Turnover fork arm mechanism, elevator module and transfer robot

Abstract

The utility model discloses a reversible fork arm mechanism, elevator module and transfer robot, the reversible fork arm mechanism includes: a fork arm body, which forms a fork arm support position suitable for supporting a work bin, one side part or two corresponding side parts of the fork arm body perpendicular to the work bin forking direction can laterally turn over, and the fork arm body forms a fork arm support position suitable for supporting the work bin; the fork arm supporting position and the material box are inclined, and the material box sorting visual field is expanded; and the switching structure is connected with the fork arm body and is suitable for positioning the fork arm body. According to the utility model, the fork arm body is arranged to be in a form capable of laterally overturning, so that the fork arm can adapt to workers with different heights when goods in the material box are sorted, the sorting view after the material box is laterally overturned is larger, and the goods are more conveniently sorted.

Description

Technical Field

[0001] The utility model relates to the technical field of warehousing, and in particular to a flippable fork arm mechanism, a hoist module and a handling robot. Background Art

[0002] The existing warehousing industry mostly uses handling robots with integrated automatic climbing and moving capabilities to store and transport goods. The fork arm assembly of the handling robot usually does not have a flipping function, so the position of the cargo box on the fork arm assembly of the handling robot is relatively fixed. However, when picking goods at the workstation, it is difficult to ensure that the height of the cargo box is suitable for all workers due to the different heights of the workers, and the picking field of the cargo box is small, which is not convenient for the workers to pick the goods. Utility Model Content

[0003] Therefore, the technical problem to be solved by the utility model is to overcome the defect that the fork arm group of the handling robot does not have a flipping function, resulting in a small picking field of view for the cargo box, thereby providing a flippable fork arm mechanism, a lifting machine module and a handling robot.

[0004] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0005] A reversible fork arm mechanism, comprising:

[0006] A fork arm body, wherein the top of the fork arm body forms a fork arm support position suitable for supporting the material box, and one side portion or the corresponding two side portions of the fork arm body perpendicular to the material box forking direction can be flipped sideways to tilt the fork arm support position and the material box to expand the material box picking field;

[0007] A transition structure, wherein the transition structure is connected to the fork arm body and is suitable for positioning the fork arm body.

[0008] Further optimizing the technical solution, the reversible fork arm mechanism is a reversible fork arm mechanism without driving force;

[0009] The fork arm body is a split structure, and the fork arm body includes a first fork arm and a second fork arm spaced apart from each other, and the first fork arm and / or the second fork arm are slidably assembled with the transfer structure through a sliding module.

[0010] The bottom end of the first fork arm or the second fork arm is in contact with the ramp structure, and the ramp structure is suitable for raising the height of the first fork arm or the second fork arm.

[0011] To further optimize the technical solution, the sliding module includes:

[0012] A sliding plate, the sliding plate is connected to the side wall of the transfer structure, and a slideway is arranged on the side wall of the sliding plate;

[0013] The slider is connected to the first fork arm or the second fork arm, and the slider is slidably assembled with the sliding plate.

[0014] To further optimize the technical solution, a groove is provided at the bottom of the first fork arm and / or the second fork arm, a fork arm pulley is rotatably arranged in the groove, and the fork arm pulley can contact the ramp structure.

[0015] Further optimizing the technical solution, the reversible fork arm mechanism is a reversible fork arm mechanism without driving force;

[0016] The fork arm body is an integrated structure, and the middle part of the fork arm body is rotatably connected to the transfer structure;

[0017] The bottom end of one side of the fork arm body is in contact with the ramp structure, and the ramp structure is suitable for raising the height of one side of the fork arm body; when the fork arm body moves along the ramp structure, the side of the fork arm body in contact with the ramp structure is lifted, and the side of the fork arm body not in contact with the ramp structure is lowered.

[0018] Further optimizing the technical solution, the reversible fork arm mechanism is a reversible fork arm mechanism with driving force;

[0019] The fork arm body is an integrated structure, the middle part of the fork arm body is rotatably connected to the transfer structure, one side of the fork arm body is flipped laterally by a driving structure, the telescopic rod end of the driving structure is hinged to the fork arm body, and the fixed end of the driving structure is hinged to the transfer structure.

[0020] Further optimizing the technical solution, the reversible fork arm mechanism is a reversible fork arm mechanism with driving force;

[0021] The fork arm body is a split structure, and the fork arm body comprises a first fork arm and a second fork arm spaced apart from each other, and the first fork arm or the second fork arm is set as a movable fork arm;

[0022] The middle part of the fork arm body is rotatably connected to the transfer structure, one side of the fork arm body is flipped sideways by the driving structure, the telescopic rod end of the driving structure is hinged to the movable fork arm, and the fixed end of the driving structure is hinged to the transfer structure.

[0023] To further optimize the technical solution, an extension plate is provided downwardly in the middle of the bottom end of the fork arm body, a swing shaft is connected to the extension plate, a bearing seat is connected to the adapter structure, and a bearing rotatably connected to the swing shaft is provided in the bearing seat.

[0024] Hoist module, including:

[0025] Improve the framework;

[0026] A lifting mechanism, wherein the lifting mechanism is arranged on the lifting frame;

[0027] At least one of the reversible fork arm mechanisms is disposed on the lifting mechanism and is lifted and lowered driven by the lifting mechanism.

[0028] To further optimize the technical solution, the lifting frame is divided into a first frame and a second frame connected thereto, and at least one slide groove is provided on the second frame;

[0029] The lifting mechanism is positioned on the first frame, and the lifting mechanism is connected to the transfer structure of the flippable fork arm mechanism;

[0030] The transfer structure of the flippable fork arm mechanism is slidably assembled in the slide groove of the second frame through a sliding guide assembly.

[0031] To further optimize the technical solution, the second frame is provided with an in-position sensing module suitable for sensing the position of the material box on the flippable fork arm mechanism.

[0032] Handling robots, including:

[0033] AGV chassis module;

[0034] The elevator module is arranged on the AGV chassis module.

[0035] The technical solution of the utility model has the following advantages:

[0036] 1. The utility model provides a reversible fork arm mechanism, which is installed on a handling robot. The fork arm body is configured to be capable of sideways flipping, so that when picking goods in a material box, it can adapt to workers of different heights. After the material box is flipped sideways, the picking field of view is larger, which makes it easier to pick goods.

[0037] 2. The utility model provides a reversible fork arm mechanism, which is configured in two different forms: a reversible fork arm mechanism without driving force and a reversible fork arm mechanism with driving force. The type of reversible fork arm mechanism can be reasonably selected according to actual needs. The reversible fork arm mechanism without driving force is simpler in structure than the reversible fork arm mechanism with driving force, which can save costs and energy.

[0038] The non-driving force reversible fork arm mechanism is set in two schemes; one scheme is described as that the first fork arm and the second fork arm are independent movable components, and the fork arm is moved down or up in cooperation with the ramp structure; the other scheme is described as that the first fork arm and the second fork arm are a whole, and the fork arm on one side is moved up or down in cooperation with the ramp structure to drive the fork arm on the other side to move down or up. The utility model can select the scheme of the non-driving force reversible fork arm mechanism according to actual needs, which is very convenient.

[0039] There are two schemes for the fork arm mechanism with driving force to be turned over: one scheme is described as that the first fork arm and the second fork arm are independent movable components, and the first fork arm or the second fork arm is driven to move down or up through the driving structure; another scheme is described as that the first fork arm and the second fork arm are a whole, and the fork arm on one side is driven to move down or up through the upward or downward movement of the fork arm on the other side. The utility model can select the scheme of the fork arm mechanism with driving force to be turned over according to actual needs, which is very convenient.

[0040] 3. The utility model provides a reversible fork arm mechanism, the bottom of the first fork arm or the second fork arm contacts the slope structure, thereby lifting the first fork arm or the second fork arm. The utility model controls the lifting height of the fork arm by controlling the degree of movement of the fork arm on the slope structure, thereby controlling the degree of inclination of the material box, and can easily incline the material box to a degree suitable for workers to pick.

[0041] 4. The utility model provides a flippable fork arm mechanism, in which a groove is provided at the bottom of the first fork arm and / or the second fork arm, and a fork arm pulley is rotatably arranged in the groove. The fork arm pulley can contact the ramp structure, thereby reducing the friction force when the fork arm moves on the ramp structure, making it easier for the fork arm pulley to move on the ramp structure.

[0042] 5. The utility model provides a reversible fork arm mechanism. Since the telescopic rod end of the driving structure is hinged to the fork arm body, and the fixed end of the driving structure is hinged to the transfer structure, when the telescopic rod end of the driving structure is extended or shortened, the driving structure can drive one side of the fork arm body to flip sideways, that is, the fork arm body can tilt. The degree of lateral flipping of the fork arm body can be controlled by controlling the telescopic stroke of the driving structure, and then the degree of tilting of the material box can be controlled.

[0043] 6. The elevator module provided by the utility model sets the reversible fork arm mechanism on the lifting mechanism, and the two are used together, so that the elevator module has both lifting function and lateral flipping function. By controlling the lifting height of the lifting mechanism and the lateral flipping degree of the reversible fork arm mechanism, the picking needs of the staff for the goods can be met.

[0044] 7. The handling robot provided by the utility model can support multiple fork arm designs. When it is necessary to pick the goods in the material box, the tilting and flipping of the material box can be controlled by the flippable fork arm mechanism in the lifting machine module, thereby improving the efficiency of the staff in screening the goods. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0046] Figure 1 A schematic structural diagram of a reversible fork arm mechanism provided in Example 1 of the utility model;

[0047] Figure 2 A schematic diagram of the structure of the elevator module provided in Example 5 of the utility model;

[0048] Figure 3 A schematic diagram of the structure of the transport robot provided in Example 7 of the utility model during actual operation;

[0049] Figure 4 For this utility model Figure 2 A partial enlarged view of

[0050] Figure 5 A schematic structural diagram of a reversible fork arm mechanism provided in Example 3 of the utility model;

[0051] Figure 6 An exploded view of the elevator module provided in Example 6 of the utility model;

[0052] Figure 7 An exploded view of the elevator module provided in Example 5 of the utility model;

[0053] Figure 8 A structural schematic diagram of a sliding guide assembly of a hoist module provided by the utility model;

[0054] Fig. 9 A schematic diagram of the structure of the lifting frame of the lifting machine module provided by the utility model when connected with the sliding guide assembly;

[0055] Fig.10 A cutaway view of the lifting frame and the sliding guide assembly of the lifting machine module provided by the utility model when assembled;

[0056] Fig.11 A structural schematic diagram of the lifting mechanism of the lifting machine module provided by the utility model;

[0057] Fig.12 A schematic diagram of the structure of the connection assembly of the hoist module provided by the utility model;

[0058] Fig.13 A schematic diagram of the structure of the elevator module provided in Example 6 of the utility model;

[0059] Fig.14 A schematic structural diagram of the elevator module from another perspective provided in Example 6 of the utility model;

[0060] Fig.15 A schematic diagram of the structure of the elevator module provided in Example 6 of the utility model when driving the material box to flip sideways;

[0061] Fig.16 The front view of the transport robot provided in Example 7 of the utility model during actual operation

[0062] Fig.17 This is a structural schematic diagram of the reversible fork arm mechanism of the hoist module provided by the utility model during operation.

[0063] Reference numerals:

[0064] 1. Reversible fork arm mechanism, 11. fork arm body, 111. first fork arm, 112. second fork arm, 113. third fork arm, 114. baffle plate, 115. extension plate, 116. swing shaft, 12. adapter structure, 121. bearing seat, 122. first connecting hole, 123. bearing, 14. driving structure, 141. push rod motor, 142. motor seat positioning plate, 143. push rod positioning plate, 15. sliding plate, 16. slider, 17. fork arm pulley;

[0065] 2. lifting mechanism, 21. synchronous belt, 23. driving wheel, 24. driven wheel, 25. driving motor, 26. first driving wheel, 27. transmission belt, 28. sliding guide assembly, 281. L-shaped positioning plate, 282. first moving wheel, 283. second moving wheel, 29. connecting assembly, 291. second connecting hole, 210. second driving wheel;

[0066] 3. lifting frame, 31. first slide, 32. second slide;

[0067] 4. AGV chassis module;

[0068] 5. Slope structure;

[0069] 6. Material box. DETAILED DESCRIPTION

[0070] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that the utility model sets the fork arm body in a form that can be flipped laterally to illustrate the reversible fork arm mechanism of the present utility model is only a preferred embodiment, and does not limit the protection scope of the reversible fork arm mechanism.

[0071] It should be understood that the terms used herein are for the purpose of describing specific example embodiments only and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "a", "an" and "an" as used herein may also be meant to include the plural forms. The terms "comprise", "include" and "have" are inclusive and therefore specify the presence of stated features, elements and / or components, but do not exclude the presence or addition of one or more other features, elements, components, and / or combinations thereof.

[0072] Although the terms first, second, etc. may be used in the text to describe multiple elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. These terms may only be used to distinguish one element, component, region, layer or section from another region, layer or section. Unless the context clearly indicates otherwise, terms such as "first", "second" and other numerical terms do not imply order or sequence when used in the text. In addition, in the description of the utility model, unless otherwise clearly specified and limited, the terms "set" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For those skilled in the art, the specific meanings of the above terms in the utility model can be understood according to the specific circumstances.

[0073] For ease of description, spatial relative terms can be used in the text to describe the relationship of an element or feature relative to another element or feature as shown in the figure, and these relative terms are, for example, "front", "rear", "middle", "inside", "longitudinal", "lateral", "side", "vertical", "outside", etc. Such spatial relative terms are intended to include different orientations of the mechanism in use or operation in addition to the orientation depicted in the figure. For example, if the mechanism in the figure flips, the element described as "below other elements or features" or "below other elements or features" will be subsequently oriented to "above other elements or features" or "above other elements or features". Therefore, the example term "below..." can include the orientation on and below. The mechanism can be oriented in addition (rotated 90 degrees or in other directions) and the spatial relative descriptors used in the text are interpreted accordingly.

[0074] At present, transport and handling robots are increasingly being used in automated and intelligent warehousing systems to complete the picking, handling, and storage of items. Compared with traditional warehousing systems that rely on manual labor, automated and intelligent warehousing systems have the advantages of short response time, high efficiency in warehouse and in and out of warehouse operations, and high accuracy.

[0075] The existing warehousing industry mostly uses handling robots with integrated automatic climbing and moving capabilities to store and transport goods. The fork arm assembly of the handling robot usually does not have a flipping function, so the position of the cargo box on the fork arm assembly of the handling robot is relatively fixed. However, when picking goods at the workstation, it is difficult to ensure that the height of the cargo box is suitable for all workers due to the different heights of the workers, and the picking field of the cargo box is small, which is not convenient for the workers to pick the goods.

[0076] Based on this, the utility model designs a flippable fork arm mechanism, a lifting machine module and a handling robot. The fork arm body is designed to be flippable laterally, so that the material box can be tilted when screening goods, thereby increasing the screening field of view and improving the screening efficiency of goods by the staff.

[0077] In addition, the utility model designs two different types of reversible fork arm mechanisms, namely, a reversible fork arm mechanism without driving force and a reversible fork arm mechanism with driving force, and the type of reversible fork arm mechanism can be reasonably selected according to actual needs. Whether it is a reversible fork arm mechanism without driving force or a reversible fork arm mechanism with driving force, the purpose is to make the material box tilt laterally. The reversible fork arm mechanism without driving force adopts a simple pulley structure, which is simpler in structure than the reversible fork arm mechanism with driving force, and can save costs and energy.

[0078] Example 1

[0079] The specific embodiments of the present invention are described in detail below in conjunction with the reversible fork arm mechanism of the first aspect of the present invention.

[0080] like Figure 1 , Figure 2 , Figure 3 As shown, this embodiment discloses a reversible fork arm mechanism, including a fork arm body 11 and a transfer structure 12. The top of the fork arm body 11 constitutes a fork arm support position suitable for supporting the material box 6, and the side portion or the corresponding two side portions of the fork arm body 11 perpendicular to the forking direction of the material box 6 can be laterally flipped to tilt the fork arm support position and the material box 6, thereby expanding the picking field of the material box 6. The transfer structure 12 is connected to the fork arm body 11, and the transfer structure 12 is suitable for positioning the fork arm body 11.

[0081] In this embodiment, the fork arm body 11 is configured to be capable of being flipped sideways, so that when picking goods in the material box 6, it can adapt to workers of different heights. After the material box 6 is flipped sideways, the picking field of view is larger, which makes it easier to pick goods.

[0082] In the present embodiment, the lateral flipping of the material box 6 does not mean that the material box 6 is completely flipped over to dump the goods, but only slightly tilts the material box 6. The goods are still in the material box 6 at this time. The main purpose of the lateral flipping of the material box 6 is to expand the picking field of the material box 6. It is a step taken when the goods in the material box 6 need to be picked. In the remaining links, the material box 6 does not flip sideways.

[0083] It should be noted that the reversible fork arm mechanism in this embodiment is not limited to being arranged on the lifting mechanism, but can also be directly arranged on the lifting frame of the transport robot.

[0084] In some embodiments, the reversible fork arm mechanism is a non-driving reversible fork arm mechanism. Figure 1 As shown, the fork arm body 11 is a split structure, and the fork arm body 11 includes a first fork arm 111 and a second fork arm 112 spaced apart from each other. The first fork arm 111 and / or the second fork arm 112 are slidably assembled with the transfer structure 12 via a sliding module. Figure 3 As shown, the bottom end of the first fork arm 111 or the second fork arm 112 is in contact with the ramp structure 5 , and the ramp structure 5 is suitable for raising the height of the first fork arm 111 or the second fork arm 112 .

[0085] In this embodiment, one or both of the first fork arm 111 and the second fork arm 112 are configured to be able to slide up and down. When picking goods, the fork arm configured to slide up and down slides onto the ramp structure 5, and the bottom of the first fork arm 111 or the second fork arm 112 contacts the ramp structure 5, thereby lifting the first fork arm 111 or the second fork arm 112. In this embodiment, the lifting height of the fork arm is controlled by controlling the degree of movement of the fork arm on the ramp structure 5, thereby controlling the degree of inclination of the material box 6, and the material box 6 can be easily tilted to a degree suitable for workers to pick.

[0086] In some embodiments, the slope structure 5 is gradually inclined upward from the rear section to the front section, and the bottom front end of the first fork arm 111 or the second fork arm 112 is in contact with the slope structure 5, so that when the first fork arm 111 or the second fork arm 112 moves forward, it can move upward along the slope structure to achieve the lifting of the first fork arm 111 or the second fork arm 112.

[0087] As a preferred embodiment, the slope structure 5 can be in any form, and the slope structure has an inclination angle of 15° relative to the horizontal line, such as Figure 3 As shown, the optimal inclination angle of the slope structure 5 is 15°, that is, when the inclination degree of the material box 6 is 15°, the picking field of the material box 6 is optimal. It should be noted that the inclination angle of the slope structure 5 of this embodiment is not limited to 15°, and can also be set to other inclination angles.

[0088] In some embodiments, at least one baffle 114 is further provided on the first fork arm 111 and the second fork arm 112 , and when the material box is picked up by the fork, the baffle 114 blocks the material box.

[0089] In some embodiments, the adapter structure 12 includes an adapter bracket plate, which has a certain height and a groove is provided at the top of the adapter bracket plate. At least one third fork arm 113 is provided in the groove. When the first fork arm 111 and the second fork arm 112 are not tilted, the third fork arm 113 is flush with the first fork arm 111 and the second fork arm 112 in the height direction.

[0090] In some embodiments, Figure 4As shown, the sliding module includes a sliding plate 15 and a slider 16. The sliding plate 15 is connected to the side wall of the transition structure 12. More specifically, a plurality of threaded holes are vertically arranged on the sliding plate 15, and the sliding plate 15 and the transition structure are connected by a plurality of screws. Slideways are arranged on the two side walls of the sliding plate 15, and the slider 16 is slidably assembled with the sliding plate 15, and the height of the sliding plate 15 is the same as the height of the transition structure, which increases the length of the slideway arrangement and increases the sliding range of the slider 16. The slider 16 is connected to the first fork arm 111 or the second fork arm 112. More specifically, a plurality of threaded holes are opened on the rear side wall of the slider 16, and the rear side wall of the slider 16 is connected to the first fork arm 111 or the second fork arm 112 by screws.

[0091] In this embodiment, when the fork arm provided with the sliding module contacts the ramp structure, the slider 16 on the fork arm can be moved upward along the sliding plate 15, thereby realizing the lifting of the fork arm. In this process, there is no need to provide power for the lifting of the fork arm separately. The driving force of the AGV chassis module of the transport and handling robot itself can drive the overall forward and backward movement of the flip fork arm mechanism. The structure is very simple, and the lifting of the fork arm can be controlled very conveniently.

[0092] In some embodiments, Figure 1 and Figure 2 As shown, a groove is provided at the bottom of the first fork arm 111 and / or the second fork arm 112 , and a fork arm pulley 17 is rotatably arranged in the groove, and the fork arm pulley 17 can contact the ramp structure 5 .

[0093] In this embodiment, if Figure 3 As shown, the fork arm pulley 17 can be in rolling contact with the ramp structure 5, thereby reducing the friction force when the fork arm moves on the ramp structure 5, so that the fork arm pulley 17 can move on the ramp structure 5 more conveniently.

[0094] The independent side fork arm in the present invention can be raised and lowered. Taking the first fork arm 111 as an example, the specific operation process of the above-mentioned reversible fork arm mechanism is as follows:

[0095] When the fork arm pulley on the first fork arm 111 contacts the slope of the ramp structure, the first fork arm 111 can be moved up a certain distance through the up and down sliding modules. When the AGV chassis module is working, when it drives to the target position preset by the ramp structure, the first fork arm 111 rises, and the second fork arm 112 does not move. Finally, the height difference between the first fork arm and the second fork arm causes the material box to tilt 15°. Similarly, when the AGV chassis module drives out, the first fork arm and the second fork arm return to their original positions, and the material box remains in a horizontal position.

[0096] It should be noted that the lifting process of the second fork arm 112 of the present invention is the same as the above process.

[0097] In addition, when the first fork arm and the second fork arm can be lifted and lowered, a slope structure can be arranged under the first fork arm and the second fork arm respectively, and the first fork arm and the second fork arm are moved to the slope structure respectively, and the inclination degrees of the slope structures under the first fork arm and the second fork arm are different, so as to create a height difference between the first fork arm and the second fork arm, and finally the material box is also tilted 15°.

[0098] Example 2

[0099] This embodiment discloses a reversible fork arm mechanism, which is a reversible fork arm mechanism without driving force.

[0100] The difference between this embodiment and the first embodiment is that the fork arm body 11 of this embodiment is an integrated structure, and the middle part of the fork arm body 11 is rotatably connected with the transfer structure 12. The bottom end of one side of the fork arm body 11 is in contact with the ramp structure 5, and the ramp structure 5 is suitable for raising the height of one side of the fork arm body 11. When the fork arm body 11 moves along the ramp structure 5, the side of the fork arm body 11 in contact with the ramp structure 5 is lifted, and the side of the fork arm body 11 not in contact with the ramp structure 5 is lowered.

[0101] This embodiment does not disclose a structural schematic diagram. The structure of this embodiment is similar to that of Embodiment 3. The difference between this embodiment and Embodiment 3 is that this embodiment does not have a driving structure, but instead has a slope structure at the bottom of the fork arm body.

[0102] This embodiment is a special form of embodiment 1, which is also a mode without a driving motor. The fork arm pulley on the fork arm of embodiment 1 can be converted into a universal wheel. When one side of the universal wheel touches the slope, the fork arm on one side moves up 7.5° and the fork arm on the other side moves down 7.5°. At this time, the overall fork arm inclination angle is 15°.

[0103] Example 3

[0104] like Figure 5 As shown, this embodiment discloses a reversible fork arm mechanism. The difference between this embodiment and embodiment 1 is that the reversible fork arm mechanism in this embodiment is a reversible fork arm mechanism with driving force, and the fork arm body 11 in this embodiment is an integrated structure, and the fork arm body 11 as a whole relies on the driving structure 14 to perform side flipping.

[0105] The fork arm body 11 includes at least two fork arms. Figure 5 As shown, taking the fork arm body 11 with three forks as an example, the fork arm body 11 includes a first fork arm 111, a second fork arm 112, and a third fork arm 113, and the first fork arm 111, the second fork arm 112 and the third fork arm 113 are fixedly connected by a connecting rod.

[0106] In some embodiments, Figure 5 As shown, the middle part of the fork arm body 11 is rotatably connected to the transfer structure, and one side of the fork arm body 11 is flipped sideways through the driving structure 14, that is, the left side or the right side of the fork arm body 11 is flipped sideways through the driving structure 14. The telescopic rod end of the driving structure 14 is hinged to the fork arm body 11, and the fixed end of the driving structure 14 is hinged to the transfer structure.

[0107] In this embodiment, because the telescopic rod end of the driving structure 14 is hinged to the fork arm body 11, and the fixed end of the driving structure 14 is hinged to the transfer structure, when the telescopic rod end of the driving structure 14 is extended or shortened, the driving structure 14 can drive one side of the fork arm body 11 to flip sideways, that is, the fork arm body 11 can tilt.

[0108] As a further improved embodiment, the lateral flipping degree of the fork arm body 11 can be controlled by controlling the telescopic stroke of the driving structure 14, thereby controlling the tilting degree of the material box 6.

[0109] In some embodiments, the driving structure 14 is an electric driving structure, a pneumatic driving structure, or a hydraulic driving structure, and the driving form of the driving structure can be selected according to actual conditions.

[0110] As a specific embodiment, Figure 5 As shown, the driving structure 14 is a push rod motor 141. The telescopic rod end of the push rod motor is hinged on the push rod positioning plate 143, and the push rod positioning plate 143 is fixedly connected to the fork arm body 11. More specifically, a first U-shaped groove is provided on the push rod positioning plate 143, and the telescopic rod end of the push rod motor is arranged in the first U-shaped groove and is hinged to the inner side wall of the first U-shaped groove. The fixed end of the push rod motor is hinged on the motor seat positioning plate 142, and the motor seat positioning plate 142 is fixedly connected to the fork arm body 11. More specifically, a second U-shaped groove is provided on the motor seat positioning plate 142, and the fixed end of the push rod motor is arranged in the second U-shaped groove and is hinged to the inner side wall of the second U-shaped groove.

[0111] In this embodiment, the push rod positioning plate 143 is configured as a bent plate, so as to facilitate positioning the telescopic rod end of the push rod motor on the fork arm body 11. The motor seat positioning plate 142 is configured as a bent plate, so as to facilitate positioning the fixed end of the push rod motor on the adapter structure.

[0112] In some embodiments, the transfer structure includes a transfer bracket plate. The transfer bracket plate in this embodiment is structurally different from the transfer bracket plate in Example 1. The transfer bracket plate in this embodiment is provided with two intersecting inclined surfaces at the top, so that when the fork arm body 11 is tilted, it can contact the inclined surfaces, and the set inclined surfaces limit the inclination degree of the fork arm body 11, which can prevent the fork arm body 11 from flipping sideways too much.

[0113] In some embodiments, Figure 5 As shown, an extension plate 115 is provided downwardly at the middle of the bottom end of the fork arm body 11. Figure 6 As shown, the extension plate 115 is connected to a swing shaft 116, a bearing seat positioning groove is provided on the adapter bracket plate, a bearing seat 121 is connected to the adapter bracket plate, and a bearing 123 is provided in the bearing seat 121 to be rotatably connected to the swing shaft 116. In this embodiment, when the telescopic end of the driving structure 14 is extended, it can drive the swing shaft 116 of the fork arm body 11 to rotate around the bearing seat 121.

[0114] The operation process of the above-mentioned reversible fork arm mechanism is as follows:

[0115] Assuming that the fork arm body 11 flips 15°, 15° is the optimal tilt angle of this embodiment. The flippable fork arm mechanism has no front pulley and does not require a ramp external force structure. When the AGV travels to the target position, assuming that the drive structure is on the first fork arm, the drive structure drives the first fork arm to move up 7.5° and drives the second fork arm to move down 7.5°, and finally the tilt angle of the material box reaches 15°.

[0116] Example 4

[0117] This embodiment discloses a reversible fork arm mechanism, which is a reversible fork arm mechanism with driving force.

[0118] The difference between this embodiment and the third embodiment is that the fork arm body 11 of this embodiment is a split structure, and the fork arm body 11 includes a first fork arm 111 and a second fork arm 112 spaced apart from each other, and the first fork arm 111 or the second fork arm 112 is configured as a movable fork arm. The middle portion of the fork arm body 11 is rotatably connected to the transfer structure 12, and one side of the fork arm body 11 is flipped sideways by the driving structure 14, the telescopic rod end of the driving structure 14 is hinged to the movable fork arm, and the fixed end of the driving structure 14 is hinged to the transfer structure 12.

[0119] This embodiment does not disclose a structural schematic diagram. The fork arm body 11 of this embodiment is similar in structure to that of Embodiment 1. The difference between this embodiment and Embodiment 1 is that this embodiment does not have a ramp structure 5 but has a driving structure.

[0120] The operation process of the above-mentioned reversible fork arm mechanism is as follows:

[0121] Assuming that the fork arm body 11 flips 15°, the driving structure 14 drives the movable fork arm to move up or down 15°, and the other fork arm remains unchanged, ultimately causing the material box to tilt 15°.

[0122] Example 5

[0123] The specific embodiments of the present invention are described in detail below in conjunction with the elevator module of the second aspect of the present invention.

[0124] like Figures 2 to 4 , Figures 8 to 12 As shown, this embodiment discloses a lifting machine module, including a lifting frame 3, a lifting mechanism 2 and the reversible fork arm mechanism of embodiment 1. The reversible fork arm mechanism is arranged on the lifting mechanism 2 and is lifted and lowered under the driving of the lifting mechanism 2.

[0125] In this embodiment, the reversible fork arm mechanism is arranged on the lifting mechanism, and the two are used together, so that the lifting machine module has both the lifting function and the lateral flipping function. By controlling the lifting height of the lifting mechanism 2 and the lateral flipping degree of the reversible fork arm mechanism, the picking needs of the staff for the goods can be met.

[0126] At least one reversible fork arm mechanism is provided. When more than two reversible fork arm mechanisms are provided, each reversible fork arm mechanism serves as a material box containing position, which can improve the transportation efficiency.

[0127] In some embodiments, Figure 7 As shown, the lifting frame 3 is divided into a first frame and a second frame connected therebetween, and at least one slide groove is provided on the second frame. The lifting mechanism is positioned on the first frame, and the lifting mechanism is connected to the transfer structure of the flip fork arm mechanism. The sliding guide assembly 28 is connected to the transfer structure of the flip fork arm mechanism, and the sliding guide assembly 28 is slidably assembled in the slide groove of the second frame. A connecting assembly 29 is slidably mounted on the front side wall of the first frame, and the connecting assembly 29 and the transfer bracket plate 12 clamp the synchronous belt 21.

[0128] In this embodiment, the lifting mechanism can drive the flip fork arm mechanism to move up and down, and the flip fork arm mechanism slides along the sliding groove of the second frame through the sliding guide assembly during the lifting process, so that the lifting process of the flip fork arm mechanism is more stable.

[0129] In some embodiments, Figure 8As shown, the sliding guide assembly 28 includes an L-shaped positioning plate 281, a first moving wheel 282, and a second moving wheel 283. The L-shaped positioning plate 281 is connected to the transfer structure, at least one first moving wheel 282 is provided and is arranged on one side wall of the L-shaped positioning plate 281, and at least one second moving wheel 283 is provided and is arranged on the other side wall of the L-shaped positioning plate 281. Fig. 9 As shown, the second frame of the lifting frame 3 is vertically provided with a first slideway 31 and a second slideway 32, and the opening directions of the first slideway 31 and the second slideway 32 are perpendicular to each other. Fig.10 As shown, the first moving wheel 282 is slidably mounted in the first slideway 31, and the second moving wheel 283 is slidably mounted in the second slideway 32. Since two sets of moving wheels in different directions are provided in this embodiment, the reversible fork arm mechanism 1 is not easy to slip when moving up and down.

[0130] The lifting mechanism 2 may be a belt lifting mechanism, a chain lifting mechanism, or a cylinder or hydraulic cylinder lifting mechanism. This embodiment does not limit the specific form of the lifting mechanism.

[0131] In some embodiments, Fig.11 As shown, the lifting mechanism 2 is a belt lifting mechanism, and the lifting mechanism 2 includes a synchronous belt 21, a driving wheel 23, a driven wheel 24, a driving motor 25, a first driving wheel 26, a second driving wheel 210, and a transmission belt 27. The driven wheel 24 is rotatably provided at the top of the first frame of the lifting frame 3, and the driving wheel 23 is rotatably provided at the bottom of the first frame of the lifting frame 3, and a synchronous belt 21 is sleeved between the driving wheel 23 and the driven wheel 24. The driving wheel 23 is coaxially connected to the first driving wheel 26, and the first driving wheel 26 is located outside the first frame. The first driving wheel 26 is connected to the second driving wheel 210 through the transmission belt 27, and the second driving wheel 210 is coaxially connected to the driving motor 25.

[0132] In this embodiment, when the driving motor 25 is running, it can drive the second driving wheel 210 to rotate. The second driving wheel 210 drives the first driving wheel 26 and the driving wheel 23 to rotate through the transmission belt 27. The driving wheel 23 drives the synchronous belt 21 to rise and fall, thereby realizing the rise and fall of the reversible fork arm mechanism connected to the synchronous belt 21.

[0133] In some embodiments, vertical grooves are provided on the front side wall and the rear side wall of the first frame, and the synchronous belt 21 passes around the first frame and is located in the vertical grooves. A connecting component 29 is slidably mounted in the vertical groove of the front side wall of the first frame, such as Fig.12As shown, a plurality of second connection holes 291 are provided on the connection component 29, the connection component 29 is plate-shaped and is located behind the synchronous belt, a first connection hole 122 corresponding to the second connection hole 291 is provided on the adapter bracket plate, the adapter bracket plate is located in front of the synchronous belt, the adapter bracket plate and the connection component 29 are respectively located on both sides of the synchronous belt, the adapter bracket plate is connected to the connection component 29 by connecting screws, and the connecting screws pass through the first connection hole 122 and the second connection hole 291.

[0134] In some embodiments, an in-position sensing module is provided on the second frame, and the in-position sensing module is suitable for sensing the position of the material box 6 on the flippable fork arm mechanism, and then the next action of the AGV chassis module can be controlled according to the position of the material box 6.

[0135] Example 6

[0136] like Fig.13 , Fig.14 , Fig.15 , Figure 6 As shown, Fig.13 and Fig.14 It is a schematic diagram of the structure of the reversible fork arm mechanism when it is tilted. Figure 6 : is an exploded view of a hoist module. This embodiment discloses a hoist module, including a hoist frame 3, a hoist mechanism 2 and a reversible fork arm mechanism of embodiment 3. The reversible fork arm mechanism is arranged on the hoist mechanism 2 and is lifted and lowered under the drive of the hoist mechanism 2. The difference between this embodiment and embodiment 5 is that the specific structure of the reversible fork arm mechanism is different, and the other components are the same.

[0137] In this embodiment, the reversible fork arm mechanism is set on the lifting mechanism, and the two are used together, so that the elevator module has both lifting function and lateral flipping function. By controlling the lifting height of the lifting mechanism 2 and the lateral flipping degree of the reversible fork arm mechanism, the picking needs of the staff for the goods can be met. Fig.15 As shown, the flippable fork arm mechanism flips sideways to flip the material box 6 sideways.

[0138] Example 7

[0139] The specific embodiments of the present invention are described in detail below in conjunction with the handling robot according to the third aspect of the present invention.

[0140] like Figure 3 , Fig.16 , Fig.17 As shown, this embodiment discloses a transport robot, including an AGV chassis module 4 and an elevator module of embodiment 5. The elevator module is arranged on the AGV chassis module 4, and the AGV chassis module 4 drives the transport robot to move as a whole.

[0141] In this embodiment, the handling robot can support multiple fork arm designs. The lifting machine module has both lifting and lateral flipping functions. By controlling the lifting height of the lifting mechanism 2 and the lateral flipping degree of the flippable fork arm mechanism, the picking needs of the staff for the goods can be met.

[0142] When picking at a workstation, in order to facilitate picking by the staff and provide a better picking field of view, the bin needs to be tilted so that the picking field of view of the bin reaches the best position. The optimal tilt angle here is 15°.

[0143] The operation process of the above-mentioned handling robot is as follows:

[0144] like Fig.17 As shown, the independent side fork arms of the first fork arm or the second fork arm can move up and down. Figure 3 As shown in the figure, when the fork arm pulley on the first fork arm or the second fork arm contacts the slope, the first fork arm or the second fork arm can be moved up a certain distance through the sliding module. When the AGV is working, when it drives to the target position preset on the slope, the left fork arm (first fork arm) rises a certain distance, and the right fork arm (second fork arm) does not move. Finally, the height difference between the left and right forks causes the material box to tilt 15°, as shown in the figure. Fig.16 Similarly, when the AGV drives out, the left fork arm returns to its original position, and the material box remains in a horizontal position.

[0145] Or when the AGV is working, when it reaches the preset target position on the slope, the right fork arm (second fork arm) rises a certain distance, and the left fork arm (first fork arm) does not move. Finally, the height difference between the left and right forks causes the material box to tilt 15°. Similarly, when the AGV drives out, the right fork arm returns to its original position, and the material box remains horizontal.

[0146] Example 8

[0147] This embodiment discloses a transport robot, including an AGV chassis module 4 and an elevator module of embodiment 6. The elevator module is arranged on the AGV chassis module 4, and the AGV chassis module 4 drives the transport robot to move as a whole.

[0148] The operation process of the above-mentioned handling robot is as follows:

[0149] When the AGV travels to the target position, assuming that the driving structure is on the first fork arm, the driving structure drives the first fork arm to move up 7.5° and drives the second fork arm to move down 7.5°, ultimately making the inclination angle of the material box reach 15°.

[0150] Or when the AGV travels to the target position, assuming that the driving structure is on the second fork arm, the driving structure drives the second fork arm to move up 7.5° and drives the first fork arm to move down 7.5°, finally making the inclination angle of the material box reach 15°.

[0151] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the scope of protection of the invention of the utility model.

Claims

1. A reversible fork arm mechanism, characterized in that: include: A fork arm body (11), the top of the fork arm body (11) forming a fork arm support position suitable for supporting the material box (6), and a side portion or corresponding two side portions of the fork arm body (11) perpendicular to the forking direction of the material box (6) can be flipped sideways to tilt the fork arm support position and the material box (6) to expand the picking field of the material box (6); A transition structure (12), the transition structure (12) is connected to the fork arm body (11), and the transition structure (12) is suitable for positioning the fork arm body (11).

2. The reversible fork arm mechanism according to claim 1, characterized in that: The reversible fork arm mechanism is a reversible fork arm mechanism without driving force; The fork arm body (11) is a split structure, and the fork arm body (11) comprises a first fork arm (111) and a second fork arm (112) which are spaced apart from each other, and the first fork arm (111) and / or the second fork arm (112) are slidably assembled with the transfer structure (12) via a sliding module. The bottom end of the first fork arm (111) or the second fork arm (112) is in contact with the ramp structure (5), and the ramp structure (5) is suitable for raising the height of the first fork arm (111) or the second fork arm (112).

3. The reversible fork arm mechanism according to claim 2, characterized in that: The sliding module comprises: A sliding plate (15), the sliding plate (15) being connected to a side wall of the transfer structure (12), and a slideway being arranged on the side wall of the sliding plate (15); A sliding block (16), wherein the sliding block (16) is connected to the first fork arm (111) or the second fork arm (112), and the sliding block (16) is slidably assembled with the sliding plate (15).

4. The reversible fork arm mechanism according to claim 2 or 3, characterized in that: A groove is provided at the bottom of the first fork arm (111) and / or the second fork arm (112), and a fork arm pulley (17) is rotatably arranged in the groove, and the fork arm pulley (17) can contact the ramp structure (5).

5. The reversible fork arm mechanism according to claim 1, characterized in that: The reversible fork arm mechanism is a reversible fork arm mechanism without driving force; The fork arm body (11) is an integrated structure, and the middle part of the fork arm body (11) is rotatably connected to the transfer structure (12); The bottom end of one side of the fork arm body (11) is in contact with the ramp structure (5), and the ramp structure (5) is suitable for raising the height of one side of the fork arm body (11); when the fork arm body (11) moves along the ramp structure (5), the side of the fork arm body (11) in contact with the ramp structure (5) is lifted, and the side of the fork arm body (11) not in contact with the ramp structure (5) is lowered.

6. The reversible fork arm mechanism according to claim 1, characterized in that: The reversible fork arm mechanism is a reversible fork arm mechanism with driving force; The fork arm body (11) is an integrated structure, the middle part of the fork arm body (11) is rotatably connected to the transfer structure (12), one side of the fork arm body (11) is flipped sideways by a driving structure (14), the telescopic rod end of the driving structure (14) is hinged to the fork arm body (11), and the fixed end of the driving structure (14) is hinged to the transfer structure (12).

7. The reversible fork arm mechanism according to claim 1, characterized in that: The reversible fork arm mechanism is a reversible fork arm mechanism with driving force; The fork arm body (11) is a split structure, and the fork arm body (11) comprises a first fork arm (111) and a second fork arm (112) which are spaced apart from each other, and the first fork arm (111) or the second fork arm (112) is configured as a movable fork arm; The middle part of the fork arm body (11) is rotatably connected to the transfer structure (12), one side of the fork arm body (11) is flipped sideways by the driving structure (14), the telescopic rod end of the driving structure (14) is hinged to the movable fork arm, and the fixed end of the driving structure (14) is hinged to the transfer structure (12).

8. The reversible fork arm mechanism according to claim 6 or 7, characterized in that: An extension plate (115) is arranged downwardly at the middle of the bottom end of the fork arm body (11), and a swing shaft (116) is connected to the extension plate (115). A bearing seat (121) is connected to the adapter structure (12), and a bearing (123) rotatably connected to the swing shaft (116) is arranged in the bearing seat (121).

9. The hoist module is characterized by: include: Lifting framework (3); A lifting mechanism (2), wherein the lifting mechanism (2) is arranged on a lifting frame (3); At least one reversible fork arm mechanism according to any one of claims 1 to 8, wherein the reversible fork arm mechanism is arranged on the lifting mechanism (2) and is lifted and lowered under the drive of the lifting mechanism (2).

10. The elevator module according to claim 9, characterized in that: The lifting frame (3) is divided into a first frame and a second frame connected therebetween, and the second frame is provided with at least one sliding groove.

11. The elevator module according to claim 10, characterized in that: The lifting mechanism (2) is positioned on the first frame, and the lifting mechanism is connected to the transfer structure (12) of the flippable fork arm mechanism.

12. The elevator module according to claim 11, characterized in that: The transfer structure (12) of the flippable fork arm mechanism is slidably assembled in the slide groove of the second frame through a sliding guide assembly.

13. A handling robot, characterized in that: include: AGV chassis module (4); The hoist module according to any one of claims 9 to 12, wherein the hoist module is arranged on an AGV chassis module (4).

Images