315 without being limited by the stop. Of course, the second position can also be provided with a second stop 317, which can be a protrusion on the base 313, or the base 313 can have a mounting hole, and the second stop 317 can be a structure protruding from the bottom wall, such as a bolt or screw, connected to the mounting hole. The base 313 can be U-shaped, square, plate-shaped, strip-shaped, etc., and this application does not limit this. The swing arm 311 can be U-shaped, plate-shaped, strip-shaped, etc., and this application does not limit this.

[0083] like Figure 5 As shown, in this embodiment, the elastic element 315 is a tension spring, the swing arm 311 is provided with a first hook post 3111, and the base 313 is provided with a second hook post 3131. One end of the elastic element 315 is fixed on the first hook post 3111, and the other end is fixed on the second hook post 3131, thereby applying a pulling force to the swing arm 311, so that the swing arm 311 is in the first position in the initial position.

[0084] The following is a detailed description of the floating guide mechanism 300 being installed on the vehicle body 100.

[0085] refer to Figure 2 , Figure 3 Each receiving slot 110 of the vehicle body 100 is provided with at least one pair of floating guide mechanisms 300, wherein one pair of floating guide mechanisms 300 is located in the receiving slot 110 near the outlet 111; Reference Figure 5 , Figure 6 Compared to the second position, the first position is located closer to the outlet 111. As the guide component 310 swings from the first position to the second position, the distance between the ends of the guide components 310 that are arranged opposite to each other on the two side walls of the receiving groove 110 gradually increases.

[0086] In this embodiment, each receiving groove 110 has one or more floating guide mechanisms 300 on its two side walls. Each pair of floating guide mechanisms 300 is arranged opposite to each other along the width direction W of the fork leg and is in a mirror relationship. Two floating guide mechanisms 300 arranged opposite to each other on the two side walls of the receiving groove 110 are called a pair. The guide component 310 can swing between a first position and a second position. When the fork leg 210 leaves the receiving groove 110, the guide component 310 is in the first position, with its end abutting against the side wall of the fork leg 210. When the guide component 310 includes a swing arm 311, that is, the end of the swing arm 311 abuts against the side wall of the fork leg 210, preventing the fork leg 210 from deviating during its extension. At this time, the guide component 310 cannot continue to swing along the direction of the fork leg 210's extension, so that the distance between the ends of the two oppositely arranged guide components 310 remains unchanged. At this time, the swing arm 311 is used as a rigid arm to play a role in correction. When the fork 210 enters the receiving slot 110, the guide component 310, under the pressure of the fork 210, can swing from the first position to the second position. During the swing, the distance between the ends of the two relatively positioned guide components 310 increases accordingly, giving the guide component 310 the characteristics of a flexible wheel and providing fault tolerance. In this way, even if the fork 210 deviates to a certain extent, it can still smoothly enter the receiving slot 110. By setting up the floating guide mechanism 300, which corrects deviation when the fork 210 exits the slot and adds fault tolerance while correcting deviation when the fork 210 enters the slot, the probability of the fork 210 failing to enter or exit the receiving slot when the fork robot is used in harsh environments can be significantly reduced.

[0087] Furthermore, the guide component 310 includes a swing arm 311 and an elastic member 315. The swing arm 311 is rotatably connected to the side wall of the receiving groove 110. One end of the elastic member 315 is connected to the swing arm 311, and the other end is rotatably connected to the side wall of the receiving groove 110. The elastic member 315 is used to reset the swing arm 311 to the first position.

[0088] In this embodiment, the end of the swing arm 311 slides against the side wall of the fork leg 210. To reduce the friction between them, the end of the swing arm 311 can be made into a spherical shape to reduce the contact area between the end of the swing arm 311 and the side wall of the fork leg 210. The swing arm 311 can be a one-piece component or it can be divided into two components, one of which is rod-shaped and the other of which is spherical. The two components can be detachably connected or fixedly connected.

[0089] It should be noted that the number of fork leg assemblies 200 is the same as the number of receiving slots 110. For example, there are two receiving slots 110. Of course, there can also be one or more receiving slots 110. When there are multiple receiving slots 110, the multiple receiving slots 110 can be spaced apart along the width direction of the vehicle body 100, and the width direction is consistent with the width direction W of the fork leg, that is, the direction perpendicular to the extension and retraction direction of the fork leg 210 in the horizontal plane.

[0090] The vehicle body 100 includes a vehicle body drive mechanism (not shown) and a first traveling wheel 120. The fork leg assembly 200 includes a fork leg drive mechanism 220 for driving the fork leg 210. The fork leg 210 has a second traveling wheel 211 at both its front and rear ends. The front end refers to the end that first extends out of the receiving groove 110, and the rear end refers to the end that last extends out of the receiving groove 110. As one possible implementation, the second traveling wheel 211 at the front end of the fork leg 210 is the drive wheel, and the fork leg drive mechanism 220 is located at the front end. As another possible implementation, the second traveling wheel 211 at the rear end of the fork leg 210 is the drive wheel, and the fork leg drive mechanism 220 is located at the rear end. This application does not impose any limitations on this.

[0091] It should be noted that the retrieval mode of the lurking forklift robot in this application can be a pull-type. In the pull-type retrieval and placement process, the fork-leg drive mechanism 220 drives the fork-leg 210 to actively move forward or backward to retrieve and place goods. The retrieval mode of the lurking forklift robot in this application can also be a drive-in type. The drive-in type retrieval and placement process is as follows: when retrieving goods, the fork-leg drive mechanism 220 first drives the fork-leg 210 forward to lift the goods. Then, the fork-leg 210 remains stationary, and the vehicle body drive mechanism drives the entire vehicle forward to allow the fork-leg 210 to enter the slot. When placing goods, the fork-leg 210 lifts the goods, the fork-leg 210 remains stationary, and the vehicle body drive mechanism drives the entire vehicle backward to complete the placement.

[0092] In some embodiments of this application, the guide component 310 further includes a guide wheel 312, which is located at the end of the swing arm 311 and is rotatably connected to the swing arm 311. The swing arm 311 can drive the guide wheel 312 to swing between a first position and a second position.

[0093] Among them, the guide wheel 312 can abut against the side wall of the fork leg 210. During the swing of the swing arm 311 from the first position to the second position, the distance between the wheel surfaces of the guide wheels 312 arranged opposite to each other on the two side walls of the receiving groove 110 gradually increases.

[0094] A guide wheel 312 is rotatably connected to the swing arm 311. The guide wheel 312 abuts against the side wall of the fork leg 210, and the two are in rolling friction, which helps to reduce the friction between the guide wheel 312 and the side wall of the fork leg 210.

[0095] Each guide component 310's swing arm 311 can swing between a first position and a second position, causing the guide wheel 312 to swing accordingly between the first and second positions. When the fork leg 210 leaves the receiving groove 110, the guide wheel 312 is in the first position, abutting against the side wall of the fork leg 210 to prevent the fork leg 210 from deviating during extension. At this time, the guide wheel 312 cannot continue to swing in the direction of the fork leg 210's extension, keeping the distance between the two opposing guide wheels 312 constant. In this position, the guide wheel 312 acts as a rigid wheel, providing a correction function. When the fork leg 210 enters the receiving groove 110, the guide wheel 312, under the pressure of the fork leg 210, can swing from the first position to the second position. During this swing, the distance between the surfaces of the two opposing guide wheels 312 increases, giving the guide wheel 312 the characteristics of a flexible wheel, providing fault tolerance. Thus, even if the fork leg 210 deviates to some extent, it can still smoothly enter the receiving groove 110. The wheel surface of the guide wheel 312 refers to the annular outer surface that comes into contact with other objects. The distance between the wheel surfaces of two guide wheels 312 refers to the distance between the same positions of the two guide wheels 312; for example, this position can be the position that minimizes the distance between the wheel surfaces of the two guide wheels 312. By setting up a floating guide mechanism 300, which corrects deviation when the fork 210 exits the slot and adds fault tolerance while correcting deviation when the fork 210 enters the slot, the probability of the fork 210 failing to enter or exit the slot when the fork robot is used in harsh environments can be significantly reduced.

[0096] In some embodiments of this application, reference is made to Figure 4 Each receiving tank 110 is provided with a pair of floating guide mechanisms 300, which are located in the receiving tank 110 near the outlet 111.

[0097] Understandably, when the fork leg 210 extends, its rear end, being the last to extend from the receiving groove 110, is constrained by the side walls of the receiving groove 110 before leaving it, thus reducing the probability of deviation. Even if deviation occurs, the degree of deviation is relatively small. However, the front end of the fork leg 210, being the first to extend from the receiving groove 110, is more prone to deviation due to the loss of constraint from the receiving groove 110. Furthermore, the deviation at the front end is also more significant. By positioning the floating guide mechanism 300 close to the outlet 111 of the receiving groove 110, it can correct the fork leg 210 as it extends from the receiving groove 110, ensuring that the fork leg 210 remains centered after extending from the receiving groove 110 and maximizing the correction of the fork leg 210's deviation.

[0098] refer to Figure 3 , Figure 4In some embodiments of this application, the receiving groove 110 includes a first groove segment 112 and a second groove segment 113 connected to each other. The first groove segment 112 is disposed away from the outlet 111 of the receiving groove 110. The width of the first groove segment 112 remains unchanged along the extension direction of the receiving groove 110, and the width of the second groove segment 113 gradually increases along the direction closer to the outlet 111. A pair of floating guide mechanisms 300 are disposed at the connection between the second groove segment 113 and the first groove segment 112.

[0099] It should be noted that the width of the first groove segment 112 remains unchanged along the extension direction of the receiving groove 110, which means that the width difference at different positions of the first groove segment 112 is within the allowable error range. Of course, the unchanged width here excludes the connecting parts set on the first groove segment 112, such as screws and other additional connecting parts.

[0100] In this embodiment, the second groove segment 113 is a guide segment. The width of the second groove segment 113 gradually increases along the extension direction of the fork leg 210, and the width is the largest at the outlet 111. Since the outlet 111 has a wider dimension, it has a certain fault tolerance for the deflection of the fork leg 210, which can ensure that the fork leg 210 can be smoothly retracted into the receiving groove 110.

[0101] One pair of floating guide mechanisms 300 is positioned at the junction of the first groove segment 112 and the second groove segment 113, where the width of the receiving groove 110 is approximately equal to that of the first groove segment 112. This allows for a shorter length of the swing arm 311 when the guide wheel 312 of the guide component 310 abuts against the side wall of the fork leg 210, compared to positioning the floating guide mechanism 300 in the second groove segment 113. The shorter length of the swing arm 311 improves its rigidity and strength, thereby extending the service life of the guide component 310.

[0102] like Figure 4 As shown, when the fork 210 retracts, the fork 210 with a larger deviation angle first hits the position of the second groove section 113. Under the guidance of the second groove section 113, the fork 210 is close to the groove wall of the second groove section 113. At this time, the guide component 310 moves to the second position and is completely retracted into the vehicle body 100, further reducing the resistance of the fork 210 retraction action.

[0103] Specifically, refer to Figure 2 , Figure 5 and Figure 6The receiving groove 110 has a mounting groove on its side wall. The floating guide mechanism 300 includes a guide component 310, a base 313, a first stop 316, and a second stop 317. The base 313 is installed in the mounting groove. The swing arm 311 is rotatably connected to the base 313 via a rotating shaft 314. The guide wheel 312 is rotatably connected to the swing arm 311. One end of the elastic member 315 is connected to the swing arm 311, and the other end is connected to the base 313. When the elastic member 315 is not subjected to external force, the guide wheel 312 is held in a first position. The first stop 316 is located on the base 313 to restrict the swing arm 311 to the first position. The second stop 317 is located on the base 313 to restrict the swing arm 311 to a second position. The base 313 can be U-shaped, square, plate-shaped, strip-shaped, etc., and this application does not limit it. The swing arm 311 can be U-shaped, plate-shaped, strip-shaped, etc., and this application does not limit it.

[0104] The following explanation uses a U-shaped base 313 and a U-shaped swing arm 311 as an example. The two side walls of the base 313 are also the two side walls spaced apart along the height direction H. The height of the swing arm 311 is less than the height of the base 313, allowing the swing arm 311 to be located within the base 313, and the two side walls of the swing arm 311 are parallel to the two side walls of the base 313. First shaft holes are provided on the two side walls of the base 313 and the two side walls of the swing arm 311, which are rotatably connected to the rotating shaft 314. The rotating shaft 314 passes through the first shaft holes and is fixed to the base 313, thus rotatably connecting the swing arm 311 to the base 313. The base 313 is fixed within the mounting groove, and the swing arm 311 is rotatably connected to the side wall of the receiving groove 110 via the base 313. The swing arm 311 is also provided with a second shaft hole, through which the guide wheel shaft 318 passes and the shaft hole of the guide wheel 312, rotatably connecting the guide wheel 312 to the swing arm 311. Figure 5 , Figure 6 As shown, the base 313 is provided with mounting holes at the first and second positions. The first stop 316 and the second stop 317 are structures such as bolts and screws that protrude from the surface of the base 313 and are connected to the mounting holes. The bolts or screws can also be used to fix the floating guide mechanism 300 to the mounting groove.

[0105] Understandably, the swing arm 311 can also be directly rotatably connected to the mounting groove without going through the base 313, that is, the swing arm 311 is directly rotatably connected to the wall of the mounting groove.

[0106] Specifically, the side wall of the receiving groove 110 is provided with a mounting groove, and the floating guide mechanism 300 includes: a guide component 310, a base 313, and a first stop 316. The guide component 310 includes: a swing arm 311, which is rotatably connected to the groove wall of the mounting groove via a rotating shaft 314; a guide wheel 312, which is rotatably connected to the end of the swing arm 311; an elastic member 315, one end of which is connected to the swing arm 311 and the other end of which is connected to the groove wall of the mounting groove, so that the guide wheel 312 is held in the first position when the elastic member 315 is not subjected to external force; and the first stop 316, which is located on the groove wall of the mounting groove to restrict the swing arm 311 to the first position.

[0107] The swing arm 311 is rotatably connected to the base 313, allowing it to reciprocate in a circular motion between the first stop 316 and the second stop 317 with the pivot 314 as the center. In the first position, the extension direction of the swing arm 311 is parallel to the width direction W of the fork leg, minimizing the distance between the surfaces of the two opposing guide wheels 312. During the swing towards the second position, the extension direction of the swing arm 311 forms a certain angle with the width direction W of the fork leg, gradually increasing the distance between the surfaces of the opposing guide wheels 312. The distance between the surfaces of the guide wheels 312 is constrained by the elastic element 315, providing a degree of flexibility. This allows the guide wheels 312 to maintain contact with the side wall of the fork leg 210 during the fork leg correction process. The elastic element 315 extends to different lengths depending on the force applied, giving the guide component 310 a certain degree of fault tolerance and correction capability.

[0108] Optionally, such as Figure 6 As shown, the second position is further away from the side wall of the fork 210 than the first position, and the guide component 310 can swing back and forth in a larger range around the pivot 314, which can further increase the fault tolerance of the guide component 310.

[0109] In some embodiments of this application, each receiving tank 110 is provided with two pairs of floating guide mechanisms 300, one pair of floating guide mechanisms 300 being located on the side walls of the receiving tank 110 near the outlet 111, and the other pair of floating guide mechanisms 300 being located on the side walls of the receiving tank 110 away from the outlet 111.

[0110] Each receiving slot 110 is equipped with two pairs of floating guide mechanisms 300. When the fork 210 extends, the guide wheels 312 of the floating guide mechanisms 300 abut against the side wall of the fork 210 from two positions, which can better prevent the fork 210 from deviating. When the fork 210 enters the receiving slot 110, it can play a secondary correction role for the fork 210, so that the fork 210 can better maintain a centered position after retracting into the receiving slot 110, reducing the probability of failure when entering or leaving the slot.

[0111] In some embodiments of this application, reference is made to Figure 7 The fork leg 210 is provided with at least one pair of roller sets 400. Each pair of roller sets 400 includes two rollers 410. The two rollers 410 are arranged opposite each other along the width direction W of the fork leg. The wheel surfaces of the rollers 410 can respectively abut against the side wall of the receiving groove 110.

[0112] In this embodiment, a roller assembly 400 is provided on the fork leg 210. During the extension and retraction of the fork leg 210, the rollers 410 of the roller assembly 400 can guide the fork leg 210 to limit excessive deviation and constrain the posture of the fork leg 210. Therefore, by adding a roller assembly 400 to the fork leg 210, the probability of the fork leg 210 deviating can be further reduced.

[0113] Furthermore, the friction generated between the roller 410 and the side wall of the receiving groove 110 is rolling friction. The frictional force of rolling friction is much smaller than that of sliding friction, which greatly reduces the resistance during the extension and retraction of the fork legs 210, thus reducing mutual wear. In addition, the roller 410 can be replaced separately after wear, which is not only convenient but also helps to reduce maintenance costs.

[0114] In some embodiments of this application, reference is made to Figure 7 The fork leg 210 is provided with a pair of rollers 400, which are located near the end of the fork leg 210 that is connected to the vehicle body 100.

[0115] The roller 410 is positioned at the end where the fork 210 connects to the vehicle body 100, specifically at the end where the fork 210 extends out of the receiving groove 110. When the fork 210 deviates from its designated path, the roller 410 remains in contact with the side wall of the receiving groove 110 almost throughout the entire extension and retraction process. This ensures that the guiding function of the roller 410 covers almost the entire extension and retraction process of the fork 210, effectively preventing deviation. Furthermore, the contact between the roller 410 and the side wall of the receiving groove 110 transforms sliding friction into rolling friction, reducing resistance during the extension and retraction of the fork 210 and ensuring smooth operation.

[0116] For example, such as Figure 7 , Figure 9 As shown, the roller assembly 400 is located at the rear end of the fork leg 210, and the two rollers 410 are mounted on the same bracket 420 and installed on the end face of the fork leg 210 facing the vehicle body 100 via the bracket 420.

[0117] For example, the two rollers 410 can also be installed independently on the side wall of the fork 210, near the end of the fork 210 that is connected to the vehicle body 100.

[0118] It should be noted that the roller assembly 400 can also be replaced by other structures, such as a sliding block, which abuts against the side wall of the receiving groove 110 through the sliding block (not shown in the figure), and there is sliding friction between the sliding block and the side wall of the receiving groove 110. Simple variations that simply replace the rolling friction of this application with sliding friction are all within the protection scope of this application.

[0119] Of course, the roller assembly 400 can also be omitted from the fork leg 210, such as... Figure 10 As shown, the fork 210 mainly relies on the guide wheel 312 of the guide component 310 to correct its deviation during the extension or retraction process, and the floating guide mechanism 300 can also play a fault-tolerant role during the retraction process of the fork 210.

[0120] In some embodiments of this application, such as Figure 11 As shown, when the guide component 310 includes the swing arm 311 and the guide wheel 312 rotatably connected to the swing arm 311, the minimum distance between the two side walls of the receiving groove 110 is L1, the minimum distance between the wheel surfaces of the guide wheels 312 of the two guide components 310 located in the same receiving groove 110 is L2, the maximum distance between the wheel surfaces of the two rollers 410 of the same fork leg 210 is L3, and the width of the fork leg 210 is L4, where L1 > L2 > L3 > L4.

[0121] This size setting ensures a more reasonable fit between the roller 410, the guide wheel 312 and the side wall of the receiving groove 110, which can achieve effective guidance and avoid excessive friction and interference between them.

[0122] By setting L2>L3, when the fork 210 deviates, taking the fork 210 leaving the receiving groove 110 as an example, the guide wheel 312 first contacts the front end of the fork 210, which plays a certain role in correcting the deviation. When the deviation reaches a certain degree, the roller 410 at the rear end of the fork 210 will also contact the side wall of the receiving groove 110, and change the friction between the fork 210 and the receiving groove 110 from sliding friction to rolling friction, ensuring that the fork 210 extends smoothly.

[0123] To better understand the correction and fault tolerance process of the guide component 310, the following explanation will be based on the example of each receiving slot 110 having a pair of floating guide mechanisms 300 and a pair of roller groups 400 at the rear end of the fork leg 210.

[0124] Please refer to the following first. Figure 7 , Figure 8 The fork leg 210 is located within the vehicle body 100, and the swing arm 311 is in the first position under the action of the elastic element 315. At this time, the distance between the wheel surfaces of the two oppositely arranged guide wheels 312 is minimal, ensuring that the guide wheels 312 have a good guiding effect and correcting the deviation of the fork leg 210. Then refer to... Figure 12 , Figure 13 As the fork leg 210 gradually moves away from the receiving groove 110, if the fork leg 210 deviates, it will apply a horizontal rightward frictional force to the guide wheel 312 along the tangent direction. Under this force, the guide wheel 312 rotates, simultaneously causing the swing arm 311 to press against the first position. At this time, the guide wheel 312 acts as a rigid wheel. The minimum dimension between the two wheel surfaces at the guide wheel 312 is slightly larger than the width of the fork leg 210, but smaller than the dimensions of other parts of the receiving groove 110, thus providing a good correction effect. Simultaneously, when the fork leg 210 deviates, refer to... Figure 14 The roller 410 at the rear end of the fork 210 contacts the side wall of the receiving groove 110, changing sliding friction into rolling friction to ensure smooth extension. This continues until the fork 210 is fully extended from the receiving groove 110, refer to... Figure 15 , Figure 16 At this time, the swing arm 311 remains in the first position under the action of the elastic element 315.

[0125] When the fork 210 enters the receiving groove 110, refer to Figure 17 The roller 410 at the rear end of the fork 210 strikes the guide wheel 312 of the guide component 310 located near the outlet 111 of the receiving groove 110, causing the swing arm 311 to rotate to the left, ensuring smooth movement of the fork 210. (Reference) Figure 18 When the fork leg 210 deviates, a horizontal leftward frictional force will be applied to the guide wheel 312 along the tangent direction. Under the action of this force, the guide wheel 312 rotates, and the swing arm 311 moves to the second position. At this time, the guide wheel 312 will act as a flexible wheel. (Reference) Figure 19 In theory, the fork leg 210 should be centered, and the swing arm 311 should be in the first position. However, in reality, due to the fork leg 210's own deviation and uneven ground conditions, the fork leg 210 may tilt to one side. (Refer to...) Figure 20 At this time, the swing arm 311 will also swing at a certain angle, which is equivalent to the size of the receiving groove 110 becoming wider. The resistance of the fork leg 210 entering the groove is greatly reduced, and the guide component 310 plays a certain fault tolerance role.

[0126] refer to Figure 21 When the guide wheel 312 is fully retracted into the body 100, the size of the second groove 113 will be much larger than the width of the fork leg 210, which allows the fork leg 210 to have a larger deviation and can ensure that the resistance of the retraction action is smaller and the retraction action is smoother.

[0127] In some embodiments of this application, while the vehicle body 100 is provided with a floating guide mechanism 300, each fork leg 210 is also provided with at least one pair of floating guide mechanisms (not shown in the figure). For details, please refer to the figure of the fork leg 210 provided with the floating guide mechanism 300 in the following embodiment. The two have the same structure. Each pair of floating guide mechanisms is arranged opposite to each other on the two side walls of the fork leg 210 along the width direction W of the fork leg. One pair of floating guide mechanisms 300 is located at the end of the fork leg 210 near the end connected to the vehicle body 100. The guide member 310 can swing between a first position and a second position. Compared with the second position, the first position is farther away from the outlet 111. When the fork leg 210 leaves the receiving groove 110, the guide member 310 is located in the first position. When the fork leg 210 enters the receiving groove, it can force the guide member 310 to swing to the second position. During the process of the guide member 310 swinging from the first position to the second position, the difference between the width of the fork leg 210 and the width of the receiving groove 110 gradually increases.

[0128] In this embodiment, each fork 210 has one or more floating guide mechanisms 300 on its two side walls. Each pair of floating guide mechanisms 300 is arranged opposite to each other along the width direction W of the fork 210 and is in a mirror image relationship. By setting floating guide mechanisms on the fork 210, together with the floating guide mechanisms 300 on the vehicle body 100, the fork 210 corrects its deviation when it extends and adds fault tolerance function while correcting its deviation when it retracts. In this way, the forklift has a dual correction function when the fork 210 leaves the receiving slot 110 and a dual fault tolerance and correction function when it enters the receiving slot 110. This can further reduce the probability of the fork 210 failing to enter or leave the slot when the forklift robot is used in harsh environments.

[0129] The following section provides a detailed description of the floating guide mechanism 300 being mounted on the fork 210.

[0130] like Figure 22 , Figure 23 , Figure 24 As shown, each fork leg 210 is provided with at least one pair of floating guide mechanisms 300. Two floating guide mechanisms 300 arranged opposite each other along the width direction W of the fork leg are referred to as a pair. One pair of floating guide mechanisms 300 is located at the end of the fork leg 210 that is close to the end connected to the vehicle body 100. Compared with the second position, the first position is farther away from the outlet 111. During the process of the guide component 310 swinging from the first position to the second position, the distance between the ends of the guide components 310 arranged opposite each other on the two side walls of the fork leg 210 gradually decreases.

[0131] In this embodiment, one or more floating guide mechanisms 300 are provided on both side walls of the fork leg 210. The floating guide mechanisms 300 are arranged opposite each other along the width direction W of the fork leg and are in a mirror relationship. The guide member 310 can swing between a first position and a second position. When the fork leg 210 leaves the receiving groove 110, the guide member 310 is in the first position, and the guide member 310 abuts against the side wall of the receiving groove 110. When the guide member 310 includes a swing arm 311 and an elastic member 315, that is, the end of the swing arm 311 abuts against the side wall of the receiving groove 110, preventing the fork leg 210 from deviating during the extension process. At this time, the guide member 310 cannot continue to swing in the direction of the fork leg 210 retraction (opposite to the direction of leaving the receiving groove 110), so that the distance between the ends of the two oppositely arranged guide members 310 remains unchanged. At this time, the guide member 310 is used as a rigid arm to play a role in correction. When the fork 210 enters the receiving groove 110, the guide component 310, under the pressure of the receiving groove 110, can swing from the first position to the second position. During the swinging process, the distance between the ends of the two relatively arranged guide components 310 increases accordingly, giving the guide component 310 the characteristics of a flexible arm and playing a fault-tolerant role. In this way, even if the fork 210 deviates to a certain extent, it can still smoothly enter the receiving groove 110. By setting up a floating guide mechanism 300, which corrects deviation when the fork 210 leaves the receiving groove 110 and adds fault tolerance function while correcting deviation when the fork 210 enters the receiving groove 110, the probability of the lurking forklift robot failing to enter or exit the groove when used in harsh environments can be significantly reduced.

[0132] Furthermore, the guide component 310 includes a swing arm 311 and a guide wheel 312. The swing arm 311 is rotatably connected to the side wall of the fork leg 210. One end of the elastic member 315 is connected to the swing arm 311, and the other end is rotatably connected to the side wall of the fork leg 210. The elastic member 315 is used to reset the swing arm 311 to the first position.

[0133] In this embodiment, the end of the swing arm 311 slides against the side wall of the receiving groove 110. To reduce the friction between them, the end of the swing arm 311 can be made into a spherical shape to reduce the contact area between the end of the swing arm 311 and the side wall of the receiving groove 110. The swing arm 311 can be a one-piece component or it can be divided into two components, one of which is rod-shaped and the other of which is spherical. The two components can be detachably connected or fixedly connected.

[0134] Furthermore, the guide component 310 also includes a guide wheel 312, which is located at the end of the swing arm 311 and is rotatably connected to the swing arm 311. The swing arm 311 can drive the guide wheel 312 to swing between a first position and a second position.

[0135] Among them, the guide wheel 312 can abut against the side wall of the receiving groove 110. During the swing of the swing arm 311 from the first position to the second position, the distance between the wheel surfaces of the guide wheels 312 arranged opposite each other on the two side walls of the fork leg 210 gradually decreases.

[0136] In this embodiment, a guide wheel 312 is rotatably connected to the swing arm 311. The guide wheel 312 abuts against the side wall of the receiving groove 110, and the two are in rolling friction, which helps to reduce the friction between the guide wheel 312 and the side wall of the receiving groove 110.

[0137] Each guide component 310 has a swing arm 311 that can swing between a first position and a second position, causing the guide wheel 312 to swing accordingly between the first and second positions. When the fork 210 leaves the receiving groove 110, the guide wheel 312 is in the first position, abutting against the side wall of the receiving groove 110 to prevent the fork 210 from deviating during exiting the groove. At this time, the guide wheel 312 cannot continue to swing in the direction in which the fork 210 enters the groove (opposite to the direction of leaving the receiving groove 110), so that the distance between the two oppositely arranged guide wheels 312 remains unchanged. At this time, the guide wheel 312 is used as a rigid wheel, playing a role in correction. When the fork 210 enters the receiving groove 110, the guide wheel 312, under the pressure of the receiving groove 110, can swing from the first position to the second position. During the swing, the distance between the wheel surfaces of the two oppositely arranged guide wheels 312 decreases accordingly, giving the guide wheel 312 the characteristics of a flexible wheel, playing a role in fault tolerance. In this way, even if the fork 210 deviates slightly, it can still smoothly enter the receiving slot 110. The distance between the surfaces of the two guide wheels 312 refers to the distance between the same positions of the two guide wheels 312; for example, this position can be the one that minimizes the distance between the surfaces of the two guide wheels 312. By setting up the floating guide mechanism 300, which corrects deviation when the fork 210 exits the slot and adds fault tolerance while correcting deviation when the fork 210 enters the slot, the probability of extension / retraction failure of the lurking forklift robot when used in harsh environments can be significantly reduced.

[0138] In this embodiment, reference Figure 24 , Figure 25 and Figure 26 A floating guide mechanism 300 is mounted on the fork leg 210, wherein the first position is further away from the outlet 111 compared to the second position. The structure of the floating guide mechanism 300 is roughly the same as that of the floating guide mechanism 300 mounted on the side wall of the receiving groove 110. The side wall of the fork leg 210 is provided with a mounting groove, and the floating guide mechanism 300 is mounted in the mounting groove.

[0139] The base 313 can be U-shaped, square, plate-shaped, strip-shaped, etc., and this application does not impose any restrictions on it. The swing arm 311 can be U-shaped, plate-shaped, strip-shaped, etc., and this application does not impose any restrictions on it.

[0140] The following description uses a rectangular base 313 and a U-shaped swing arm 311 as an example. The two side walls of the base 313 are also the two side walls spaced apart along the height direction H. The two side walls of the swing arm 311 are also the two side walls spaced apart along the height direction H. The height of the swing arm 311 is less than the height of the base 313, allowing the swing arm 311 to be located within the base 313, and the two side walls of the swing arm 311 are parallel to the two side walls of the base 313 along the height direction H. The two side walls of the base 313 and the two side walls of the swing arm 311 are provided with first shaft holes for rotatable connection to the rotating shaft 314. The rotating shaft 314 passes through the first shaft holes and is fixed to the base 313, thus rotatably connecting the swing arm 311 to the base 313. The base 313 is fixed within the mounting groove, and the swing arm 311 is rotatably connected to the side wall of the receiving groove 110 via the base 313. The swing arm 311 is also provided with a second shaft hole, through which the guide wheel shaft 318 passes and the shaft hole of the guide wheel 312, rotatably connecting the guide wheel 312 to the swing arm 311. Figure 25 , Figure 26 As shown, the base 313 is provided with mounting holes at the first and second positions. The first stop 316 and the second stop 317 are structures such as bolts and screws that protrude from the surface of the base 313 and are connected to the mounting holes. The bolts or screws can also be used to fix the floating guide mechanism 300 to the mounting groove.

[0141] For example, the elastic element 315 can be a tension spring, a compression spring, or a torsion spring. Taking a tension spring as an example, if the elastic element 315 is... Figure 4 As shown, the swing arm 311 is provided with a hanging hole 3112, and the base 313 is provided with a second hook post 3131. One end of the elastic element 315 is fixed on the hanging hole 3112, and the other end is fixed on the second hook post 3131, thereby applying a pulling force to the swing arm 311, so that the swing arm 311 is in the first position in the initial position.

[0142] Understandably, the swing arm 311 can also be directly rotatably connected to the mounting groove without going through the base 313, that is, the swing arm 311 is directly rotatably connected to the wall of the mounting groove.

[0143] Specifically, the side wall of the fork leg 210 is provided with a mounting groove, and the floating guide mechanism 300 includes a guide component 310, a base 313, and a first stop 316. The guide component 310 includes: a swing arm 311, which is rotatably connected to the groove wall of the mounting groove via a rotating shaft 314; a guide wheel 312, which is rotatably connected to the end of the swing arm 311; an elastic member 315, one end of which is connected to the swing arm 311 and the other end of which is connected to the groove wall of the mounting groove, so that the guide wheel 312 is held in the first position when the elastic member 315 is not subjected to external force; and the first stop 316, which is located on the groove wall of the mounting groove to restrict the swing arm 311 to the first position.

[0144] Further, refer to Figure 26 The second position is further away from the side wall of the receiving groove 110 compared to the first position. In this way, the guide component 310 can make circular reciprocating swings around the pivot 314 in a larger range, which can further increase the fault tolerance of the guide component 310.

[0145] Understandable, for reference Figure 27 A pair of floating guide mechanisms 300 may be provided on the fork leg 210, and the floating guide mechanisms 300 are located on the fork leg 210 near the rear end of the fork leg 210.

[0146] refer to Figure 28 Two pairs of floating guide mechanisms 300 may be provided on the fork leg 210, one pair of floating guide mechanisms 300 being located near the rear end of the fork leg 210, and the other pair being spaced apart from the first pair.

[0147] refer to Figure 29 The fork leg 210 may be provided with two or more pairs of floating guide mechanisms 300, such as three or four sets. One pair of floating guide mechanisms 300 is located near the rear end of the fork leg 210, and the other pairs are distributed along the length of the fork leg 210. It can be understood that they can be arranged along the entire length of the fork leg 210.

[0148] refer to Figure 23 Based on the floating guide mechanism 300 on the fork leg 210, at least one pair of roller sets 400 are provided on the two side walls of the receiving groove 110. Each pair of roller sets 400 includes two rollers 410. The two rollers 410 are arranged opposite each other along the width direction W of the fork leg, and the wheel surface of the rollers 410 can abut against the side wall of the fork leg 210 respectively.

[0149] Rollers 410 are installed on both sides of the receiving groove 110. During the process of the fork 210 entering and exiting the groove, the rollers 410 can guide the fork 210 to limit excessive deviation and constrain the posture of the fork 210. Therefore, by adding rollers 410 to the side walls of the receiving groove 110, the probability of the fork 210 deviating can be further reduced.

[0150] Furthermore, the friction generated between the roller 410 and the side wall of the fork 210 is rolling friction. The frictional force of rolling friction is much smaller than that of sliding friction, which greatly reduces the resistance during the extension and retraction of the fork 210, thus reducing mutual wear. In addition, the roller 410 can be replaced separately after wear, which is not only convenient but also helps to reduce maintenance costs.

[0151] For example, refer to Figure 23 A pair of roller sets 400 are provided on the side wall of the receiving groove 110 and are located near the outlet 111 of the receiving groove 110. The rollers 410 are located at the end of the receiving groove 110 near the outlet 111. During the entire process of the fork leg 210 entering and exiting the groove, the rollers 410 will basically abut against the side wall of the fork leg 210. In this way, the guiding function of the rollers 410 almost covers the entire process of the fork leg 210 extending and retracting, which can better prevent deviation.

[0152] Furthermore, the roller assembly 400 is located at the connection between the first groove segment 112 and the second groove segment 113.

[0153] Further, refer to Figure 30 When the guide component 310 includes a swing arm 311 and a guide wheel 312 rotatably connected to the swing arm 311, the minimum distance between the two side walls of the receiving groove 110 is D1, the minimum distance between the wheel surfaces of the two rollers 410 located in the same receiving groove 110 is D2, the minimum distance between the wheel surfaces of the guide wheels 312 of the two guide components 310 of the same fork leg 210 is D3, and the width of the fork leg 210 is D4, where D1 > D2 > D3 > D4.

[0154] This size setting ensures a more reasonable fit between the roller 410, the guide wheel 312 and the side wall of the receiving groove 110, which can achieve effective guidance and avoid excessive friction and interference between them.

[0155] By setting D2>D3, when the fork 210 deviates, taking the extension of the fork 210 as an example, the guide wheel 312 first contacts the front end of the fork 210, which plays a certain role in correcting the deviation. When the deviation reaches a certain degree, the roller 410 at the rear end of the fork 210 will also contact the side wall of the receiving groove 110, and change the friction between the fork 210 and the receiving groove 110 from sliding friction to rolling friction, ensuring that the fork 210 exits the groove smoothly.

[0156] To better understand the correction and fault tolerance process of the guide component 310, the following explanation will be based on the example of each receiving slot 110 having a pair of roller groups 400 and the rear end of the fork leg 210 having a pair of floating guide mechanisms 300.

[0157] Please refer to the following first. Figure 31 , Figure 32 The fork leg 210 is located within the vehicle body 100, and the swing arm 311 is in the first position under the action of the elastic element 315. At this time, the distance between the wheel surfaces of the two oppositely arranged guide wheels 312 is at its maximum, ensuring that the guide wheels 312 have a good guiding effect and correcting the deviation of the fork leg 210. Then refer to... Figure 33 , Figure 34 As the fork leg 210 gradually moves away from the receiving groove 110, if the fork leg 210 deviates, the side wall of the receiving groove 110 will apply a horizontal leftward frictional force to the guide wheel 312 along the tangent direction. Under the action of this force, the guide wheel 312 rotates, simultaneously causing the swing arm 311 to press against the first position. At this time, the guide wheel 312 acts as a rigid wheel. Simultaneously, when the fork leg 210 deviates, reference... Figure 35 The guide wheel 312 on the fork leg 210 contacts the side wall of the receiving groove 110 and, under the action of friction, adheres tightly to the first position, becoming a rigid wheel. The guide wheel 312 remains in contact with the side wall of the receiving groove 110, transforming sliding friction into rolling friction, ensuring a smooth extension process. The maximum dimension between the two wheel surfaces at the guide wheel 312 is slightly larger than the width of the fork leg 210, providing excellent correction. This continues until the fork leg 210 is fully extended from the receiving groove 110, refer to... Figure 36 , Figure 37 At this time, the swing arm 311 remains in the first position under the action of the elastic element 315.

[0158] When the fork leg 210 enters the receiving groove 110, the swing arm 311 remains in the first position under the action of the elastic element 315. (Reference) Figure 38 The guide wheel 312 on the fork 210 strikes the roller 410 on the vehicle body 100 near the outlet 111 of the receiving slot 110. The roller 410 rotates, ensuring smooth movement of the fork 210. In this scenario, the roller 410 and the guide wheel 312 work together to provide guidance. During the retraction process of the fork 210, if the fork 210 deviates, refer to... Figure 39 A horizontal frictional force is applied to the guide wheel 312 along its tangential direction, causing it to rotate and simultaneously move the swing arm 311 to the second position. At this point, the guide wheel 312 acts as a flexible wheel. Theoretically, the fork leg 210 is centered, and the swing arm 311 is in the first position. However, in reality, due to the fork leg 210's own deviation and uneven ground conditions, the reference... Figure 40When the fork 210 tilts to one side, the swing arm 311 will also swing at a certain angle and retract into the fork 210. This is equivalent to further enlarging the gap between the fork 210 and the side wall of the receiving groove 110, greatly reducing the resistance during the retraction of the fork 210, and the guide component 310 plays a certain fault-tolerant role.

[0159] refer to Figure 41 When the guide wheel 312 is fully retracted into the fork leg 210, the width of the receiving groove 110 will be much larger than the width of the fork leg 210, which allows the fork leg 210 to have a larger deviation and ensures that the resistance of the retraction action is smaller and the retraction action is smoother.

[0160] A second aspect of this application provides a correction method for a stealthy forklift robot, characterized in that it is applied to the aforementioned stealthy forklift robot and includes the following steps:

[0161] S1: Guide component 310 is in the first position;

[0162] S2: When the fork leg 210 leaves the receiving groove 110, the guide component 310 guides the fork leg 210;

[0163] S3: When the fork 210 enters the receiving groove 110, if the fork 210 is in an oblique state, the guide member 310 will be subjected to pressure. Under this pressure, the guide member 310 swings to the second position, increasing the difference between the width of the receiving groove 110 and the width of the fork 210, so as to increase the fault tolerance space and enable the fork 210 in the oblique state to enter the receiving groove 110.

[0164] S4: Until the guide member 310 is in the second position, the difference between the width of the receiving groove 110 and the width of the fork 210 reaches its maximum, and the skew state of the fork 210 is further corrected.

[0165] In this embodiment, when the fork 210 leaves the receiving groove 110, the guide component 310, as a rigid mechanism, can play a role in correcting deviation. When the fork 210 enters the receiving groove 110, the guide component 310, as a flexible mechanism, can have fault tolerance and at the same time play a role in correcting deviation, which can reduce the probability of the fork 210 failing to enter or leave the groove.

[0166] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0167] The various embodiments in this specification are described in a related manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0168] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A stealthy forklift robot, characterized in that, include: The vehicle body (100) includes at least one receiving slot (110), the receiving slot (110) including an outlet (111) for the fork legs (210) to extend or retract. The fork assembly (200) includes the fork (210), which is movable relative to the vehicle body (100); A floating guide mechanism (300) is disposed on the vehicle body (100) and / or the fork leg (210), and is disposed opposite to each other on both sides of the receiving groove (110) or on both sides of the fork leg (210) along the width direction of the fork leg (210). The floating guide mechanism (300) includes a guide component (310). When the fork leg (210) moves relative to the vehicle body (100), the guide component (310) can swing between a first position and a second position to change the difference between the width of the receiving groove (110) and the width of the fork leg (210). When the fork leg (210) leaves the receiving groove (110), the guide member (310) is in the first position, and the difference between the width of the receiving groove (110) and the width of the fork leg (210) is the smallest, which is used to guide the fork leg (210) to correct its deviation. When the fork leg (210) enters the receiving groove (110), the guide member (310) can be swung from the first position to the second position by external force, and the difference between the width of the receiving groove (110) and the width of the fork leg (210) becomes larger, so as to increase the fault tolerance space.

2. The stealthy forklift robot according to claim 1, characterized in that, The guide component (310) includes a swing arm (311) and an elastic element (315). The swing arm (311) is rotatably connected to the vehicle body (100) and / or the fork leg (210) according to the setting position of the floating guide mechanism (300). One end of the elastic element (315) is connected to the swing arm (311), and the other end is fixed to the vehicle body (100) and / or the fork leg (210) according to the setting position of the floating guide mechanism (300). The elastic element (315) is used to reset the swing arm (311) to the first position.

3. The stealthy forklift robot according to claim 2, characterized in that, The guide component (310) also includes a guide wheel (312), which is located at the end of the swing arm (311) and is rotatably connected to the swing arm (311). The swing arm (311) can drive the guide wheel (312) to swing between the first position and the second position.

4. The stealthy forklift robot according to claim 3, characterized in that, The floating guide mechanism (300) further includes a first stop (316) for limiting the guide member (310) in the first position; or, the floating guide mechanism (300) further includes a first stop (316) and a second stop (317), the first stop (316) for limiting the guide member (310) in the first position, and the second stop (317) for limiting the guide member (310) in the second position.

5. The stealthy forklift robot according to claim 4, characterized in that, The floating guide mechanism (300) also includes a base (313). According to the setting position of the floating guide mechanism (300), the vehicle body (100) or the fork leg (210) is provided with a mounting groove at the corresponding position. The base (313) is installed in the mounting groove. The swing arm (311) is rotatably connected to the base (313) through a rotating shaft (314). One end of the elastic element (315) is connected to the swing arm (311), and the other end is connected to the base (313). When the floating guide mechanism (300) includes a first stop (316), the first stop (316) is located on the base (313); When the floating guide mechanism (300) includes a first stop (316) and a second stop (317), the first stop (316) and the second stop (317) are located on the base (313).

6. The stealthy forklift robot according to any one of claims 2-5, characterized in that, The elastic element (315) is a tension spring, a compression spring, or a torsion spring.

7. The stealthy forklift robot according to any one of claims 1-5, characterized in that, Each of the receiving slots (110) of the vehicle body (100) is provided with at least one pair of floating guide mechanisms (300), wherein the pair of floating guide mechanisms (300) are located in the receiving slot (110) near the outlet (111); The first position is located closer to the outlet (111) than the second position. As the guide member (310) swings from the first position to the second position, the distance between the ends of the guide members (310) arranged opposite each other on the two side walls of the receiving groove (110) gradually increases.

8. The stealthy forklift robot according to claim 7, characterized in that, The receiving groove (110) includes a first groove segment (112) and a second groove segment (113) connected to each other. The first groove segment (112) is disposed away from the outlet (111) of the receiving groove (110). The width of the first groove segment (112) remains unchanged along the extension direction of the receiving groove (110), and the width of the second groove segment (113) gradually increases along the direction closer to the outlet (111). One of the floating guide mechanisms (300) is located at the connection between the second groove segment (113) and the first groove segment (112).

9. The stealthy forklift robot according to claim 7, characterized in that, The fork leg (210) is provided with at least one pair of roller sets (400), each pair of roller sets (400) includes two rollers (410), the two rollers (410) are arranged opposite to each other along the width direction of the fork leg (210), and the wheel surface of the rollers (410) can abut against the side wall of the receiving groove (110) respectively.

10. The stealthy forklift robot according to claim 9, characterized in that, The fork leg (210) is provided with a pair of roller sets (400) and is located near the end of the fork leg (210) that is connected to the vehicle body (100).

11. The stealthy forklift robot according to claim 9, characterized in that, When the guide component (310) includes a swing arm (311) and a guide wheel (312) rotatably connected to the swing arm (311), the minimum distance between the two side walls of the receiving groove (110) is L1, the minimum distance between the wheel surfaces of the guide wheels (312) of the two guide components (310) located in the same receiving groove (110) is L2, the maximum distance between the wheel surfaces of the two rollers (410) of the same fork leg (210) is L3, the width of the fork leg (210) is L4, and L1 > L2 > L3 > L4.

12. The stealthy forklift robot according to any one of claims 1-5, characterized in that, Each of the forks (210) is provided with at least one pair of floating guide mechanisms (300), wherein the pair of floating guide mechanisms (300) is located at the end of the fork (210) near the end connected to the vehicle body (100), and the first position is further away from the outlet (111) relative to the second position. As the guide member (310) swings from the first position to the second position, the distance between the ends of the guide member (310) disposed opposite each other on the two side walls of the fork leg (210) gradually decreases.

13. The stealthy forklift robot according to claim 12, characterized in that, Each of the receiving slots (110) has at least one pair of roller sets (400) on its two side walls. Each pair of roller sets (400) includes two rollers (410). The two rollers (410) are arranged opposite each other along the width direction of the fork leg (210). The wheel surfaces of the rollers (410) can abut against the side walls of the fork leg (210) respectively.

14. The stealthy forklift robot according to claim 13, characterized in that, When the guide component (310) includes a swing arm (311) and a guide wheel (312) rotatably connected to the swing arm (311), the minimum distance between the two side walls of the receiving groove (110) is D1, the minimum distance between the wheel surfaces of the two rollers (410) located in the same receiving groove (110) is D2, the minimum distance between the wheel surfaces of the guide wheels (312) of the two guide components (310) located in the same fork leg (210) is D3, and the width of the fork leg (210) is D4, D1 > D2 > D3 > D4.

15. A method for correcting the deviation of a stealthy forklift robot, characterized in that, The method applied to the stealthy forklift robot according to any one of claims 1-14 includes the following steps: The guide component (310) is in the first position; When the fork leg (210) leaves the receiving groove (110), the guide member (310) guides the fork leg (210); When the fork leg (210) enters the receiving groove (110), if the fork leg (210) is in an oblique state, the guide member (310) will be subjected to pressure. Under this pressure, the guide member (310) will swing to a second position, increasing the difference between the width of the receiving groove (110) and the width of the fork leg (210) to increase the fault tolerance space, so that the fork leg (210) in the oblique state can enter the receiving groove (110). Until the guide member (310) is in the second position, the difference between the width of the receiving groove (110) and the width of the fork (210) reaches its maximum, and the skew state of the fork (210) is further corrected.

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