Fork structure and robot

Abstract

The application provides a pallet fork structure and a robot, and belongs to the technical field of warehouse logistics. The pallet fork structure comprises a base, a first swing arm assembly, the first swing arm assembly moving along a first direction while rotating around a second direction, and a second swing arm assembly, the second swing arm assembly moving along with the first swing arm assembly and rotating around the second direction relative to the first swing arm assembly. A connecting piece is arranged at the free end of the second swing arm assembly, and the connecting piece is used for interfacing with a material box. The pallet fork structure can interface with the material box in two opposite directions with a large stroke, so that the pallet fork structure takes and places the material box more continuously and smoothly, and is convenient and fast.

Description

Technical Field

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

[0002] Logistics robots can pick up and place material boxes using forklifts.

[0003] The fork structure of the logistics robot includes a base, a drive assembly, and a telescopic arm. The drive assembly is mounted on the base, and the telescopic arm is connected to the drive assembly. The drive assembly can drive the telescopic arm to extend or retract from one side of the base, realizing the picking and placing of the hopper.

[0004] However, the existing fork structure can only pick up and put down the bins from one side of the base, which makes it inconvenient to pick up and put down multiple bins. Summary of the Invention

[0005] This application provides a fork structure and a robot to solve the problem that existing fork structures can only pick up and put down boxes from one side of the base, which is inconvenient when picking up and putting down multiple boxes.

[0006] In a first aspect, this application provides a forklift structure, including:

[0007] A base, on which a first drive assembly and a linkage component are mounted;

[0008] The first swing arm assembly is mounted on the base and connected to the first drive assembly and the linkage. Under the drive of the first drive assembly, the first swing arm assembly moves relative to the base in a first direction. At the same time, the first swing arm assembly cooperates with the linkage to rotate around a second direction.

[0009] A second swing arm assembly is disposed on the first swing arm assembly to follow the movement of the first swing arm assembly. A transmission assembly is disposed between the first swing arm assembly and the second swing arm assembly. The first swing arm assembly drives the second swing arm assembly to rotate relative to the first swing arm assembly about a second direction through the transmission assembly.

[0010] The free end of the second swing arm assembly is provided with a connector, which is configured such that when the first swing arm assembly moves to the end of the base, the connector protrudes from the base in the direction of movement of the first swing arm assembly for docking with the material box.

[0011] In some possible implementations, the fork structure provided in this application has a first drive assembly mounted on a base. The first drive assembly includes a first drive motor, a transmission component, and at least two rotating wheels. The at least two rotating wheels are rotatably mounted on the base. The first drive motor is connected to the rotating wheels. The transmission component is wound around the at least two rotating wheels and is connected to the first swing arm assembly.

[0012] The first drive motor is configured to drive the rotating wheel to rotate, so that the rotating wheel drives the first swing arm assembly to move through the transmission component.

[0013] In some possible implementations, the fork structure provided in this application has the linkage fixedly mounted on the base, and the first swing arm assembly is engaged with the linkage.

[0014] When the first swing arm assembly moves relative to the base, the linkage engages with the first swing arm assembly to cause the first swing arm assembly to rotate relative to the base.

[0015] In some possible implementations, the fork structure provided in this application includes a first swing arm assembly comprising:

[0016] A rotating arm assembly is rotatably mounted on a first drive assembly and is connected to a second swing arm assembly.

[0017] The swing arm and the linkage are engaged.

[0018] In some possible implementations, the fork structure provided in this application has a linkage component that is a rack arranged along a first direction, and a plurality of meshing teeth arranged sequentially at intervals along an arc on the swing arm component, the meshing teeth meshing with the rack.

[0019] In some possible implementations, the fork structure provided in this application uses a planetary gear set as the transmission component.

[0020] In some possible implementations, the fork structure provided in this application, the planetary gear set includes:

[0021] The sun gear is fixedly mounted on the first drive assembly, and the first swing arm assembly is connected to the sun gear and rotates relative to the sun gear;

[0022] The first planetary gear is rotatably mounted on the first swing arm assembly and meshes with the sun gear;

[0023] The second planetary gear is rotatably mounted on the first swing arm assembly and meshes with the first planetary gear; the second planetary gear is connected to the second swing arm assembly.

[0024] The sun gear is configured to drive the second planet gear to rotate via the first planet gear when the first swing arm assembly moves and rotates, so that the second planet gear drives the second swing arm assembly to rotate.

[0025] In some possible implementations, the fork structure provided in this application has a sun gear radius larger than the radii of the first planetary gear and the second planetary gear.

[0026] In some possible implementations, the fork structure provided in this application includes a second swing arm assembly comprising:

[0027] A rotating component is connected to a second planetary gear, and the rotating component and the second planetary gear rotate synchronously around a second direction;

[0028] The rocker arm is mounted on the rotating component, and the connecting component is mounted on the rocker arm.

[0029] The rotating component is configured to rotate relative to the first swing arm assembly under the drive of the transmission assembly, so as to drive the swing arm to rotate and cause the swing arm to pick up and put down the material box through the connector.

[0030] In some possible implementations, the fork structure provided in this application has a distance from the rotation center of the rocker arm to the center of the connector equal to the distance from the rotation center of the first rocker arm assembly to the rotation center of the rocker arm.

[0031] In some possible implementations, the fork structure provided in this application has a rocker arm and a rotating member rotatably connected in a third direction, so that the rocker arm drives the connecting member to move in a second direction.

[0032] In some possible implementations, the fork structure provided in this application also includes:

[0033] The second drive assembly is connected to the rocker arm and drives the rocker arm to rotate about a third direction relative to the rotating component.

[0034] In some possible implementations, the fork structure provided in this application also includes a guide assembly, which is disposed on the base, and the first swing arm assembly is slidably connected to the guide assembly.

[0035] In some possible implementations, the fork structure provided in this application includes the following guiding components:

[0036] A slide rail is provided along the direction of movement of the first swing arm assembly;

[0037] The slider is slidably connected to the slide rail, the first swing arm assembly is mounted on the slider, and the slider is connected to the first drive assembly.

[0038] On the other hand, this application also provides a robot, including a robot body and any of the above-mentioned fork structures, wherein the fork structures are connected to the robot body.

[0039] The fork structure and robot provided in this application include a fork structure with a first drive assembly and a linkage on its base, and a first swing arm assembly connected to the first drive assembly and linkage on the base. A second swing arm assembly is mounted on the first swing arm assembly, and the first and second swing arm assemblies are connected by a transmission assembly. A connecting member is also provided on the second swing arm assembly for docking with a material box. This configuration allows the first swing arm assembly to move relative to the base in a first direction under the drive of the first drive assembly, and simultaneously rotates relative to the base in a second direction with the cooperation of the first swing arm assembly and the linkage, achieving synchronous movement and rotation of the first swing arm assembly relative to the base. The second swing arm assembly is mounted on the first swing arm assembly. Therefore, the position of the second swing arm assembly relative to the base can change synchronously with the movement of the first swing arm assembly. Furthermore, the second swing arm assembly can further rotate relative to the first swing arm assembly in a second direction under the drive of the transmission assembly. This allows the connecting piece on the second swing arm assembly to move with the second swing arm assembly and protrude from the base along the direction of movement, facilitating docking between the connecting piece and the hopper for loading and unloading. Since the first swing arm assembly can move forward or backward in the first direction and rotate forward or backward in the second direction, it can drive the connecting piece to move forward and backward via the second swing arm assembly. This allows the connecting piece to dock with the hopper in both directions with a larger stroke. Consequently, when the forklift structure loads and unloads the hopper, frequent reversals are unnecessary, resulting in a smoother, more convenient, and faster loading and unloading process. Attached Figure Description

[0040] 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 some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a schematic diagram of the fork structure provided in the embodiments of this application;

[0042] Figure 2 for Figure 1 A structural diagram of the forklift structure from another perspective;

[0043] Figure 3 for Figure 1 Another structural diagram of the forklift structure;

[0044] Figure 4 for Figure 1 A schematic diagram of the structure of the central base, the first drive assembly, and the guide assembly;

[0045] Figure 5 for Figure 1 A structural schematic diagram of the first swing arm assembly, the second swing arm assembly, and the linkage component;

[0046] Figure 6 for Figure 5 A schematic diagram showing the unfolded structure of the first and second swing arm assemblies.

[0047] Figure 7 for Figure 1 A schematic diagram of the fully deployed first and second swing arm assemblies.

[0048] Figure 8 for Figure 5 Sectional view along line AA;

[0049] Figure 9 for Figure 8 A schematic diagram of the first and second swing arm assemblies in their fully deployed states;

[0050] Figure 10 for Figure 5 A schematic diagram of the deployment process of the first and second swing arm assemblies;

[0051] Figure 11 A diagram illustrating the usage state of the shelving structure provided in the embodiments of this application;

[0052] Figure 12 for Figure 11 A structural schematic diagram of the central feeder box from another perspective.

[0053] Explanation of reference numerals in the attached figures:

[0054] 100-Base;

[0055] 200 - First swing arm assembly; 210 - Swing arm component; 211 - Meshing teeth;

[0056] 300 - Second swing arm assembly; 310 - Rotating component; 320 - Swing rod; 330 - Connecting component;

[0057] 400 - First drive assembly; 410 - First drive motor; 420 - Rotary wheel; 430 - Transmission component;

[0058] 500-Linkage Components;

[0059] 600 - Transmission assembly; 610 - Sun gear; 620 - First planet gear; 630 - Second planet gear;

[0060] 700 - Second drive assembly; 710 - Second drive motor; 720 - Eccentric shaft; 730 - Connecting rod;

[0061] 800 - Guide assembly; 810 - Slide rail; 820 - Slider;

[0062] 900 - Material bin; 910 - Connecting groove. Detailed Implementation

[0063] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below with reference to the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of this application. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0064] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly and used interchangeably. For example, "linking" can mean a direct connection or an indirect connection through an intermediate medium; it can mean a fixed connection or a sliding connection. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0065] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0066] The terms "first," "second," and "third" in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein.

[0067] Furthermore, the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion, such as a process, method, system, product, or display that includes a series of steps or modules, not necessarily limited to those steps or modules that are explicitly listed, but may include other steps or modules that are not explicitly listed or that are inherent to such processes, methods, products, or displays.

[0068] The fork structure of the logistics robot includes a base, a drive assembly, and a telescopic arm. The drive assembly is mounted on the base, and the telescopic arm is connected to the drive assembly. The drive assembly can drive the telescopic arm to extend or retract from one side of the base, realizing the picking and placing of the hopper.

[0069] However, the existing fork structure can only pick up and put down the bins from one side of the base, which makes it inconvenient to pick up and put down multiple bins.

[0070] To overcome the deficiencies in the prior art, the fork structure and robot provided in this application include a first drive assembly and a linkage on the base of the fork structure, and a first swing arm assembly connected to the first drive assembly and the linkage on the base. A second swing arm assembly is mounted on the first swing arm assembly, and the first and second swing arm assemblies are connected by a transmission assembly. A connecting member is also provided on the second swing arm assembly for docking with a material box. This configuration allows the first swing arm assembly to move relative to the base in a first direction under the drive of the first drive assembly, and simultaneously rotates relative to the base in a second direction with the cooperation of the first swing arm assembly and the linkage, achieving synchronous movement and rotation of the first swing arm assembly relative to the base. The second swing arm assembly is mounted on the first swing arm assembly. Therefore, the position of the second swing arm assembly relative to the base can change synchronously with the movement of the first swing arm assembly. Furthermore, the second swing arm assembly can rotate further around a second direction relative to the first swing arm assembly under the drive of the transmission assembly. This allows the connecting piece on the second swing arm assembly to move with the second swing arm assembly and protrude from the base along the direction of movement, facilitating docking between the connecting piece and the hopper for loading and unloading. Since the first swing arm assembly can move forward or backward along a first direction and rotate forward or backward around a second direction, it can drive the connecting piece to move forward and backward via the second swing arm assembly. This allows the connecting piece to dock with the hopper in two opposite directions with a larger stroke. Consequently, when the forklift structure loads and unloads the hopper, frequent reversals are unnecessary, resulting in a smoother, more convenient, and faster loading and unloading process.

[0071] The present invention will now be described in detail with reference to the accompanying drawings, so that those skilled in the art can have a clearer and more detailed understanding of the present invention.

[0072] In some embodiments, refer to Figures 1 to 3 ,and Figure 7As shown, this application embodiment provides a fork structure, including:

[0073] A base 100, on which a first drive assembly 400 and a linkage component 500 are mounted;

[0074] The first swing arm assembly 200 is disposed on the base 100 and connected to the first drive assembly 400 and the linkage 500. The first swing arm assembly 200 moves relative to the base 100 along the first direction under the drive of the first drive assembly 400. At the same time, the first swing arm assembly 200 and the linkage 500 cooperate to rotate around the second direction.

[0075] The second swing arm assembly 300 is disposed on the first swing arm assembly 200 to follow the movement of the first swing arm assembly 200. A transmission assembly 600 is disposed between the first swing arm assembly 200 and the second swing arm assembly 300. The first swing arm assembly 200 drives the second swing arm assembly 300 to rotate relative to the first swing arm assembly 200 about a second direction through the transmission assembly 600.

[0076] The free end of the second swing arm assembly 300 is provided with a connector 330. The connector 330 is configured such that when the first swing arm assembly 200 moves to the end of the base 100, the connector 330 protrudes from the base 100 in the direction of movement of the first swing arm assembly 200, so as to dock with the material box 900.

[0077] The first direction and the second direction are at an angle to each other, and preferably, the first direction and the second direction are perpendicular to each other.

[0078] It should be noted that, Figures 1 to 12 The X, Y, and Z directions shown in the diagram are perpendicular to each other in three-dimensional space. The X direction represents the first direction, and the Z direction represents the second direction.

[0079] It is understood that the base 100 is used to mount on handling equipment such as robots. The base 100 is equipped with a first swing arm assembly 200, a first drive assembly 400, and a linkage 500. The first swing arm assembly 200 is connected to both the first drive assembly 400 and the linkage 500. The first drive assembly 400 can drive the first swing arm assembly 200 along a first direction (…). Figure 1 Moving in the X direction, the linkage 500 cooperates with the first swing arm assembly 200, so that when the first swing arm assembly 200 moves with the first drive assembly 400, it can move around the second direction (X direction) under the cooperation of the linkage 500. Figure 1 The first swing arm assembly 200 moves and rotates synchronously as it rotates in the Z direction.

[0080] Specifically, in order to ensure that the first swing arm assembly 200 can move and rotate smoothly in sync, the rotation center position of the first swing arm assembly 200 can be set to be rotatably connected to the first drive assembly 400.

[0081] The second swing arm assembly 300 is rotatably mounted on the first swing arm assembly 200. Specifically, the connecting end of the second swing arm assembly 300 is connected to the side of the first swing arm assembly 200 that is relatively far away from the linkage 500 from the rotation center. A transmission assembly 600 is also provided between the first swing arm assembly 200 and the second swing arm assembly 300. Thus, when the first swing arm assembly 200 moves, the second swing arm assembly 300 mounted on the first swing arm assembly 200 will also move accordingly. When the first swing arm assembly 200 rotates, the first swing arm assembly 200 can also drive the second swing arm assembly 300 to rotate through the transmission assembly 600.

[0082] For example, the first swing arm assembly 200 and the second swing arm assembly 300 rotate in opposite directions, such as... Figure 1 , Figure 2 As shown, when the first swing arm assembly 200 rotates around the second direction (Z direction), the side of the first swing arm assembly 200 away from the linkage 500 can swing in the positive X direction. The second swing arm assembly 300, located on this side, will also move synchronously. Under the action of the transmission assembly 600, the second swing arm assembly 300 rotates counterclockwise relative to the first swing arm assembly 200 around the second direction, so that the free end of the second swing arm assembly 300 not connected to the first swing arm assembly 200 also swings in the positive X direction, thereby amplifying the displacement of the free end of the second swing arm assembly 300. The displacement of the free end of the second swing arm assembly 300 is equal to the resultant displacement of the first and second swing arm assemblies 200 together in the positive X direction. Similarly, when the first swing arm assembly 200 moves in the opposite direction of the X direction, the rotation directions of the first swing arm assembly 200 and the second swing arm assembly 300 are also opposite, so that the free end of the second swing arm assembly 300 can move in both the positive and negative X directions.

[0083] Furthermore, a connector 330 is provided on the free end of the second swing arm assembly 300. The connector 330 is used to dock with the material box 900. Thus, when the connector 330 and the material box 900 are connected to each other, the bidirectional movement of the connector 330 enables the fork structure to pick up and put down the material box 900 in both the forward and reverse directions in the X direction.

[0084] Therefore, the base 100 of the fork structure provided in this application is provided with a first drive assembly 400 and a linkage 500, and a first swing arm assembly 200 connected to the first drive assembly 400 and the linkage 500 is provided on the base 100. A second swing arm assembly 300 is provided on the first swing arm assembly 200, and the first swing arm assembly 200 and the second swing arm assembly 300 are connected by a transmission assembly 600. A connector 330 is also provided on the second swing arm assembly 300 to dock with the material box 900 through the connector 330.

[0085] This configuration allows the first swing arm assembly 200 to move relative to the base 100 along a first direction under the drive of the first drive assembly 400. Simultaneously, with the cooperation of the first swing arm assembly 200 and the linkage 500, the first swing arm assembly 200 can rotate relative to the base 100 around a second direction, achieving synchronous movement and rotation of the first swing arm assembly 200 relative to the base 100. The second swing arm assembly 300 is mounted on the first swing arm assembly 200. Therefore, the position of the second swing arm assembly 300 relative to the base 100 can change synchronously with the movement of the first swing arm assembly 200. Furthermore, the second swing arm assembly 300 can further rotate relative to the first swing arm assembly 200 around a second direction under the drive of the transmission assembly 600, causing the connecting member 330 on the second swing arm assembly 300 to move with the second swing arm assembly 300 and protrude from the base 100 along the direction of movement. This facilitates docking of the connecting member 330 with the material box 900, thereby allowing the material box 900 to be picked up or placed.

[0086] Since the first swing arm assembly 200 can move forward or backward along the first direction and rotate forward or backward around the second direction, the first swing arm assembly 200 can drive the connecting member 330 to move forward and backward through the second swing arm assembly 300. This allows the connecting member 330 to dock with the material box 900 in two opposite directions with a large stroke. As a result, when the fork structure picks up and puts down the material box 900, there is no need to frequently change the orientation, making the picking up and putting down of the material box 900 by the fork structure more smooth, convenient and quick.

[0087] In some embodiments, refer to Figure 1 and Figure 4 As shown, the first drive assembly 400 is disposed on the base 100. The first drive assembly 400 includes a first drive motor 410, a transmission member 430 and at least two rotating wheels 420. The at least two rotating wheels 420 are rotatably disposed on the base 100. The first drive motor 410 is connected to the rotating wheels 420. The transmission member 430 is wound around the at least two rotating wheels 420 and is connected to the first swing arm assembly 200.

[0088] The first drive motor 410 is configured to drive the rotating wheel 420 to rotate, so that the rotating wheel 420 drives the first swing arm assembly 200 to move through the transmission member 430.

[0089] Understandably, this configuration allows the structure of the first drive assembly 400 to be relatively simple, the transmission to be smooth and reliable, and by controlling the first drive motor 410 to rotate forward or reverse, the first swing arm assembly 200 can be moved in the positive and negative directions of the X direction via the rotating wheel 420 and the transmission component 430, making the operation relatively simple.

[0090] In specific implementation, the first drive motor 410 can be fixedly mounted on the base 100 to ensure stable torque output. Two rotating wheels 420 can be provided, which are spaced apart at opposite ends of the base 100 along the X direction and rotate relative to the base 100 through the rotating wheel 420 seat. One of the rotating wheels 420 is connected to the output end of the first drive motor 410. The transmission component 430 is wound around the two rotating wheels 420, so that when the rotating wheels 420 rotate, they can drive the rotating belt to rotate. The first drive assembly 400 is connected to the transmission component 430, so that the first drive motor 410 can drive the rotating wheel 420 to rotate, and the rotating wheel 420 can drive the first swing arm assembly 200 to move through the transmission component 430.

[0091] For example, the transmission component 430 can be a transmission belt, and the pulley 420 can be a transmission wheel adapted to the transmission belt. The transmission component 430 can also be a transmission chain, and the pulley 420 can be a sprocket adapted to the transmission chain. This application does not limit this.

[0092] In some embodiments, refer to Figures 1 to 3 ,and Figure 5 and Figure 6 As shown, the linkage 500 is fixedly mounted on the base 100, and the first swing arm assembly 200 is engaged with the linkage 500;

[0093] When the first swing arm assembly 200 moves relative to the base 100, the linkage 500 cooperates with the first swing arm assembly 200 to make the first swing arm assembly 200 rotate relative to the base 100.

[0094] The linkage 500 is fixedly mounted on the base 100 and engages with the first swing arm assembly 200 in a meshing manner. This ensures that the installation of the linkage 500 is stable and reliable, thereby making the meshing transmission between the meshing component and the first swing arm assembly 200 smoother and ensuring that the first swing arm assembly 200 rotates stably.

[0095] Among them, reference Figures 1 to 3 ,and Figure 5 and Figure 6 As shown, the first swing arm assembly 200 includes:

[0096] The rotating arm 210 is rotatably mounted on the first drive assembly 400 and is connected to the second swing arm assembly 300.

[0097] The rotating arm 210 is engaged with the linkage 500.

[0098] By connecting the swing arm component 210 to the first drive assembly 400 and the second swing arm assembly 300, and engaging with the linkage component 500, the structure of the first swing arm assembly 200 can be made simpler and more compact, thereby simplifying the fork structure and reducing the space occupied by the fork structure.

[0099] In specific implementation, refer to Figures 1 to 3 ,and Figure 5 and Figure 6 As shown, the linkage 500 is a rack arranged along the first direction, and the rotating arm 210 is provided with multiple meshing teeth 211 arranged at intervals along the arc, and the meshing teeth 211 mesh with the rack.

[0100] Multiple meshing teeth 211 are sequentially arranged along an arc on the swing arm 210 to form a structure similar to a sector gear. The linkage 500 is a rack arranged along the X direction, so that the rack meshes with the meshing teeth 211 on the swing arm 210. Thus, when the first swing arm assembly 200 moves with the first drive member, it will also move relative to the connecting member 330, so that the meshing teeth 211 on the swing arm 210 mesh with the meshing teeth 211 on the rack in sequence. Through the meshing engagement, the swing arm 210 is driven to rotate relative to the base 100.

[0101] In some embodiments, refer to Figure 5 , Figure 6 , Figure 8 and Figure 9 As shown, the transmission assembly 600 is a planetary gear set.

[0102] It is understandable that setting the transmission component 600 as a planetary gear set can make the transmission efficiency of the transmission component 600 higher and the transmission smoother. In addition, it can also effectively increase the travel of the connecting member 330, making the space occupied by the transmission component 600 smaller, which makes it easier to set the rotating component between the first swing arm component 200 and the second swing arm component 300, and also makes it easier to realize the steering control of the first swing arm component 200 and the second swing arm component 300.

[0103] In specific implementation, refer to Figure 5 , Figure 6 , Figure 8 and Figure 9 As shown, the planetary gear set includes:

[0104] The sun gear 610 is fixedly mounted on the first drive assembly 400. The first swing arm assembly 200 is connected to the sun gear 610 and rotates relative to the sun gear 610.

[0105] The first planetary gear 620 is rotatably mounted on the first swing arm assembly 200 and meshes with the sun gear 610.

[0106] The second planetary gear 630 is rotatably mounted on the first rocker arm assembly 200 and meshes with the first planetary gear 620. The second planetary gear 630 is connected to the second rocker arm assembly 300.

[0107] The sun gear 610 is configured to drive the second planet gear 630 to rotate via the first planet gear 620 when the first swing arm assembly 200 moves and rotates, so that the second planet gear 630 drives the second swing arm assembly 300 to rotate.

[0108] In this embodiment, two planetary gears are used as an example. The sun gear 610 is fixedly connected to the first drive assembly 400, while the rotating arm 210 is rotatably mounted on the first drive assembly 400. This allows the sun gear 610 and the rotating arm 210 to rotate relative to each other. However, when the sun gear 610 moves along the linkage 500 with the rotating arm 210, there is no relative rotation between the sun gear 610 and the linkage 500, so that the rotating arm 210 can rotate smoothly relative to the sun gear 610 under the action of the first drive assembly 400 and the linkage 500.

[0109] The first planetary gear 620 is rotatably mounted on the rotating arm 210 and meshes with the sun gear 610. Thus, when the rotating arm 210 rotates relative to the sun gear 610, the rotating arm 210 can drive the first planetary gear 620 to rotate around the center of the first planetary gear 620, while also rotating around the center of the sun gear 610. The rotation direction of the first planetary gear 620 is the same as the rotation direction of the rotating arm 210.

[0110] The second planetary gear 630 is also rotatably mounted on the rotating arm 210, but it meshes with the first planetary gear 620. When the rotating arm 210 rotates relative to the sun gear 610, the first planetary gear 620 can also drive the second planetary gear 630 to rotate around the center of the second planetary gear 630, while simultaneously rotating around the center of the sun gear 610. At this time, the rotation direction of the second planetary gear 630 is opposite to that of the first planetary gear 620, thereby connecting the rotation center of the second swing arm assembly 300 with that of the second planetary gear 630. Thus, the second swing arm assembly 300 can be driven to rotate through the planetary gear set.

[0111] In some embodiments, the radius of the sun gear 610 is greater than the radius of the first planet gear 620 and the second planet gear 630.

[0112] It is understandable that, since the rotation range of the first swing arm assembly 200 is smaller than that of the second swing arm assembly 300, this setting makes it easier to coordinate the rotation of the first swing arm assembly 200 and the second swing arm assembly 300. When the first swing arm assembly 200 rotates to its position, the second swing arm assembly 300 can also rotate to its position.

[0113] For example, the radius of the sun gear 610 can be set to be twice the radius of the first planet gear 620 and the second planet gear 630, wherein the radius of the first planet gear 620 and the second planet gear 630 are the same, and the number of teeth of the sun gear 610 and the planet gears is adjusted so that the transmission efficiency between the linkage 500 and the rocker arm is twice the transmission efficiency of the transmission assembly 600. Thus, referring to... Figure 10 As shown, when the first swing arm assembly 200 is in its initial state, that is, when the first swing arm assembly 200 is located in the middle position of the linkage 500 and is perpendicular to the linkage 500, the second swing arm assembly 300 is also perpendicular to the linkage 500. The first swing arm assembly 200 and the second swing arm assembly 300 are fully retracted. When the first swing arm assembly 200 moves and rotates relative to the linkage 500 to be parallel to the linkage 500, the first swing arm assembly 200 rotates 90° relative to the linkage 500. However, when the second swing arm assembly 300 rotates to be parallel to the linkage 500, the second swing arm assembly 300 actually rotates 180° relative to the first swing arm assembly 200.

[0114] In some embodiments, refer to Figures 1 to 3 ,and Figure 8 and Figure 9 As shown, the second swing arm assembly 300 includes:

[0115] Rotating component 310 is rotatably connected to the second planetary gear 630, and the rotating component 310 and the second planetary gear 630 rotate synchronously around the second direction;

[0116] A rocker arm 320 is mounted on a rotating component 310, and a connecting component 330 is mounted on the rocker arm 320.

[0117] The rotating member 310 is configured to rotate relative to the first swing arm assembly 200 under the drive of the transmission assembly 600, so as to drive the swing rod 320 to rotate and cause the swing rod 320 to pick up and put down the material box 900 through the connector 330.

[0118] The rotating component 310 is rotatably connected to the rotating arm component 210, and the rotating component 310 is coaxially connected to the rotation center of the second planetary gear 630 in the transmission assembly 600, thereby driving the rotating component 310 to rotate relative to the rotating arm component 210 through the transmission assembly 600.

[0119] The swing arm 320 is connected to the rotating member 310 and extends radially along the rotating member 310 so that when the rotating member 310 rotates, the swing arm 320 swings around the center of the rotating member 310. The connecting member 330 is disposed on the swing arm 320 and located at the end of the swing arm 320 away from the rotating member 310, i.e., the free end of the swing arm 320. Thus, when the rotating arm 210 rotates, the rotating member 310 can be driven to rotate through the transmission assembly 600, and the rotating member 310 drives the connecting member 330 to move through the swing arm 320, ultimately enabling the connecting member 330 to drive the material box 900 to move.

[0120] Among them, reference Figure 11 and Figure 12 As shown, to ensure smooth docking of the connector 330 with the hopper 900, a connecting groove 910 adapted to the connector 330 needs to be provided at the bottom of the hopper 900. To prevent the hopper 900 from tilting during the movement of the connector 330, the connector 330 can be rotatably connected to the connecting groove 910, or the connector 330 can be rotatably connected to the rocker arm 320, or a bearing can be provided on the connector 330 to allow the two parts of the connector 330 to rotate relative to each other.

[0121] In some embodiments, refer to Figure 10 As shown, the distance from the rotation center of the swing arm 320 to the center of the connector 330 is equal to the distance from the rotation center of the first swing arm assembly 200 to the rotation center of the swing arm 320.

[0122] It is understandable that this arrangement allows the rotation center of the first swing arm assembly 200 to be on the movement trajectory of the connector 330, and makes the movement trajectory of the connector 330 consistent with the X direction, so that the movement of the connector 330 is more stable and the space occupied by the movement of the connector 330 is reduced, thus ensuring that the connector 330 can move smoothly.

[0123] In some embodiments, refer to Figure 8 and Figure 9 As shown, the rocker arm 320 and the rotating member 310 are rotatably connected in the third direction, so that the rocker arm 320 drives the connecting member 330 to move in the second direction.

[0124] It is understandable that the swing arm 320 is rotatably connected to the rotating member 310, and the axis of rotation of the swing arm 320 relative to the rotating member 310 is perpendicular to the second direction (X direction), that is, the axis of rotation of the swing arm 320 is in the XY plane and changes as the rotating member 310 rotates relative to the first swing arm assembly 200. This arrangement facilitates the swing arm 320 to drive the connecting member 330 to swing up and down relative to the rotating arm member 210 along the second direction, so as to move closer to or away from the material box 900, and facilitates the connection or disconnection of the swing arm 320 and the material box 900.

[0125] In some embodiments, refer to Figure 7 and Figure 8 As shown, the fork structure provided in this embodiment of the application further includes:

[0126] The second drive assembly 700 is connected to the rocker arm 320 and drives the rocker arm 320 to rotate about a third direction relative to the rotating member 310.

[0127] It is understood that by setting the second drive assembly 700 and connecting it to the rocker arm 320, the rocker arm 320 is driven to rotate relative to the rotating member 310.

[0128] For example, the rotating component 310 is a rotating cylinder, and the rocker arm 320 is partially bent and located inside the rotating cylinder, and is hinged to the rotating cylinder. The second drive assembly 700 includes a second drive motor 710, and the output end of the second drive motor 710 is equipped with an eccentric shaft 720. The eccentric shaft 720 is connected to the bent portion of the rocker arm 320 through a connecting rod 730, so that the second drive motor 710 drives the eccentric shaft 720 to rotate, and the eccentric shaft 720 drives the rocker arm 320 to rotate up and down through the connecting rod 730, thereby causing the connecting component 330 to move up and down along the Z-axis relative to the base 100.

[0129] In some embodiments, refer to Figure 1 and Figure 4 As shown, the fork structure provided in this application embodiment also includes a guide assembly 800, which is disposed on the base 100, and the first swing arm assembly 200 is slidably connected to the guide assembly 800.

[0130] By setting the guide component 800, the first swing arm component 200 is slidably connected to the base 100 through the guide component 800, which can facilitate the improvement of the stability and smoothness of the sliding of the first swing arm component 200.

[0131] In some embodiments, the guide component 800 includes:

[0132] The slide rail 810 is arranged along the moving direction of the first swing arm assembly 200;

[0133] The slider 820 is slidably connected to the slide rail 810. The first swing arm assembly 200 is disposed on the slider 820, and the slider 820 is connected to the first drive assembly 400.

[0134] Two slide rails 810 are provided, and the two slide rails 810 are located on opposite sides of the first swing arm assembly 200, providing more stable support and guidance for the first swing arm assembly 200.

[0135] A slider 820 is slidably mounted on the slide rail 810. The slider 820 is connected to the first drive assembly 400. The first swing arm assembly 200 is mounted on the slider 820, thereby making the movement of the first swing arm assembly 200 more stable and the fork structure more compact.

[0136] For example, the specific process of picking up and placing the material bin 900 using the fork structure is as follows:

[0137] Please refer to Figure 10 In the initial state (see Figure 10 (In the middle position fork state) The first swing arm assembly 200, the second swing arm assembly 300, and the connector 330 are all in the middle position of the linkage 500. When picking up the material box 900, under the drive of the first drive assembly 400, the first swing arm assembly 200 drives the second swing arm and the connector 330 to move toward the side where the material box 900 is located. The second drive assembly 700 drives the second swing arm assembly 300 to drive the connector 330 to dock with the material box 900 in the connecting groove 910 of the fork structure. Then, the first drive assembly 400 causes the first swing arm assembly 200, the second swing arm assembly 300, and the connector 330 to bring the material box 900 into the fork structure.

[0138] When the material box 900 needs to be placed, depending on the position of the material box 900, if the material box 900 is to be placed on the same side of the fork structure, the material box 900 can be placed in reverse according to the above operation. If the material box 900 is to be placed on opposite sides of the fork structure, then during the process of placing the material box 900 by the fork structure, the connecting piece 330 needs to be disengaged from the originally connected groove 910 and moved to connect with another connected groove 910 of the same material box 900 so that the fork structure can place the material box 900 smoothly.

[0139] This fork structure is designed so that the first swing arm assembly 200, the second swing arm assembly 300, and the connector 330 are all positioned along the Z direction and can each move in the XY plane. The fork structure can be used to pick up and put down the material box 900 simply by the connector 330 and the swing arm 320 entering the bottom of the material box 900 and docking with the connecting groove 910. This makes the fork structure more compact, reduces the space occupied during operation, and reduces the reserved space at the bottom of the material box 900, thereby increasing the storage density of the material box 900.

[0140] On the other hand, this application also provides a robot, including a robot body and a fork structure as described in any of the above embodiments, wherein the fork structure is connected to the robot body.

[0141] The fork structure has been described in detail in the above embodiments and will not be repeated here.

[0142] The robot provided in this application has a fork structure. A first drive assembly 400 and a linkage 500 are provided on the base 100 of the fork structure. A first swing arm assembly 200 connected to the first drive assembly 400 and the linkage 500 is provided on the base 100. A second swing arm assembly 300 is provided on the first swing arm assembly 200. The first swing arm assembly 200 and the second swing arm assembly 300 are connected by a transmission assembly 600. A connector 330 is also provided on the second swing arm assembly 300 to dock with the material box 900.

[0143] This configuration allows the first swing arm assembly 200 to move relative to the base 100 along a first direction under the drive of the first drive assembly 400. Simultaneously, with the cooperation of the first swing arm assembly 200 and the linkage 500, the first swing arm assembly 200 can rotate relative to the base 100 around a second direction, achieving synchronous movement and rotation of the first swing arm assembly 200 relative to the base 100. The second swing arm assembly 300 is mounted on the first swing arm assembly 200. Therefore, the position of the second swing arm assembly 300 relative to the base 100 can change synchronously with the movement of the first swing arm assembly 200. Furthermore, the second swing arm assembly 300 can further rotate relative to the first swing arm assembly 200 around a second direction under the drive of the transmission assembly 600, causing the connecting member 330 on the second swing arm assembly 300 to move with the second swing arm assembly 300 and protrude from the base 100 along the direction of movement. This facilitates docking of the connecting member 330 with the material box 900, thereby allowing the material box 900 to be picked up or placed.

[0144] Since the first swing arm assembly 200 can move forward or backward along the first direction and rotate forward or backward around the second direction, the first swing arm assembly 200 can drive the connecting member 330 to move forward and backward through the second swing arm assembly 300. This allows the connecting member 330 to dock with the material box 900 in two opposite directions with a large stroke. As a result, when the fork structure picks up and puts down the material box 900, there is no need to frequently change the orientation, making the picking up and putting down of the material box 900 by the fork structure more smooth, convenient and quick.

[0145] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A forklift structure, characterized in that, include: A base, on which a first drive assembly and a linkage component are disposed; A first swing arm assembly is disposed on the base and connected to the first drive assembly and the linkage. The first swing arm assembly moves relative to the base along a first direction under the drive of the first drive assembly. At the same time, the first swing arm assembly cooperates with the linkage to rotate around a second direction. A second swing arm assembly is disposed on the first swing arm assembly to follow the movement of the first swing arm assembly. A transmission assembly is disposed between the first swing arm assembly and the second swing arm assembly. The first swing arm assembly drives the second swing arm assembly to rotate relative to the first swing arm assembly about the second direction through the transmission assembly. The free end of the second swing arm assembly is provided with a connector, which is configured such that when the first swing arm assembly moves to the end of the base, the connector protrudes from the base in the direction of movement of the first swing arm assembly for docking with the material box.

2. The fork structure according to claim 1, characterized in that, The first drive assembly is disposed on the base. The first drive assembly includes a first drive motor, a transmission component and at least two rotating wheels. The at least two rotating wheels are rotatably disposed on the base. The first drive motor is connected to the rotating wheels. The transmission component is wound around the at least two rotating wheels and is connected to the first swing arm assembly. The first drive motor is configured to drive the wheel to rotate, so that the wheel drives the first swing arm assembly to move through the transmission member.

3. The fork structure according to claim 1, characterized in that, The linkage component is fixedly mounted on the base, and the first swing arm assembly is engaged with the linkage component. When the first swing arm assembly moves relative to the base, the linkage engages with the first swing arm assembly to cause the first swing arm assembly to rotate relative to the base.

4. The fork structure according to claim 3, characterized in that, The first swing arm assembly includes: A rotating arm component, which is rotatably mounted on the first drive assembly and connected to the second swing arm assembly; The rotating arm is engaged with the linkage.

5. The fork structure according to claim 4, characterized in that, The linkage component is a rack arranged along the first direction, and the rotating arm component has a plurality of meshing teeth arranged at intervals along the arc, the meshing teeth meshing with the rack.

6. The fork structure according to claim 1, characterized in that, The transmission component is a planetary gear set.

7. The fork structure according to claim 6, characterized in that, The planetary gear set includes: A sun gear is fixedly mounted on the first drive assembly, and the first swing arm assembly is connected to the sun gear and rotates relative to the sun gear; A first planetary gear, which is rotatably mounted on the first swing arm assembly and meshes with the sun gear; The second planetary gear is rotatably mounted on the first swing arm assembly and meshes with the first planetary gear; the second planetary gear is connected to the second swing arm assembly. The sun gear is configured to drive the second planetary gear to rotate via the first planetary gear when the first swing arm assembly moves and rotates, so that the second planetary gear drives the second swing arm assembly to rotate.

8. The fork structure according to claim 7, characterized in that, The radius of the sun gear is greater than the radii of the first planetary gear and the second planetary gear.

9. The fork structure according to claim 7, characterized in that, The second swing arm assembly includes: A rotating component, the rotating component being connected to the second planetary gear, and the rotating component and the second planetary gear rotating synchronously around the second direction; A swing arm is mounted on the rotating member, and a connecting member is mounted on the swing arm. The rotating member is configured to rotate relative to the first swing arm assembly under the drive of the transmission assembly, so as to drive the swing arm to rotate and allow the swing arm to pick up and place the material box through the connecting member.

10. The fork structure according to claim 9, characterized in that, The distance from the rotation center of the swing arm to the center of the connector is equal to the distance from the rotation center of the first swing arm assembly to the rotation center of the swing arm.

11. The fork structure according to claim 9, characterized in that, The swing arm and the rotating member are rotatably connected in a third direction, so that the swing arm drives the connecting member to move along the second direction.

12. The fork structure according to claim 11, characterized in that, Also includes: A second drive assembly is connected to the swing arm, and the second drive assembly drives the swing arm to rotate relative to the rotating member about the third direction.

13. The fork structure according to any one of claims 1-8, characterized in that, It also includes a guide assembly, which is disposed on the base, and the first swing arm assembly is slidably connected to the guide assembly.

14. The fork structure according to claim 13, characterized in that, The guiding component includes: A slide rail is provided along the moving direction of the first swing arm assembly; A slider is slidably connected to the slide rail, a first swing arm assembly is disposed on the slider, and the slider is connected to the first drive assembly.

15. A robot, characterized in that, It includes a robot body and a fork structure as described in any one of claims 1-14, wherein the fork structure is connected to the robot body.

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