Carrying accessory and carrying device

Abstract

The utility model relates to a carrying accessory and a carrying device, and belongs to the technical field of intelligent warehousing. The carrying accessory comprises a fork arm carrier and a fork, the fork arm carrier is indirectly or directly and movably arranged on the portal, the fork is fixed on the fork arm carrier, the fork arm carrier comprises a connecting part, a mounting part and an extension part, the connecting part extends in the height direction of the portal and is indirectly or directly connected with the portal, and the extension part extends in the height direction of the portal. The mounting part extends in the first direction perpendicular to the height direction, the pallet fork is fixed to the mounting part, the connecting part and the mounting part are connected into a whole through the extension part, and the extension part obliquely extends downwards from the lower end of the connecting part to the side away from the door frame. According to the utility model, the influence of the chassis on the moving stroke of the pallet fork can be eliminated, so that the pallet fork can be driven to move to a preset position when the pallet fork frame moves downwards.

Description

Technical Field

[0001] The utility model relates to a transport attachment and a transport device, belonging to the technical field of intelligent warehousing. Background Art

[0002] With the rapid development of the logistics and warehousing industry, the construction of high-rise warehouses for cargo storage is becoming more and more widespread. There are more and more intelligent devices such as stacking AGVs and AMRs used in high-rise warehouses, especially fork-type intelligent devices. The goods are stacked on pallets, and the pallets are picked up by forks to achieve the transfer of goods.

[0003] The existing handling robot includes: a chassis; a gantry, which is arranged at the center of the chassis; a fork assembly, which is used to pick up and place goods. The fork assembly is arranged on the gantry and is located at the center of the gantry. The beneficial effect is that the operation of the handling robot can be more stable and the operation efficiency of the handling robot is improved.

[0004] However, it also has the following disadvantages: due to the arrangement of the chassis below the fork assembly, the chassis forms a block on the path of the fork in the fork assembly moving downward, making it impossible for the fork to move to the ground, so that the fork can only fork pallets in the air but not pallets on the ground, and its applicability is poor. Utility Model Content

[0005] Based on this, the utility model aims to provide a transport attachment and a transport device which can eliminate the influence of the chassis on the moving stroke of the fork, thereby enabling the fork to fork a ground pallet.

[0006] The utility model provides a transport attachment, which is arranged on a door frame with a chassis, and comprises:

[0007] a fork carriage, indirectly or directly and movably arranged on the mast; and

[0008] A fork is fixed on the fork frame,

[0009] Wherein, the fork frame comprises:

[0010] A connecting portion extending along the height direction of the door frame and connected to the door frame indirectly or directly;

[0011] A mounting portion extending in a first direction perpendicular to the height direction, the fork being fixed on the mounting portion; and

[0012] The extension part connects the connection part and the mounting part into one body, and extends obliquely downward from the lower end of the connection part toward a side away from the door frame, so that the fork can move downward along the height direction to a preset position.

[0013] In one embodiment, it also includes:

[0014] A translation mechanism, the translation mechanism is arranged between the fork frame and the door frame; the translation mechanism comprises:

[0015] a slide extending in a second direction perpendicular to the height direction, disposed on a side of the door frame, and capable of moving in the height direction,

[0016] The fork frame is arranged on the slide frame and is movable along the second direction; and

[0017] A driving unit is arranged on the slide frame and the fork frame to drive the fork frame to move along the second direction.

[0018] In one embodiment, the driving unit comprises:

[0019] A driving element, arranged on the fork frame;

[0020] An active member, disposed on the fork frame and dynamically connected to the driving element; and

[0021] A matching piece is arranged on the slide, and the active piece cooperates with the matching piece so that the fork frame can be driven to move along the second direction when the driving element is actuated.

[0022] In one embodiment, the driving element is a driving motor, the active member is a gear fixed on the output shaft of the driving motor, the matching member is a rack extending along the second direction, and the active member is meshed with the matching member.

[0023] In one embodiment, it also includes:

[0024] A guide mechanism, used for guiding the fork frame when it moves along the second direction on the slide; the guide mechanism comprises:

[0025] A slider, fixed on the fork frame; and

[0026] The guide member is arranged on the slide frame and has a guide groove extending along the second direction, and the slide block is slidably fitted in the guide groove.

[0027] In one embodiment, it also includes:

[0028] The attachment controller is disposed on the mounting portion and is configured to control the action of the driving element.

[0029] In one embodiment, it also includes:

[0030] An identification unit capable of identifying the position of a pallet when picking up and placing goods, comprising:

[0031] a telescopic rod, fixed to the bottom end of the mounting portion and capable of being telescoped along the height direction; and

[0032] The identification element is fixed to the telescopic end of the telescopic rod and is located between two fork units in the fork.

[0033] In one embodiment, the identification element is a camera.

[0034] The utility model also provides a transport device, comprising:

[0035] Door frame;

[0036] A chassis, fixed to the bottom end of the door frame; and

[0037] The transport accessories are the transport accessories as described above.

[0038] In one embodiment, it also includes:

[0039] A first limiting guide assembly is arranged on the door frame; and

[0040] The roller assembly is arranged on the transport attachment.

[0041] The roller assembly cooperates with the first position-limiting guide assembly to enable the transport attachment to move on the door frame.

[0042] In one embodiment, the first limiting guide assembly includes a limiting member, the limiting member is arranged on the door frame toward the side wall of the transport attachment, and the limiting member is provided with a slide groove extending along the height direction;

[0043] The roller assembly includes a rolling connection unit, which is arranged on one end of the slide toward the door frame, and corresponds to the limiter. The rolling connection unit includes:

[0044] a roller mounting plate, fixed on the slide and extending along the height direction; and

[0045] A plurality of main rollers are rotatably mounted on the roller mounting plate and spaced apart along the height direction, wherein the rotation plane of the main rollers is perpendicular to the second direction.

[0046] The circumferential surfaces of the plurality of main rollers abut against the side walls of the slide groove.

[0047] In one embodiment, the rolling connection unit further includes:

[0048] At least one side roller is indirectly or directly rotatably arranged on the roller mounting plate, and the rotation plane of the side roller is parallel to the second direction,

[0049] The circumferential surface of the at least one side roller abuts against the bottom wall of the slide groove.

[0050] In one embodiment, the rolling connection unit further includes:

[0051] At least one side roller mounting block is movably arranged on the roller mounting plate and can be adjusted in position along the second direction. The number of the side roller mounting blocks is consistent with the number of the side rollers, and the side rollers are rotatably arranged on the corresponding side roller mounting blocks.

[0052] In one embodiment, it also includes:

[0053] The second limiting guide assembly includes:

[0054] A guide rail, fixed on one end of the door frame toward the slide frame and extending along the height direction;

[0055] A roller mounting seat, fixed to one end of the slide frame facing the door frame and extending along the height direction; and

[0056] At least one rolling guide unit, each of the rolling guide units comprising:

[0057] A pair of guide rollers are indirectly or directly rotatably arranged on the roller mounting seat and are spaced apart along the second direction, and the rotation plane of the guide rollers is parallel to the second direction.

[0058] The circumferential surfaces of the two guide rollers in the same rolling guide unit are respectively in contact with two opposite surfaces on the guide rail.

[0059] In one embodiment, each of the rolling guide units further comprises:

[0060] A plurality of guide roller mounting blocks are movably arranged on the roller mounting seat and can adjust the position along the second direction.

[0061] Each of the guide rollers corresponds to a guide roller mounting block, and the guide rollers are rotatably disposed on the corresponding guide roller mounting block.

[0062] Therefore, compared with the prior art, the utility model has the following advantages:

[0063] According to the handling accessories and handling device involved in the utility model, the handling device includes a gantry, a chassis and a handling accessory, the handling accessories include a fork frame and a fork, the fork frame is indirectly or directly and movably arranged on the gantry, the fork is fixed on the fork frame, wherein the fork frame includes a connecting portion, a mounting portion and an extension portion, the connecting portion extends along the height direction of the gantry and is indirectly or directly connected to the gantry, the mounting portion extends along a first direction perpendicular to the height direction, the fork is fixed on the mounting portion, the extension portion connects the connecting portion and the mounting portion into one body, and extends obliquely downward from the lower end of the connecting portion toward a side away from the gantry, so that The fork can move downward in the height direction to a preset position. When it is necessary to fork a pallet on the ground, the fork frame is controlled to move downward in the height direction. Due to the provision of the extension portion, the chassis will only block the connecting portion in the fork frame when the fork frame moves downward, and will not block the mounting portion and the extension portion in the fork frame, thereby eliminating the influence of the chassis on the moving stroke of the fork, thereby enabling the fork frame to drive the fork to move to the preset position when moving downward. When reaching the preset position, the fork contacts the ground supporting the chassis during use, so that the fork can move to the ground, thereby enabling the fork to fork the pallet on the ground. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Figure 1 This is a schematic diagram of the main structure of the transport device in this embodiment;

[0065] Figure 2 Schematic diagram of the three-dimensional structure of the handling attachment in this embodiment;

[0066] Figure 3 This is a schematic diagram of the main structure of the identification unit in this embodiment;

[0067] Figure 4 It is a schematic diagram of the three-dimensional structure of the door frame and the first position limiting guide assembly in this embodiment;

[0068] Figure 5 It is a schematic diagram of the three-dimensional structure of the roller assembly and the second limiting guide assembly in this embodiment.

[0069] Reference numerals:

[0070] 100. Handling device;

[0071] 100a, mast; 100b, chassis; 100c, transport accessories;

[0072] 10. Fork frame; 11. Connecting part; 12. Mounting part; 13. Extension part;

[0073] 20. Fork;

[0074] 30. Translation mechanism; 31. Slide; 32. Driving unit; 321. Driving element; 322. Active member;

[0075] 323, matching parts;

[0076] 40. guide mechanism; 41. slider; 42. guide member;

[0077] 50. Accessory controller;

[0078] 60. identification unit; 61. telescopic rod; 62. identification element;

[0079] 100d, first limiting guide assembly; 70, limiting member; 71, slide groove;

[0080] 100e, roller assembly; 80, rolling connection unit; 81, roller mounting plate; 82, main roller; 83, side roller; 84, side roller mounting block;

[0081] 100f, second limit guide assembly; 91, guide rail; 92, roller mounting seat; 93, rolling guide unit; 931, guide roller; 932, guide roller mounting block. DETAILED DESCRIPTION

[0082] In order to make the above-mentioned purposes, features and advantages of the utility model more obvious and easy to understand, the specific implementation methods of the utility model are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the utility model. However, the utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the utility model, so the utility model is not limited by the specific embodiments disclosed below.

[0083] This embodiment provides a transport attachment and a transport device that can eliminate the influence of the chassis on the moving stroke of the fork, thereby enabling the fork to fork a ground pallet.

[0084] Figure 1 It is a schematic diagram of the main structure of the transport device in this embodiment.

[0085] See also Figure 1 The embodiment of the utility model provides a transport device 100, which includes a door frame 100a, a chassis 100b and a transport accessory 100c. The chassis 100b is fixed to the bottom end of the door frame 100a. The transport accessory 100c is arranged on the door frame 100a.

[0086] In this embodiment, the chassis 100b is a moving chassis 100b, which can drive the transport attachment 100c to move synchronously to pick up and place goods.

[0087] Figure 2 It is a schematic diagram of the three-dimensional structure of the handling attachment in this embodiment.

[0088] Combination Figure 1 to Figure 2 As shown, the transport attachment 100c includes a fork frame 10 and a fork 20. The fork frame 10 is indirectly or directly and movably arranged on the door frame 100a. The fork 20 is fixed on the fork frame 10. Among them, the fork frame 10 includes a connecting portion 11, a mounting portion 12 and an extension portion 13. The connecting portion 11 extends along the height direction of the door frame 100a, and is indirectly or directly connected to the door frame 100a. The mounting portion 12 extends along a first direction perpendicular to the height direction, and the fork 20 is fixed on the mounting portion 12. The extension portion 13 connects the connecting portion 11 and the mounting portion 12 into one body, and extends obliquely downward from the lower end of the connecting portion 11 toward a side away from the door frame 100a, so that the fork 20 can move downward along the height direction to a preset position. When in the preset position, the fork 20 contacts the ground of the supporting chassis 100b during use.

[0089] It can be understood that when it is necessary to fork a pallet on the ground, the fork frame 10 is controlled to move downward in the height direction. Due to the provision of the extension portion 13, when the fork frame 10 moves downward, the chassis 100b will only block the connecting portion 11 in the fork frame 10, and will not block the mounting portion 12 and the extension portion 13 in the fork frame 10, thereby eliminating the influence of the chassis 100b on the moving stroke of the fork 20, thereby enabling the fork frame 10 to drive the fork 20 to move to a preset position when moving downward. When reaching the preset position, the fork 20 contacts the ground that supports the chassis 100b during use, so that the fork 20 can move to the ground, thereby enabling the fork 20 to fork the pallet on the ground. When the fork 20 provided in the present embodiment descends to a preset position, the fork 20 contacts the walking surface of the chassis 100b. Specifically, those skilled in the art can appropriately set the length of the extension portion 13 according to needs, so that the fork 20 can descend to a preset position below the walking surface of the chassis 100b, or to the upper surface of the chassis 100b and a preset position above the upper surface.

[0090] In this embodiment, the height direction of the door frame 100a is the vertical direction when in use, the connecting portion 11 and the extension portion 13 are located directly above the chassis 100b, and the first direction is the horizontal direction when in use. Figure 1 The direction indicated by A is the height direction of the gantry 100a. Figure 2 The direction shown by B is the first direction.

[0091] Combination Figure 2As shown, the transport attachment 100c further includes a translation mechanism 30, which includes a slide 31 and a drive unit 32. The slide 31 extends in a second direction perpendicular to the height direction, is arranged on the side of the door frame 100a, and can move in the height direction. The fork frame 10 is arranged on the slide 31 and can move in the second direction. The drive unit 32 is arranged on the slide 31 and the fork frame 10 to drive the fork frame 10 to move in the second direction. The second direction is the direction in which the fork picks up and puts down the goods, and the first direction is perpendicular to the second direction.

[0092] It can be understood that when the slide 31 moves in the height direction, the fork frame 10 can drive the fork 20 to move synchronously. In addition, the driving unit 32 can drive the fork frame 10 to move in the second direction on the slide 31, thereby driving the fork 20 to move in the second direction, so that the fork 20 can move in the second direction to pick up the pallet.

[0093] In this embodiment, the second direction is a horizontal direction in use and is perpendicular to the first direction. The fork 20 is fixed to the side of the mounting portion 12 and extends along the second direction. Two fork units in the fork 20 are spaced apart along the first direction. Figure 2 The direction indicated by C is the first direction.

[0094] Combination Figure 2 As shown, the driving unit 32 includes a driving element 321, an active element 322 and a matching element 323. The driving element 321 is arranged on the fork frame 10. The active element 322 is arranged on the fork frame 10 and is in power connection with the driving element 321. The matching element 323 is arranged on the slide 31, and the active element 322 matches with the matching element 323, so that when the driving element 321 is actuated, it can drive the fork frame 10 to move along the second direction.

[0095] It can be understood that, through the cooperation between the active member 322 and the matching member 323, when the driving element 321 is actuated, the fork frame 10 can be driven to move along the second direction on the slide 31, so that the fork 20 can pick up the pallet.

[0096] Combination Figure 2 As shown, the driving element 321 is a driving motor, the active member 322 is a gear fixed on the output shaft of the driving motor, the matching member 323 is a rack extending along the second direction, and the active member 322 is meshed with the matching member 323 .

[0097] It can be understood that when the driving element 321 rotates, it can drive the active member 322 to rotate. When the active member 322 rotates, it can rotate along the extension direction of the matching member 323 under the action of the matching member 323, thereby driving the fork frame 10 to move along the second direction.

[0098] In this embodiment, the driving element 321 adopts servo control, which can accurately control the moving distance of the fork frame 10. A translation position sensor is provided on the fork frame 10 to detect the translation position of the fork frame 10 and feedback a signal to the attachment controller 50.

[0099] Combination Figure 2 As shown, the transport attachment 100c further includes a guide mechanism 40, which includes a slider 41 and a guide member 42. The slider 41 is fixed to the fork frame 10. The guide member 42 is disposed on the slide 31 and has a guide groove 421 extending along the second direction, and the slider 41 is slidably fitted in the guide groove 421.

[0100] It can be understood that when the fork frame 10 moves along the second direction, it can drive the slider 41 to slide in the guide groove 421, so as to play a guiding role when the fork frame 10 moves, thereby ensuring the stability of the fork frame 10 when moving.

[0101] In the present embodiment, there are two sliders 41 and two guide members 42. The two guide members 42 are respectively arranged at the two ends of the slide 31 in the height direction. The two sliders 41 are respectively fixed to the two ends of the connecting portion 11 in the fork frame 10 in the height direction. The two sliders 41 are respectively slidably fitted in a corresponding guide groove 421. Through the cooperation between the sliders 41 and the guide grooves 421, not only the guidance can be achieved, but also the active connection between the fork frame 10 and the slide 31 can be achieved, so that the fork frame 10 can move along the second direction on the slide 31.

[0102] Combination Figure 2 As shown, the transport attachment 100 c further includes an attachment controller 50 , which is disposed on the mounting portion 12 and is configured to control the operation of the driving element 321 .

[0103] It can be understood that the attachment controller 50 is disposed on the mounting portion 12 of the fork frame 10 , which can effectively reduce the length of the wire harness and the resulting signal attenuation or interference.

[0104] Figure 3 Schematic diagram of the main structure of the identification unit in this embodiment.

[0105] Combination Figure 3 As shown, the transport attachment 100c further includes an identification unit 60, which can identify the position of the pallet when picking up and placing goods, and includes a telescopic rod 61 and an identification element 62. The telescopic rod 61 is fixed to the bottom end of the mounting portion 12 and can be extended and retracted in the height direction. The identification element 62 is fixed to the telescopic end of the telescopic rod 61 and is located between two fork units in the fork 20.

[0106] It can be understood that the identification element 62 in the identification unit 60 can identify the position of the pallet when picking up and placing goods, so as to control the fork 20 to move accurately to the pick-up and placement position. If there is goods or a pallet on the fork 20 that blocks the identification element 62, the telescopic rod 61 can be controlled to extend to drive the identification element 62 to extend for identification. When it is not needed to be extended, the telescopic rod 61 can be controlled to be retracted.

[0107] In this embodiment, the recognition element 62 is a 3D camera.

[0108] Figure 4 It is a schematic diagram of the three-dimensional structure of the door frame and the first position limiting guide assembly in this embodiment; Figure 5 It is a schematic diagram of the three-dimensional structure of the roller assembly and the second limiting guide assembly in this embodiment.

[0109] Combination Figures 4 to 5 As shown, the transport device 100 also includes a first position limiting guide assembly 100d arranged on the door frame 100a and a roller assembly 100e arranged on the transport attachment 100c. The roller assembly 100e cooperates with the first position limiting guide assembly 100d to enable the transport attachment 100c to move on the door frame 100a.

[0110] It can be understood that the cooperation between the first position-limiting guide assembly 100d and the roller assembly 100e can realize the movable connection between the transport attachment 100c and the door frame 100a, and enable the transport attachment 100c to move on the door frame 100a.

[0111] Combination Figures 4 to 5 As shown, the first limiting guide assembly 100d includes a limiting member 70, which is arranged on the side wall of the door frame 100a facing the transport attachment 100c, and the limiting member 70 is provided with a slide groove 71 extending in the height direction. The roller assembly 100e includes a rolling connection unit 80, which is arranged on one end of the slide 31 facing the door frame 100a, and the rolling connection unit 80 corresponds to the limiting member 70. The rolling connection unit 80 includes a roller mounting plate 81 and a plurality of main rollers 82. The roller mounting plate 81 is fixed on the slide 31 and extends in the height direction. The plurality of main rollers 82 are rotatably arranged on the roller mounting plate 81 and are spaced apart in the height direction, and the rotation plane of the main rollers 82 is perpendicular to the second direction. The circumferential surfaces of the plurality of main rollers 82 abut against the side wall of the slide groove 71.

[0112] In this embodiment, there are two limit members 70, and the two limit members 70 are spaced apart along the second direction. The slide grooves 71 are arranged on opposite sides of the two limit members 70. The number of rolling connection units 80 is consistent with the number of limit members 70. Through the cooperation between the two limit members 70 and the two rolling connection units 80, the movable connection between the slide 31 and the door frame 100a can be realized, so that the slide 31 can move along the height direction on the door frame 100a.

[0113] In this embodiment, the driving force in the height direction of the slide 31 can be provided by a lifting drive member, such as a cylinder, an electric push rod, etc. The lifting drive member is fixed to the door frame 100a or the chassis 100b, and the output end is fixedly connected to the slide 31. A height position sensor is provided on the slide 31 to detect the lifting position of the slide 31.

[0114] Combination Figures 4 to 5 As shown, the rolling connection unit 80 also includes at least one side roller 83, which is indirectly or directly rotatably arranged on the roller mounting plate 81, and the rotation plane of the side roller 83 is parallel to the second direction, and the circumferential surface of at least one side roller 83 abuts against the bottom wall of the slide groove 71.

[0115] It can be understood that since the circumferential surface of at least one side roller 83 abuts against the side wall of the slide groove 71, at least one side roller 83 can roll in the slide groove 71, thereby further limiting the movement of the slide 31 in the height direction and playing a role in guiding the movement, and can also achieve the limitation of the slide 31 in the second direction. In addition, at least one side roller 83 cooperates with multiple main rollers 82 to jointly limit and guide the movement of the slide 31, which can ensure the stability of the slide 31 during movement, and can further reduce the friction resistance of the slide 31 when it moves in the height direction, thereby further reducing the driving force required for the slide 31 to move in the height direction.

[0116] In this embodiment, there are multiple side rollers 83 , which are spaced apart along the height direction.

[0117] Combination Figures 4 to 5 As shown, the rolling connection unit 80 also includes at least one side roller mounting block 84, which is movably arranged on the roller mounting plate 81 and can be adjusted in position along the second direction. The number of the side roller mounting blocks 84 is consistent with the number of the side rollers 83, and the side rollers 83 are rotatably arranged on the corresponding side roller mounting blocks 84.

[0118] It can be understood that the side roller 83 is assembled with the roller mounting plate 81 through the side roller mounting block 84. Since the side roller mounting block 84 can be adjusted in position along the second direction, the gap between the circumferential surface of the side roller 83 and the bottom wall of the slide groove 71 can be adjusted, thereby achieving adjustable installation of the side roller 83 in the second direction, which can greatly reduce the difficulty of assembly during assembly and improve adaptability and compatibility.

[0119] In this embodiment, the side roller mounting block 84 is connected to the roller mounting plate 81 by bolts, and the gap between the side roller mounting block 84 and the roller mounting plate 81 can be adjusted by using gaskets, thereby adjusting the gap between the circumferential surface of the side roller 83 and the bottom wall of the slide groove 71.

[0120] Combination Figures 4 to 5 As shown, the transport device 100 also includes a second position limiting guide assembly 100f, which includes a guide rail 91, a roller mounting seat 92 and at least one rolling guide unit 93. The guide rail 91 is fixed to one end of the door frame 100a facing the slide 31 and extends in the height direction. The roller mounting seat 92 is fixed to one end of the slide 31 facing the door frame 100a and extends in the height direction. Each rolling guide unit 93 includes a pair of guide rollers 931, which are indirectly or directly rotatably arranged on the roller mounting seat 92 and are spaced apart along the second direction, and the rotation plane of the guide roller 931 is parallel to the second direction. The circumferential surfaces of the two guide rollers 931 in the same rolling guide unit 93 are respectively in contact with two opposite surfaces on the guide rail 91.

[0121] It can be understood that when the slide 31 moves in the height direction, the pair of guide rollers 931 can roll along two opposite surfaces of the guide rail 91, so that the slide 31 can move smoothly in the height direction to avoid shaking.

[0122] In this embodiment, there are multiple rolling guide units 93, which are arranged at intervals along the height direction.

[0123] Combination Figures 4 to 5 As shown, each rolling guide unit 93 further includes a plurality of guide roller mounting blocks 932, which are movably disposed on the roller mounting seat 92 and can be adjusted in position along the second direction. Each guide roller 931 corresponds to a guide roller mounting block 932, and the guide roller 931 is rotatably disposed on the corresponding guide roller mounting block 932.

[0124] It can be understood that the guide roller 931 is assembled with the roller mounting seat 92 through the guide roller mounting block 932. Since the guide roller mounting block 932 can be adjusted in position along the second direction, the gap between the circumferential surface of the guide roller 931 and the surface of the guide rail 91 can be adjusted, thereby achieving adjustable installation of the guide roller 931 in the second direction, which can greatly reduce the difficulty of assembly during assembly and improve adaptability and compatibility.

[0125] In this embodiment, the guide roller mounting block 932 and the roller mounting seat 92 are connected by bolts, and the gap between the guide roller mounting block 932 and the roller mounting seat 92 can be adjusted by using gaskets, thereby adjusting the gap between the circumferential surface of the guide roller 931 and the surface of the guide rail 91.

[0126] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0127] The above-mentioned embodiments only express several implementation methods of the utility model, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A transport attachment, arranged on a gantry with a chassis, characterized in that: include: A fork frame (10) is indirectly or directly and movably arranged on the door frame; as well as A fork (20) is fixed on the fork frame (10). Wherein, the fork frame (10) comprises: A connecting portion (11) extending along the height direction of the door frame and connected to the door frame indirectly or directly; A mounting portion (12) extending in a first direction perpendicular to the height direction, and the fork (20) is fixed on the mounting portion (12); and An extension portion (13) connects the connection portion (11) and the mounting portion (12) into one body, and extends obliquely downward from the lower end of the connection portion (11) toward a side away from the door frame, so that the fork (20) can move downward along the height direction to a preset position.

2. The transport attachment according to claim 1, characterized in that: Also includes: A translation mechanism (30), wherein the translation mechanism (30) is arranged between the fork frame (10) and the door frame; The translation mechanism (30) comprises: A slide (31) extends in a second direction perpendicular to the height direction, is arranged on a side of the door frame, and is movable in the height direction. The fork frame (10) is arranged on the slide frame (31) and is capable of moving along the second direction; as well as A driving unit (32) is arranged on the slide frame (31) and the fork frame (10) to drive the fork frame (10) to move along the second direction.

3. The transport attachment according to claim 2, characterized in that: The driving unit (32) comprises: A driving element (321) is arranged on the fork frame (10); An active member (322) is disposed on the fork frame (10) and is dynamically connected to the driving element (321); and A matching piece (323) is arranged on the slide (31), and the active piece (322) matches with the matching piece (323) so that when the driving element (321) is in motion, the fork frame (10) can be driven to move along the second direction.

4. The transport attachment according to claim 3, characterized in that: The driving element (321) is a driving motor, the active component (322) is a gear fixed on the output shaft of the driving motor, the matching component (323) is a rack extending along the second direction, and the active component (322) is meshed with the matching component (323).

5. The transport attachment according to any one of claims 2 to 4, characterized in that: Also includes: A guide mechanism (40) for guiding the fork frame (10) when it moves along a second direction on the slide frame (31); The guiding mechanism (40) comprises: A slider (41) fixed on the fork frame (10); as well as The guide member (42) is arranged on the slide frame (31) and has a guide groove (421) extending along the second direction, and the slide block (41) is slidably fitted in the guide groove (421).

6. The transport attachment according to any one of claims 3 to 4, characterized in that: Also includes: An accessory controller (50) is disposed on the mounting portion (12) and is configured to control the action of the driving element (321).

7. The transport attachment according to any one of claims 1 to 4, characterized in that: Also includes: An identification unit (60), which is capable of identifying the position of a pallet when picking up and placing goods, comprises: A telescopic rod (61) fixed to the bottom end of the mounting portion (12) and capable of being telescoped along the height direction; as well as The identification element (62) is fixed to the telescopic end of the telescopic rod (61) and is located between two fork units in the fork (20).

8. The transport attachment according to claim 7, characterized in that: The identification element (62) is a 3D camera.

9. A transport device, characterized in that: include: Door frame (100a); A chassis (100b) fixed to the bottom end of the door frame (100a); as well as The transport attachment (100c) is the transport attachment as described in any one of claims 2 to 8.

10. The transport device according to claim 9, characterized in that: Also includes: A first position limiting guide assembly (100d), arranged on the door frame; as well as The roller assembly (100e) is arranged on the transport attachment. The roller assembly (100e) cooperates with the first position-limiting guide assembly (100d) to enable the transport attachment to move on the door frame.

11. The transport device according to claim 10, characterized in that: The first limiting guide assembly (100d) comprises a limiting member (70), the limiting member (70) being arranged on the door frame and facing the side wall of the transport attachment, and the limiting member (70) being provided with a slide groove (71) extending along the height direction; The roller assembly (100e) comprises a rolling connection unit (80), the rolling connection unit (80) being arranged on one end of the sliding frame (31) facing the door frame, the rolling connection unit (80) corresponding to the stopper (70), and the rolling connection unit (80) comprising: A roller mounting plate (81) is fixed on the slide frame (31) and extends along the height direction; and A plurality of main rollers (82) are rotatably mounted on the roller mounting plate (81) and are spaced apart along the height direction, wherein the rotation plane of the main rollers (82) is perpendicular to the second direction. The circumferential surfaces of the plurality of main rollers (82) are in contact with the side walls of the slide groove (71).

12. The transport device according to claim 11, characterized in that: The rolling connection unit (80) further comprises: at least one side roller (83) is indirectly or directly rotatably arranged on the roller mounting plate (81), and the rotation plane of the side roller (83) is parallel to the second direction. The circumferential surface of the at least one side roller (83) abuts against the bottom wall of the slide groove (71).

13. The transport device according to claim 12, characterized in that: The rolling connection unit (80) further comprises: At least one side roller mounting block (84) is movably arranged on the roller mounting plate (81) and is capable of adjusting its position along the second direction; the number of the side roller mounting blocks (84) is consistent with the number of the side rollers (83), and the side rollers (83) are rotatably arranged on the corresponding side roller mounting blocks (84).

14. The transport device according to claim 9, characterized in that: Also includes: The second limiting guide assembly (100f) comprises: A guide rail (91) is fixed on one end of the door frame facing the slide frame (31) and extends along the height direction; A roller mounting seat (92) is fixed on one end of the slide frame (31) facing the door frame and extending along the height direction; and At least one rolling guide unit (93), each of the rolling guide units (93) comprising: A pair of guide rollers (931) are indirectly or directly rotatably arranged on the roller mounting seat (92) and are spaced apart along the second direction, and the rotation plane of the guide rollers (931) is parallel to the second direction. The circumferential surfaces of the two guide rollers (931) in the same rolling guide unit (93) are respectively in contact with two opposite surfaces on the guide rail (91).

15. The transport device according to claim 14, characterized in that: Each of the rolling guide units (93) further comprises: A plurality of guide roller mounting blocks (932) are movably arranged on the roller mounting seat (92) and are capable of adjusting their positions along the second direction. Each of the guide rollers (931) corresponds to a guide roller mounting block (932), and the guide rollers (931) are rotatably disposed on the corresponding guide roller mounting block (932).

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