Pallet fork device and transfer robot

Abstract

The utility model discloses a pallet fork device and a transfer robot, relates to the technical field of warehouse logistics equipment, and aims to solve the technical problems that the current transfer robot adjusts the position of a telescopic mechanism so as to eliminate a transverse error between the telescopic mechanism and a target warehouse position, and the adjustment process is long in time consumption and low in operation efficiency. The pallet fork device comprises a base plate, a displacement compensation mechanism and a telescopic mechanism. The telescopic mechanism comprises two telescopic assemblies, and the two telescopic assemblies are oppositely arranged on the two sides of the base plate in the first direction; the displacement compensation mechanism is connected with the two telescopic assemblies. The displacement compensation mechanism is configured to slide in the first direction relative to the substrate and change the position of the telescopic mechanism in the first direction relative to the substrate. According to the pallet fork device and the carrying robot, the transverse error between the target bin position and the telescopic mechanism can be rapidly eliminated, and the operation efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of warehousing and logistics equipment, and in particular to a fork device and a handling robot. Background Art

[0002] With the development of the logistics industry, handling robots are gradually used in cargo handling work, which can improve the efficiency of cargo handling. Therefore, handling robots have become a research hotspot in the logistics industry.

[0003] The transport robot includes a fork device, which includes a fork body and a telescopic mechanism arranged on the fork body. The telescopic mechanism includes two telescopic components arranged opposite to each other. The telescopic components are used to grab the material box and transfer the material box between the transport robot and the storage shelf to realize the warehousing and storage of the material box.

[0004] However, when the handling robot is taking out or storing high-level material boxes on the storage shelves, there is a "lateral error" between the telescopic mechanism and the target warehouse position. The handling robot needs to move as a whole to adjust the position of the telescopic mechanism and eliminate the "lateral error". This adjustment process is time-consuming and results in low operating efficiency. Utility Model Content

[0005] In view of the above problems, the embodiments of the present application provide a fork device and a transport robot, which can quickly eliminate the "lateral error" between the target warehouse position and the telescopic mechanism, thereby improving the working efficiency.

[0006] In order to achieve the above objectives, the embodiments of the present application provide the following technical solutions:

[0007] A first aspect of an embodiment of the present application provides a fork device, comprising a base plate, a displacement compensation mechanism and a telescopic mechanism; the telescopic mechanism comprises two telescopic components, and the two telescopic components are arranged relatively on both sides of the base plate along a first direction; the displacement compensation mechanism is connected to the two telescopic components respectively; the displacement compensation mechanism is configured to be able to slide relative to the base plate along the first direction, and to change the position of the telescopic mechanism relative to the base plate along the first direction.

[0008] In an optional embodiment, the displacement compensation mechanism includes a carrier frame and a support rod; the carrier frame is slidably mounted on the substrate and slides along a first direction relative to the substrate; the support rod is arranged on the carrier frame and moves with the carrier frame; both ends of the support rod are respectively connected to the two telescopic components.

[0009] In an optional embodiment, the displacement compensation mechanism further includes a driving mechanism and a transmission assembly; the driving mechanism is connected to the transmission assembly, and the transmission assembly is configured to drive the two telescopic assemblies to move synchronously along the first direction.

[0010] In an optional embodiment, the telescopic component includes an outer wall panel; the transmission component includes a driving wheel, a driven wheel and a synchronous belt; the driving mechanism and the driving wheel are respectively arranged on one of the outer wall panels, and the driving mechanism is connected to the driving wheel; the driven wheel is arranged on the other outer wall panel, and the driven wheel and the driving wheel are arranged opposite to each other along a first direction; the base plate is provided with a toothed plate fixing component, and one end of the synchronous belt is connected to the toothed plate fixing component; the other end of the synchronous belt is wound around the driving wheel and the driven wheel, and is connected to the toothed plate fixing component.

[0011] In an optional embodiment, the displacement compensation mechanism includes two support rods; along the second direction, the two support rods are arranged at intervals on both sides of the support frame; each support rod extends along the first direction, and both ends of the support rod are respectively connected to the two outer wall panels.

[0012] In an optional embodiment, the displacement compensation mechanism also includes a slide rail and a plurality of sliders; the slide rail is slidably mounted on the slider, and the slide rail extends along a first direction; the slide rail is connected to the bottom of the carrier frame, and the slider is connected to the base plate.

[0013] In an optional embodiment, the displacement compensation mechanism also includes a photoelectric sensor and a photoelectric sensing sheet; the photoelectric sensor is arranged on the carrier and moves along the first direction with the carrier; the photoelectric sensing sheet is arranged on the substrate, the photoelectric sensing sheet extends along the first direction and is located on the moving path of the photoelectric sensor, and the photoelectric sensing sheet is provided with a zero point; the photoelectric sensor is configured to be able to scan the photoelectric sensing sheet, and when the photoelectric sensor moves to the zero point, the telescopic mechanism is located at an initial position.

[0014] In an optional embodiment, the fork device further includes a bracket and a drag chain; the drag chain has flexibility and is used for threading cables; the drag chain is installed on the bracket, and the bracket is fixed on the base plate.

[0015] In an optional embodiment, the fork device further includes a carrying mechanism and a swivel mechanism; the swivel mechanism is disposed between the carrying mechanism and the base plate, the swivel mechanism is rotatably connected to the base plate, and the swivel mechanism is configured to drive the base plate to rotate relative to the carrying mechanism.

[0016] A second aspect of an embodiment of the present application provides a handling robot, comprising a gantry, a mobile base, at least one storage location and the fork device described in the first aspect; the gantry is installed on the mobile base along a third direction, and the fork device is slidably installed on the gantry along the third direction; the storage location is used to carry material boxes, and the storage location and the fork device are arranged on both sides of the gantry opposite to each other along the second direction; the telescopic direction of the telescopic mechanism of the fork device is consistent with the second direction.

[0017] In an optional embodiment, the transport robot includes a lifting mechanism and a plurality of storage locations; the lifting mechanism is disposed on the gantry and drives the fork device to move along a third direction; and the plurality of storage locations are disposed on the gantry at intervals along the third direction.

[0018] In an optional embodiment, when the telescopic mechanism is in an initial position, along the first direction, a center line of the telescopic mechanism is directly opposite to a center line of the storage position.

[0019] Compared with the related art, the fork device and the handling robot provided in the embodiment of the present application have the following advantages:

[0020] The fork device provided in the embodiment of the present application is provided with a displacement compensation mechanism on the base plate, and the displacement compensation mechanism is connected to the telescopic mechanism. The displacement compensation mechanism can drive the telescopic mechanism to slide along a first direction relative to the base plate to adjust the position of the telescopic mechanism relative to the base plate along the first direction, thereby eliminating the "lateral error" between the telescopic mechanism and the target warehouse position in the first direction, so that the telescopic mechanism can be opposite to the target warehouse position, and further transfer the material box between the handling robot and the storage shelf to realize the warehousing and storage of the material box.

[0021] In the related art, the position of the telescopic mechanism is adjusted by moving the transport robot as a whole, thereby eliminating the "lateral error" between the target warehouse and the telescopic mechanism. During this adjustment process, since the fork device is in a high position, the shaking of the entire transport robot is uncontrollable, and the specific movement amount cannot be calculated. The transport robot needs to be constantly moved and adjusted, and this adjustment process is time-consuming and inefficient.

[0022] However, in the embodiment of the present application, the telescopic mechanism is driven to move by the displacement compensation mechanism to eliminate the "lateral error". The position of the telescopic mechanism is adjusted by the displacement compensation mechanism arranged on the fork device. This adjustment process is less affected by the shaking of the handling robot. The telescopic mechanism can be moved according to the specific error, and the position of the telescopic mechanism can be quickly adjusted to improve the efficiency of material box out and in storage.

[0023] In addition to the technical problems solved by the embodiments of the present application, the technical features that constitute the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions described above, other technical problems that can be solved by the fork device and the handling robot provided by the embodiments of the present application, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail in the specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0025] Figure 1 A schematic diagram of the overall structure of the handling robot provided in an embodiment of the present application;

[0026] Figure 2 A schematic diagram of the structure of the fork device provided in the embodiment of the present application Figure 1 ;

[0027] Figure 3 A schematic diagram of the structure of the fork device provided in the embodiment of the present application Figure 2 ;

[0028] Figure 4 A schematic diagram of the structure of the fork device provided in the embodiment of the present application Figure 3 ;

[0029] Figure 5 A schematic diagram of the arrangement of a displacement compensation mechanism provided in an embodiment of the present application;

[0030] Figure 6 for Figure 5 The enlarged schematic diagram at A in the middle;

[0031] Figure 7 The working state of the handling robot in the embodiment of the present application is shown in FIG. Figure 1 ;

[0032] Figure 8 The working state of the handling robot in the embodiment of the present application is shown in FIG. Figure 2 .

[0033] Description of reference numerals:

[0034] 10-Substrate;

[0035] 20- telescopic mechanism;

[0036] 21-outer wall panel; 22-telescopic wall panel;

[0037] 30-displacement compensation mechanism;

[0038] 31-carrying frame;

[0039] 311-first load-bearing beam; 312-second load-bearing beam;

[0040] 32-driving mechanism; 321-driving motor; 322-reducing machine;

[0041] 33-transmission assembly; 331-driving wheel; 332-driven wheel; 333-synchronous belt;

[0042] 34-tooth plate fixing assembly;

[0043] 35-Photoelectric sensor;

[0044] 36-photoelectric sensor;

[0045] 37- support rod;

[0046] 38-sliding assembly; 381-slide rail; 382-sliding block;

[0047] 40-drag chain;

[0048] 51-rotating bearing plate; 52-rotating bearing frame;

[0049] 60-image acquisition device;

[0050] 100-Fork device;

[0051] 200-storage space;

[0052] 300-gantry;

[0053] 400-mobile base;

[0054] 500-material box. DETAILED DESCRIPTION

[0055] In the related technology, when a handling robot is taking out or storing high-level material boxes located on storage shelves, there is a "lateral error" between the telescopic mechanism and the target storage position. The handling robot needs to move as a whole to adjust the position of the telescopic mechanism to eliminate the "lateral error". This adjustment process is time-consuming and results in low operating efficiency.

[0056] The inventors have discovered that the reason for this problem is that during the overall movement of the transport robot to eliminate the "lateral error", the fork device is at a high position and the shaking of the entire transport robot is uncontrollable, and the specific movement amount cannot be calculated. The transport robot needs to move and adjust continuously, which is a time-consuming process and has low operating efficiency.

[0057] In response to the above technical problems, an embodiment of the present application provides a fork device, in which a displacement compensation mechanism is arranged on a base plate, the displacement compensation mechanism is connected to a telescopic mechanism, and the displacement compensation mechanism can drive the telescopic mechanism to slide along a first direction relative to the base plate to adjust the position of the telescopic mechanism relative to the base plate along the first direction, thereby eliminating the "lateral error" so that the telescopic mechanism can be directly opposite to the target warehouse position, and further transfer the material box between the handling robot and the storage shelf to realize the material box out of the warehouse and in the warehouse.

[0058] With such a configuration, in the embodiment of the present application, the telescopic mechanism is driven to move by the displacement compensation mechanism to eliminate the "lateral error". The adjustment process is less affected by the shaking of the handling robot. The telescopic mechanism can be moved according to the specific error, and the position of the telescopic mechanism can be quickly adjusted to improve the efficiency of material box warehousing and warehousing.

[0059] In order to make the above-mentioned purposes, features and advantages of the embodiments of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of this application.

[0060] To facilitate the description of the present application, first Figure 1 and Figure 2 The coordinate system of the transport robot shown in this state is defined, wherein the X-axis direction is the first direction, which is defined as the relative arrangement direction of the two telescopic components; the Y-axis direction is the second direction, which is defined as the extension or retraction direction of the telescopic mechanism, that is, the direction of picking up goods; the Z-axis direction is the third direction, which is defined as the height direction of the transport robot.

[0061] like Figure 1 As shown, the handling robot provided in the embodiment of the present application includes a mobile base 400, a walking mechanism (not shown in the figure), a lifting mechanism (not shown in the figure), a gantry 300, a fork device 100 and at least one storage location 200, wherein the walking mechanism is arranged below the mobile base 400 to drive the mobile base 400 to move. The walking mechanism includes a plurality of walking wheels and a driving device, and the driving device is used to provide a driving force to the walking wheels so that the walking wheels rotate relative to the ground.

[0062] For example, the driving device includes a driving motor connected to at least one running wheel, and the driving motor provides driving force to the running wheel, so that the mobile base 400 can move forward, backward, and turn, etc., so that the handling robot can move to a storage shelf or other working position to complete the transfer of goods. It should be noted that the goods in the embodiment of the present application can be a material box 500 containing materials, and the embodiment of the present application is described by taking this as an example.

[0063] The gantry 300 is installed on the mobile base 400 in a vertical state along the third direction. The gantry 300 includes two columns, which are arranged at intervals along the first direction and can be vertically connected to the mobile base 400. The gantry 300 is used to install the storage position 200 and the fork device 100, wherein the storage position 200 and the fork device 100 are arranged on both sides of the gantry 300 opposite to each other along the second direction. When the fork device 100 is opposite to the corresponding storage position 200, the material box 500 can be temporarily stored in the storage position 200, that is, the storage position 200 is used to temporarily store the material box 500.

[0064] For example, in the embodiment of the present application, the handling robot includes a plurality of storage locations 200, which may be formed by a horizontal storage plate mounted on a gantry 300. The plurality of storage locations 200 are sequentially arranged at intervals on one side of the gantry 300 along the third direction, and a storage space for the material box 500 is formed between two adjacent storage locations 200. With such an arrangement, the handling robot can transfer a plurality of material boxes 500 in a single stroke through the plurality of storage locations 200, thereby improving the operating efficiency of the handling robot.

[0065] The fork device 100 is used to transfer the material box 500 between the handling robot and the storage shelf. Along the third direction, the fork device 100 can be slidably installed on the door frame 300. The lifting mechanism is arranged on the door frame 300, and the lifting mechanism is connected to the fork device 100, and provides a driving force to the fork device 100, so that the fork device 100 can move up and down along the height direction of the door frame 300. In this way, the operating height of the fork device 100 can be adjusted, thereby completing the picking and placing of the material boxes 500 located at different heights on the storage shelf.

[0066] like Figures 2 to 4 As shown, in the embodiment of the present application, the fork device 100 includes a base plate 10, a displacement compensation mechanism 30 and a telescopic mechanism 20, wherein the base plate 10 is used to carry the displacement compensation mechanism 30 and the telescopic mechanism 20, and the telescopic mechanism 20 includes two telescopic components, which are arranged on both sides of the base plate 10 relatively along a first direction, and the spacing between the two telescopic components along the first direction is coordinated with the material box 500, so that the telescopic mechanism 20 can take and put the material box 500.

[0067] Furthermore, the telescopic direction of the telescopic mechanism 20 is consistent with the second direction, that is, the telescopic mechanism 20 telescopes along the second direction; when out of the warehouse, the telescopic mechanism 20 can be extended into the storage position of the storage shelf, and the material box 500 is transferred from the storage shelf to the storage position 200; when entering the warehouse, the telescopic mechanism 20 can be extended into the storage position 200, and the material box 500 is transferred from the storage position 200 to the storage shelf.

[0068] The displacement compensation mechanism 30 is connected to the two telescopic components respectively, and the displacement compensation mechanism 30 is slidably mounted on the substrate 10. The displacement compensation mechanism 30 can move along the first direction relative to the substrate 10. When the displacement compensation mechanism 30 is actuated, it can drive the telescopic mechanism 20 to move as a whole along the first direction, and change the position of the telescopic mechanism 20 relative to the substrate 10 along the first direction.

[0069] Exemplarily, the two telescopic components may be connected together via a displacement compensation mechanism 30 so that the telescopic components move synchronously relative to the substrate 10 in the first direction, and the telescopic functions of each telescopic component along the second direction do not affect each other.

[0070] For example, each telescopic component includes an outer wall panel 21 and at least one telescopic wall panel 22, wherein the telescopic wall panel 22 is arranged on the inner side of the outer wall panel 21, the outer wall panel 21 is fixed relative to the substrate 10, the telescopic wall panel 22 can be extended or retracted along the second direction relative to the outer wall panel 21, and the two outer wall panels 21 are connected together through a displacement compensation mechanism 30; when the displacement compensation mechanism 30 is activated, the two outer wall panels 21 move synchronously along the first direction.

[0071] When the handling robot provided in the embodiment of the present application is used to carry out warehousing and storage of high-level material boxes, and there is a misalignment between the telescopic mechanism 20 and the target warehouse position in the first direction (that is, there is a "lateral error" between the telescopic mechanism 20 and the target warehouse position), the displacement compensation mechanism 30 can be actuated to drive the telescopic mechanism 20 to slide as a whole relative to the base plate 10 along the first direction, so as to adjust the position of the telescopic mechanism 20 relative to the base plate 10 along the first direction, thereby eliminating the "lateral error" between the telescopic mechanism 20 and the target warehouse position in the first direction, so that the telescopic mechanism 20 can be directly opposite to the target warehouse position, and the material box 500 can be further transferred between the handling robot and the storage shelf to realize the warehousing and storage of the material box 500.

[0072] In the related art, the position of the telescopic mechanism is adjusted by moving the transport robot as a whole, thereby eliminating the "lateral error" between the target position and the telescopic mechanism. During this adjustment process, since the shaking of the entire transport robot is uncontrollable and the specific movement amount cannot be calculated, continuous movement and adjustment are required, which takes a long time and affects efficiency.

[0073] However, in the embodiment of the present application, the telescopic mechanism 20 is driven to move by the displacement compensation mechanism 30 to eliminate the "lateral error". The adjustment process is less affected by the shaking of the handling robot. The telescopic mechanism 20 can be moved according to the specific error, and the position of the telescopic mechanism 20 can be quickly adjusted to improve the efficiency of the material box 500 in and out of the warehouse.

[0074] On the basis of the above-mentioned embodiment, the displacement compensation mechanism 30 provided in the embodiment of the present application includes a carrier frame 31 and a support rod 37. The carrier frame 31 is a frame structure, also called a carrier frame. The carrier frame is slidably mounted on the substrate 10, and the carrier frame 31 can slide relative to the substrate 10 along a first direction. The support rod 37 is arranged on the carrier frame 31, and the support rod 37 is used to connect the telescopic components located on both sides of the substrate, that is, the two ends of the support rod 37 are respectively connected to the outer wall panels 21 of the two telescopic components.

[0075] Specifically, the carrier 31 is used to carry the material box. For example, when the material box 500 is out of the warehouse, it is transferred to the carrier 31 through the telescopic mechanism 20, and further transferred to the storage position 200. The carrier 31 can be a well-shaped frame, and the carrier 31 includes two first bearing beams 311 and two second bearing beams 312. The two first bearing beams 311 are arranged above the two second bearing beams 312, and the first bearing beams 311 and the second bearing beams 312 are fixedly connected.

[0076] Further, two first bearing beams 311 are arranged in parallel and spaced apart along the first direction, and each first bearing beam 311 extends along the second direction. Two second bearing beams 312 are arranged in parallel and spaced apart along the second direction, and each second bearing beam 312 extends along the first direction. Each second bearing beam 312 is slidably connected to the substrate 10 through a corresponding sliding assembly 38, so that the entire bearing frame 31 slides relative to the substrate 10 along the first direction.

[0077] The displacement compensation mechanism includes two support rods 37, which are arranged at intervals on both sides of the carrier 31 along the second direction, and each support rod 37 is located below the first load beam 311 and is respectively connected to the two first load beams 311 through fasteners. Along the first direction, both ends of the support rod 37 are respectively connected to the outer wall plates 21 of the two telescopic components, so that the support rod 37 can move with the carrier and drive the two telescopic components to move synchronously.

[0078] In one embodiment, each second bearing beam 312 is provided with a set of sliding components 38, each sliding component 38 includes a slide rail 381 and a plurality of sliders 382 cooperating with the slide rail 381, and along the first direction, the plurality of sliders 382 are fixed on the substrate 10 at intervals, and the plurality of sliders 382 jointly carry a slide rail 381. The slide rail 381 is slidably mounted on the plurality of sliders 382 and extends along the first direction. The second bearing beam 312 is fixedly connected to the slide rail 381, that is, the slide rail 381 is connected to the bottom of the bearing frame 31. When the displacement compensation mechanism 30 is actuated, a driving force is applied to the bearing frame 31 so that the bearing frame 31 slides along the first direction relative to the substrate 10. In this way, the contact area between the bearing frame 31 and the sliding component 38 can be increased, and the reliability and stability of the sliding of the bearing frame 31 relative to the substrate 10 can be improved.

[0079] It should be noted that the sliding assembly 38 provided in the embodiment of the present application is not limited to the above-mentioned matching mode of the slide rail 381 and the plurality of sliders 382. For example, the slide rail 381 is fixed on the substrate 10, the slider 382 is slidably mounted on the slide rail 381, and the slider 382 is connected to the bottom of the second load beam 312. The embodiment of the present application is not limited to this.

[0080] The displacement compensation mechanism 30 provided in the embodiment of the present application also includes a driving mechanism 32 and a transmission assembly 33. The driving mechanism 32 is connected to the transmission assembly 33, and the driving mechanism 32 is used to provide a driving force to the transmission assembly 33. The transmission assembly 33 is configured to drive the two telescopic assemblies to move synchronously along the first direction under the action of this driving force.

[0081] Exemplarily, the transmission assembly 33 includes a driving wheel 331, a driven wheel 332 and a synchronous belt 333, the driving mechanism 32 is connected to the driving wheel 331, and the driving mechanism 32 and the driving wheel 331 are both arranged on the outer wall plate 21 of one telescopic assembly and located outside the outer wall plate 21. The driven wheel 332 is arranged on the outer wall plate 21 of another telescopic assembly and is located outside the outer wall plate 21.

[0082] Furthermore, the driven wheel 332 and the driving wheel 331 in the embodiment of the present application are arranged relatively along the first direction, and the synchronous belt 333 is wound around the driven wheel 332 and the driving wheel 331. The base plate 10 is also provided with a toothed plate fixing assembly 34, the first end of the synchronous belt 333 is connected to the toothed plate fixing assembly 34, the second end of the synchronous belt 333 is wound around the driving wheel 331 and the driven wheel 332, and is connected to the toothed plate fixing assembly 34, that is, the first end and the second end of the synchronous belt 333 are respectively connected to the toothed plate fixing assembly 34. When the driving mechanism 32 is in motion, the entire two telescopic mechanisms 20 can be driven to move relative to the base plate 10 along the first direction as a whole through the synchronous belt 333.

[0083] To facilitate the description of the embodiments of the present application, the two telescopic components are respectively defined as a first telescopic component and a second telescopic component, wherein the outer wall panel 21 of the first telescopic component is defined as a first outer wall panel, and the outer wall panel 21 of the second telescopic component is defined as a second outer wall panel.

[0084] The driving mechanism 32 includes a driving motor 321 and a reducer 322 connected thereto, wherein the driving motor 321, the reducer 322, and the driving wheel 331 are all arranged on the outside of the first outer wall panel, the driving motor 321 and the reducer 322 are installed above the driving wheel 331 through a mounting seat, the driving wheel 331 is installed on the first outer wall panel through a mounting plate, and the driving motor 321 is connected to the driving wheel 331 through the reducer 322.

[0085] Furthermore, the driven wheel 332 is connected to the outer side of the second outer side wall plate through the mounting plate, and the driven wheel 332 is opposite to the driving wheel 331 along the first direction, and the driven wheel 332 and the driving wheel 331 are at the same height. The toothed plate fixing assembly 34 includes a toothed plate clamping member and a fixing seat, the fixing seat is fixedly connected to the base plate 10, and the toothed plate clamping member is connected to the fixing seat. The first end of the synchronous belt 333 is connected to the toothed plate clamping member and clamped by the toothed plate clamping member; the second end of the synchronous belt 333 is wound around the driving wheel 331 and the driven wheel 332, and the second end of the synchronous belt 333 is further connected to the toothed plate clamping member and clamped by the toothed plate clamping member.

[0086] It can be understood that the transmission component in the embodiment of the present application can also be a ball screw, which is driven by a driving motor to rotate, and the ball screw is respectively connected to the first outer wall plate and the second outer wall plate for transmission, so as to achieve synchronous movement.

[0087] Preferably, the displacement compensation mechanism in the embodiment of the present application adopts a synchronous belt transmission method. Compared with the use of a ball screw to drive the telescopic mechanism to move in the related art, the displacement compensation mechanism in the embodiment of the present application has a simple structure, is easy to layout, and has good applicability.

[0088] like Figure 5 and Figure 6 As shown, the fork device 100 in the embodiment of the present application further includes a photoelectric sensor 35 and a photoelectric sensor sheet 36, wherein the photoelectric sensor 35 is disposed on the carrier 31 and moves along the first direction with the carrier 31. The photoelectric sensor sheet 36 is disposed on the substrate 10 and is located on the moving path of the photoelectric sensor 35. The photoelectric sensor sheet 36 extends along the first direction, and its extending direction is consistent with the moving direction of the photoelectric sensor 35.

[0089] For example, the carrier frame 31 includes two first bearing beams 311 and two second bearing beams 312 arranged in a tic-tac-toe pattern, the first bearing beams 311 are arranged along the second direction, and the second bearing beams 312 are arranged along the first direction. The photoelectric sensor 35 can be installed on one side of the first bearing beam 311 and arranged close to the photoelectric sensing sheet 36. The sensing direction of the photoelectric sensor 35 is consistent with the second direction. The photoelectric sensing sheet 36 extends in the first direction, and its extension direction is opposite to the sensing direction of the photoelectric sensor 35.

[0090] For example, the sensing direction of the photoelectric sensor 35 is perpendicular to the extension direction of the photoelectric sensing sheet 36. It is understandable that the extension length of the photoelectric sensing sheet 36 in the first direction is greater than or equal to the "lateral error" between the telescopic mechanism 20 and the target position to meet the adjustment requirements of the telescopic mechanism 20.

[0091] Further, the photoelectric sensing sheet 36 is provided with a zero point, and when the photoelectric sensor 35 is aligned with the zero point, the telescopic mechanism 20 moves to the initial position. At this time, the telescopic mechanism 20 is opposite to the storage position 200, and the two are aligned along the first direction, that is, when the telescopic mechanism 20 is in the initial position, along the first direction, the center line of the telescopic mechanism 20 is opposite to the center line of the storage position 200, or, in some states, the telescopic mechanism 20 is opposite to the target storage position.

[0092] It is understandable that the transport robot in the embodiment of the present application also includes a control unit and an image acquisition device 60 connected thereto. The image acquisition device 60 can be arranged on the carrier 31. Along the second direction, the image acquisition device 60 is located at the front end of the carrier 31.

[0093] For example, the image acquisition device 60 includes a camera module, which is installed on the two first load beams 311 through a mounting seat. The image acquisition device 60 is located between the two first load beams 311, and the camera module can take a picture of the target position to obtain the "lateral error" between the target position and the telescopic mechanism 20, and transmit it to the control unit. The control unit controls the displacement compensation mechanism 30 to operate according to the "lateral error" and the initial position of the telescopic mechanism 20 to adjust the position of the telescopic mechanism 20.

[0094] The control unit is connected to the photoelectric sensor 35 and the photoelectric sensing sheet 36 by signals. During the movement of the telescopic mechanism 20, the photoelectric sensor 35 is configured to scan the photoelectric sensing sheet 36, and the control unit can obtain the movement displacement of the photoelectric sensor 35, which can be the distance between the zero point and the end point of the photoelectric sensor 35. When the telescopic mechanism 20 completes picking up the goods, the telescopic mechanism 20 needs to further return to the zero point, that is, when the photoelectric sensor 35 is aligned with the zero point, the telescopic mechanism 20 stops moving to achieve reset, so as to facilitate the subsequent adjustment of the telescopic mechanism 20.

[0095] In this way, the fork device 100 in the embodiment of the present application is provided with a photoelectric sensor 35 and a photoelectric sensing sheet 36. The "lateral error" between the telescopic mechanism 20 and the target warehouse position can be accurately adjusted by using the displacement compensation mechanism, which can quickly eliminate the lateral error and improve the adjustment efficiency and operating efficiency.

[0096] In the embodiment of the present application, the fork device 100 is arranged with signal wires and other cables. To avoid the signal wires and cables from winding and to make the wiring neat, the fork device 100 in the embodiment of the present application further includes a bracket and a drag chain 40; wherein the drag chain 40 has flexibility and can be bent and deformed, and the drag chain 40 is used to pass the cables or to fix the cables on the drag chain 40. The bracket is used to fix the drag chain 40, the bracket is mounted on the base plate 10, and the bracket is connected to the drag chain 40, so that the drag chain 40 is fixed on the base plate 10 through the bracket.

[0097] In order to further improve the operating efficiency of the handling robot, the fork device 100 provided in the embodiment of the present application also includes a carrying mechanism and a rotating mechanism; wherein the rotating mechanism is arranged between the carrying mechanism and the base plate 10, and the base plate 10 is rotatably connected to the rotating mechanism, and the rotating mechanism can drive the base plate 10 to rotate relative to the carrying mechanism.

[0098] Exemplarily, the bearing mechanism may be a rotary bearing plate 51, and the rotary mechanism includes a rotating disk; the base plate 10 is disposed above the rotary bearing plate 51, and the base plate 10 is rotatably connected to the rotary bearing plate 51 through the rotating disk. It should be noted that the rotary mechanism also includes but is not limited to a driving motor and a transmission mechanism connected thereto, and is connected to the rotating disk through the transmission mechanism to drive the base plate 10 to rotate, thereby realizing the rotation of the entire fork device 100.

[0099] In other embodiments, according to installation requirements, the bearing mechanism may also be a slewing bearing frame 52, and the present embodiment does not limit the structure of the bearing mechanism. The slewing bearing frame 52 is configured as the bearing structure of the entire fork device 100, and the slewing mechanism is arranged on one side of the slewing bearing frame 52, and the other side of the slewing bearing frame 52 is slidably mounted on the door frame 300, so as to drive the entire fork device 100 to move up and down along the third direction under the action of the lifting mechanism.

[0100] When the handling robot provided in the embodiment of the present application is used to pick up and place the high-level material box, the so-called high-level material box may be a material box higher than the ground, for example, a material box with a picking height greater than 7m. The process of picking up and placing the material box by the handling robot is described in detail:

[0101] Under the action of the lifting mechanism, the fork device 100 rises along the gantry 300 to the height of the target warehouse, and under the action of the slewing mechanism, the fork device 100 rotates 90° to make the telescopic mechanism 20 face the target warehouse.

[0102] Furthermore, the image acquisition device 60 is used to acquire images and transmit them to the control unit of the handling robot, and the control unit analyzes the images to determine whether the current telescopic mechanism is aligned with the target bin. For example, if the telescopic mechanism is aligned with the target bin, the position of the telescopic mechanism 20 is not adjusted or compensated.

[0103] like Figure 7 As shown, if the telescopic mechanism 20 is not aligned with the target position, the displacement compensation mechanism 30 is activated, and the drive motor of the displacement compensation mechanism 30 rotates, driving the telescopic mechanism 20 to move relative to the substrate 10, so that the telescopic mechanism 20 is aligned with the target position.

[0104] like Figure 8 As shown, when the telescopic mechanism 20 is aligned with the target bin, the telescopic mechanism 20 begins to telescope, and the telescopic wall plate 22 extends into the target bin, and the material box 500 is transferred to the target bin. Further, after the material box 500 is stored in the target bin, the telescopic wall plate 22 of the telescopic mechanism 20 is stored; then, the driving motor of the displacement compensation mechanism 30 rotates in the reverse direction to move the telescopic mechanism 20 to the initial position, that is, the displacement compensation mechanism 30 returns to the zero position.

[0105] Furthermore, under the action of the slewing mechanism, the fork device 100 rotates 90° in the opposite direction, so that the telescopic mechanism of the fork device 100 is opposite to the storage location 200, and the material box in the storage location 200 can be further transferred to the target storage location. For the process of removing the material box from the storage shelf, please refer to the above process, which will not be repeated here.

[0106] The various embodiments or implementation methods in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referenced to each other.

[0107] It should be noted that the embodiments represented by "one embodiment", "an embodiment", "an exemplary embodiment", "some embodiments", etc. mentioned in the specification may include specific features, structures or characteristics, but not every embodiment may include the specific features, structures or characteristics. In addition, such phrases do not necessarily refer to the same embodiment. In addition, when describing specific features, structures or characteristics in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such features, structures or characteristics in conjunction with other embodiments that are explicitly or not explicitly described.

[0108] In general, terms should be understood, at least in part, by the context in which they are used. For example, the term "one or more" as used herein may be used to describe any feature, structure, or characteristic in a singular sense, or may be used to describe a combination of features, structures, or characteristics in a plural sense, depending, at least in part, on the context. Similarly, terms such as "a" or "" may also be understood to convey singular usage or to convey plural usage, depending, at least in part, on the context.

[0109] In addition, spatially relative terms, such as "below", "below", "beneath", "above", "above", etc., may be used herein for ease of description to describe the relationship of one element or feature relative to other elements or features as shown in the figures. The spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation shown in the figures.

[0110] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A fork device, characterized in that: It includes a base plate, a displacement compensation mechanism and a telescopic mechanism; The telescopic mechanism comprises two telescopic components, and the two telescopic components are arranged on two sides of the substrate opposite to each other along a first direction; The displacement compensation mechanism is connected to the two telescopic components respectively, and the displacement compensation mechanism is configured to slide relative to the substrate along a first direction and change the position of the telescopic mechanism relative to the substrate along the first direction.

2. The fork device according to claim 1, characterized in that: The displacement compensation mechanism includes a bearing frame and a support rod; The carrier is slidably mounted on the substrate and slides relative to the substrate along a first direction; The support rod is arranged on the bearing frame and moves along with the bearing frame; two ends of the support rod are respectively connected with the two telescopic components.

3. The fork device according to claim 2, characterized in that: The displacement compensation mechanism also includes a driving mechanism and a transmission assembly; The driving mechanism is connected to the transmission assembly, and the transmission assembly is configured to drive the two telescopic assemblies to move synchronously along the first direction.

4. The fork device according to claim 3, characterized in that: The telescoping assembly includes an outer side wall panel; The transmission assembly includes a driving wheel, a driven wheel and a synchronous belt, the driving mechanism and the driving wheel are respectively arranged on one of the outer wall plates, and the driving mechanism is connected to the driving wheel; The driven wheel is arranged on the other outer wall plate, and the driven wheel and the driving wheel are arranged opposite to each other along a first direction; The base plate is provided with a toothed plate fixing assembly, one end of the synchronous belt is connected to the toothed plate fixing assembly, and the other end of the synchronous belt is wound around the driving wheel and the driven wheel and connected to the toothed plate fixing assembly.

5. The fork device according to claim 4, characterized in that: The displacement compensation mechanism includes two support rods; Along the second direction, the two support rods are arranged at intervals on both sides of the supporting frame; Each of the support rods extends along a first direction, and two ends of the support rod are respectively connected to the two outer side wall panels.

6. The fork device according to claim 2, characterized in that: The displacement compensation mechanism also includes a slide rail and a plurality of sliders; The slide rail is slidably mounted on the slider, and the slide rail extends along a first direction; The slide rail is connected to the bottom of the carrier frame, and the slide block is connected to the base plate.

7. The fork device according to any one of claims 2 to 6, characterized in that: The displacement compensation mechanism also includes a photoelectric sensor and a photoelectric sensing sheet; The photoelectric sensor is disposed on the carrier and moves along the first direction following the carrier; The photoelectric sensing sheet is arranged on the substrate, the photoelectric sensing sheet extends along a first direction and is located on a moving path of the photoelectric sensor, and the photoelectric sensing sheet is provided with a zero point; The photoelectric sensor is configured to scan the photoelectric sensing sheet, and when the photoelectric sensor moves to the zero position, the telescopic mechanism is located at an initial position.

8. The fork device according to claim 1, characterized in that: The fork device also includes a bracket and a tow chain; The drag chain has flexibility and is used for threading cables; The drag chain is installed on the bracket, and the bracket is fixed on the base plate.

9. The fork device according to claim 1, characterized in that: The fork device also includes a load-bearing mechanism and a slewing mechanism; The rotating mechanism is disposed between the supporting mechanism and the base plate. The rotating mechanism is rotationally connected to the base plate, and the rotating mechanism is configured to drive the base plate to rotate relative to the supporting mechanism.

10. A transport robot, characterized in that: It comprises a gantry, a mobile base, at least one storage location and a fork device as claimed in any one of claims 1 to 9; The gantry is mounted on the mobile base along the third direction, and the fork device is slidably mounted on the gantry along the third direction; The storage position is used to carry a material box, and the storage position and the fork device are arranged on both sides of the gantry along the second direction opposite to each other; The telescopic direction of the telescopic mechanism of the fork device is consistent with the second direction.

11. The handling robot according to claim 10, characterized in that: The transport robot comprises a lifting mechanism and a plurality of storage locations; The lifting mechanism is arranged on the gantry and drives the fork device to move along the third direction; A plurality of storage locations are arranged on the door frame at intervals along the third direction.

12. The handling robot according to claim 10, characterized in that: When the telescopic mechanism is in an initial position, along a first direction, a center line of the telescopic mechanism is directly opposite to a center line of the storage position.

Images