Pallet fork and transfer robot

Abstract

The utility model provides a pallet fork which comprises a bottom plate and further comprises a conveying assembly, a telescopic fork assembly and a width adjusting assembly which are arranged on the bottom plate, and the conveying assembly is used for being in butt joint with an external butt joint device and conveying materials. The telescopic fork assembly comprises a first telescopic fork unit and a second telescopic fork unit which are distributed on the two sides of the conveying assembly and slidably connected to the bottom plate, and a taking and placing opening located between the first telescopic fork unit and the second telescopic fork unit is formed in one end of the conveying assembly. The width adjusting assembly can adjust the distance between the first telescopic fork unit and the second telescopic fork unit so as to change the size of the taking and placing opening, and the first telescopic fork unit and the second telescopic fork unit can stretch out and draw back independently. The utility model further discloses the transfer robot. The two telescopic fork units can be in butt joint with an external butt joint device conveniently, the two telescopic fork units can act independently, adaptability is wider, and carrying efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of logistics warehousing, and in particular to a cargo fork and a handling robot. Background Art

[0002] In the field of logistics and warehousing, forks are often used to transport goods. However, in actual use, the fork generally includes two telescopic forks, and there is a certain span between the two telescopic forks. In some areas with relatively small spaces, it is not possible for the two telescopic forks to be extended at the same time to pick up materials. In addition, due to the limitations of the space environment and external shelves, some external shelves are not convenient for forks to extend into the shelves to pick up goods, nor are they convenient for forks to pick up materials directly from external shelves. In this case, manual assistance is required through handheld devices to ensure that the goods can be smoothly transported to the forks for transportation. This will not only increase the workload, but also greatly affect the transportation efficiency.

[0003] It can be seen that the current forks have certain limitations in their application scenarios. Therefore, it is necessary to design a fork that is easy to use and has a wider adaptability to improve handling efficiency. Utility Model Content

[0004] The utility model aims to solve one of the technical problems in the related art to a certain extent. To this end, the utility model provides a fork and a handling robot, which are convenient for docking with an external docking device, and the two telescopic fork units can act independently, which has wider adaptability and improves the handling efficiency.

[0005] In order to achieve the above-mentioned purpose, the first aspect of the utility model discloses a cargo fork, comprising a base plate, and also comprising a conveying assembly, a telescopic fork assembly and a width adjustment assembly arranged on the base plate, the conveying assembly is used to dock with an external docking device and convey materials, the telescopic fork assembly comprises a first telescopic fork unit and a second telescopic fork unit distributed on both sides of the conveying assembly and slidably connected to the base plate, a pick-up and release opening located between the first telescopic fork unit and the second telescopic fork unit is formed at one end of the conveying assembly, the width adjustment assembly can adjust the distance between the first telescopic fork unit and the second telescopic fork unit to change the size of the pick-up and release opening, and the first telescopic fork unit and the second telescopic fork unit can both be independently telescopic.

[0006] In the present technical solution, the width adjustment component can adjust the distance between the first telescopic fork unit and the second telescopic fork unit, so that the fork can adapt to the picking and placing operations of material boxes of different widths; the conveying component can directly dock with the external docking device, and the material on the external docking device can be directly sent into the fork through the conveying component, so that the telescopic fork component does not need to extend into the external docking device to achieve the exchange of material boxes, which is suitable for more usage scenarios; in addition, the present application includes a first telescopic fork unit and a second telescopic fork unit that can move independently, so that when in use, in some storage areas with small spaces, the first telescopic fork unit and the second telescopic fork unit can be extended into the space separately to pick up and place materials, which reduces the requirements for the size of the external storage area, has a wider adaptability, and improves the handling efficiency.

[0007] Furthermore, the conveying assembly includes a first mounting plate and a second mounting plate arranged on the base plate, the first mounting plate and the second mounting plate are arranged opposite to each other, and the conveying assembly also includes an active electric roller and a plurality of passive rollers arranged between the first mounting plate and the second mounting plate, and the active electric roller and the plurality of passive rollers are transmission-connected.

[0008] Furthermore, the width adjustment assembly includes a width adjustment rail arranged on the bottom plate, the width adjustment rail is arranged along the axial direction of the active motor roller and the passive roller; the first telescopic fork unit and the second telescopic fork unit are slidably arranged on the width adjustment rail, a gap is arranged between the active motor roller and the passive roller, and the width adjustment rail is arranged in the gap between the active motor roller and the passive roller, or a gap is arranged between two adjacent passive rollers, and the width adjustment rail is arranged in the gap between the two adjacent passive rollers. Through the above arrangement, the overall height of the fork can be reduced, the minimum height for picking up goods can be reduced, the space utilization rate can be improved, and the storage capacity of the warehouse can be improved.

[0009] Furthermore, the width adjustment component also includes a synchronous belt, a pulley, a tensioning wheel and a width adjustment motor. The width adjustment motor is arranged on one side of the conveying component and the output end is connected to the pulley. The other side of the conveying component is provided with a tensioning wheel opposite to the pulley. The tensioning wheel and the pulley are connected through a synchronous belt transmission. The first telescopic fork unit is fixed to one side of the synchronous belt through a first adapter, and the second telescopic fork unit is fixed to the other side of the synchronous belt through a second adapter. The rotation of the synchronous belt drives the first telescopic fork unit and the second telescopic fork unit to move synchronously toward or away from each other through the first adapter and the second adapter. The synchronous adjustment action of the first telescopic fork unit and the second telescopic fork unit ensures that the centerline position of the fork remains unchanged during the adjustment process, which facilitates the alignment of the fork with the external docking device.

[0010] Furthermore, a drag chain is installed on the bottom plate and is placed at the end of the conveying assembly opposite to the pick-up and release port. The drag chain is used to carry the wiring harness of the first telescopic fork unit and the second telescopic fork unit.

[0011] Furthermore, the first telescopic fork unit and the second telescopic fork unit are configured to be symmetrically distributed on both sides of the conveying assembly, thereby reducing the types of parts, facilitating production, and reducing production and design costs.

[0012] Further, at least one of the first telescopic fork unit and the second telescopic fork unit includes a zero-level plate, a motor, a primary guide rail, a primary plate, a first transmission assembly, a secondary plate, a secondary guide rail and a second transmission assembly, the zero-level plate is fixed on the bottom plate, the primary guide rail is fixed on the zero-level plate, the primary plate is slidably connected to the primary guide rail, the secondary guide rail is fixed on the primary plate, the secondary plate is slidably connected to the secondary guide rail, and the motor drives the primary plate and the secondary plate to extend or retract synchronously along the conveying direction of the conveying assembly through the first transmission assembly and the second transmission assembly. The secondary telescopic structure enables the fork to have a larger telescopic range, adapt to the handling and retrieval requirements of a storage location with a greater depth, and is more convenient to use and has better applicability.

[0013] Furthermore, the first transmission assembly includes a first pulley, a first tensioning wheel, and a first conveyor belt. The first pulley and the first tensioning wheel are fixed on the zero-level plate. The first conveyor belt is connected between the first pulley and the first tensioning wheel. The first-level plate is connected to the first conveyor belt through the first connecting plate. The output shaft of the motor drives the first pulley to rotate. The second transmission assembly includes a second conveyor belt and an idler wheel assembly. The idler wheel assembly includes two idler wheels fixed on the first-level plate. The two idler wheels are connected through the second conveyor belt. One side of the second conveyor belt is fixed on the zero-level plate, and the other side of the second conveyor belt is fixed on the second-level plate.

[0014] Furthermore, the telescopic fork unit including the zero-level plate in the first telescopic fork unit and the second telescopic fork unit also includes a guide assembly, which includes a guide plate, which is fixed to the inner side of the zero-level plate and arranged close to the conveying surface of the conveying assembly, and is arranged along the conveying direction of the conveying assembly, and one end of the guide plate extends obliquely to the outer side of the zero-level plate and forms a guide groove located at the pick-up and release port. It guides the material entering the fork, corrects the position or posture of the material, so that it can enter the interior of the fork more smoothly, and reduces the risk of collision damage to the material due to walking errors or other factors.

[0015] Furthermore, at least one of the first telescopic fork unit and the second telescopic fork unit also includes a zero position detection component, and a zero position detection photoelectric matching component corresponding to the zero position detection component is installed on the bottom plate, and the zero position detection component and the zero position detection photoelectric matching component are used for performing zero return detection on the telescopic fork unit provided with the zero position detection component during the width adjustment process of the width adjustment component.

[0016] Furthermore, a positioning element is provided on the bottom plate at one end of the access opening, and the positioning element is used to position the conveying assembly when the conveying assembly is docked with the external docking device, thereby improving the docking accuracy with the external docking device.

[0017] Furthermore, a plurality of photoelectric sensors are arranged on the bottom plate at intervals along the conveying direction of the conveying assembly, and the photoelectric sensors are used to detect the material positions of the input and output forks, and the photoelectric sensors are connected to the driving components of the conveying assembly in communication, so as to realize the automatic conveying of the material during the picking and placing operation, improve automation and work efficiency.

[0018] The second aspect of the utility model discloses a transport robot, comprising a movable chassis and the cargo fork disclosed in the first aspect, wherein the cargo fork is arranged on the movable chassis through a bottom plate.

[0019] Furthermore, the transport robot also includes a lifting mechanism, which is arranged on the movable chassis, and the fork is arranged on the lifting platform of the lifting mechanism through the bottom plate.

[0020] The advantages of the handling robot disclosed in the present application are similar to the advantages of the fork disclosed in the first aspect, and will not be repeated here.

[0021] These features and advantages of the utility model will be disclosed in detail in the following specific embodiments and drawings. The best implementation or means of the utility model will be fully presented in conjunction with the drawings, but it is not a limitation of the technical solution of the utility model. In addition, these features, elements and components appearing in each of the following texts and drawings are multiple, and are marked with different symbols or numbers for convenience, but all represent components with the same or similar structure or function. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The utility model is further described below in conjunction with the accompanying drawings:

[0023] Figure 1 This is an overall structural diagram of a fork of one embodiment of the utility model (retracted state);

[0024] Figure 2 This is a structural diagram of a first telescopic fork unit of one embodiment of the utility model;

[0025] Figure 3 For this utility model Figure 2 Middle rear view;

[0026] Figure 4 This is a top view of the first telescopic fork unit of one embodiment of the utility model (hiding the secondary plate);

[0027] Figure 5 This is a structural diagram of a second telescopic fork unit in one embodiment of the utility model;

[0028] Figure 6 For this utility model Figure 5 Middle rear view;

[0029] Figure 7 This is a top view of the second telescopic fork unit of one embodiment of the utility model (hiding the secondary plate);

[0030] Figure 8 This is an overall structural diagram of the first and second telescopic fork units hidden in one embodiment of the utility model;

[0031] Fig. 9 This is an overall structural diagram of one embodiment of the utility model (in the extended state);

[0032] Fig.10 This is a structural diagram of a transport robot according to one embodiment of the present utility model.

[0033] in,

[0034] 10. Conveying assembly; 11. First mounting plate; 12. Second mounting plate; 13. Active electric roller; 14. Passive roller; 15. Roller belt;

[0035] 20, first telescopic fork unit; 201, left zero-level plate; 202, left motor; 203, left primary guide rail; 204, left primary plate; 2051, left first pulley; 2052, left first tensioning wheel; 2053, left first synchronous belt; 206, left secondary plate; 207, left secondary guide rail; 2081, left idler assembly; 2082, left second synchronous belt; 209, left zero position detection member; 2101, left guide plate; 2102, left support member; 211, left push plate; 212, left shift fork assembly;

[0036] 30. Second telescopic fork unit; 301. Right zero-level plate; 302. Right motor; 303. Right primary guide rail; 304. Right primary plate; 3051. Right first pulley; 3052. Right first tensioning wheel; 3053. Right first synchronous belt; 306. Right secondary plate; 307. Right secondary guide rail; 3081. Right idler assembly; 3082. Right second synchronous belt; 309. Right zero position detection member; 3101. Right guide plate; 3102. Right support member; 311. Right push plate; 312. Right fork assembly;

[0037] 40. Width adjustment assembly; 41. Width adjustment guide rail; 42. Width adjustment synchronous belt; 43. Width adjustment pulley; 44. Width adjustment tensioning pulley; 45. Width adjustment motor; 46. First adapter; 47. Second adapter; 48. Drag chain; 49. Sliding seat;

[0038] 50. Bottom plate; 51. Positioning element; 52. Entering the photoelectric sensor; 53. Taking out the photoelectric sensor;

[0039] 60. Movable chassis; 61. Lifting mechanism. DETAILED DESCRIPTION

[0040] The following is a detailed description of embodiments of the present invention, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments in the implementation manner are intended to be used to explain the present invention and should not be construed as limiting the present invention.

[0041] References to "one embodiment" or "an example" or "an example" in this specification mean that a particular feature, structure, or characteristic described in conjunction with the embodiment itself may be included in at least one embodiment disclosed in the present application. The appearance of the phrase "in one embodiment" in various places in the specification does not necessarily refer to the same embodiment.

[0042] See also Figure 1 and Fig. 9 One of the embodiments of the present application provides a fork, including a base plate 50, and a conveying assembly 10, a telescopic fork assembly and a width adjustment assembly 40 arranged on the base plate 50. The conveying assembly 10 is used to dock with an external docking device and convey materials. The telescopic fork assembly includes a first telescopic fork unit 20 and a second telescopic fork unit 30 distributed on both sides of the conveying assembly 10 and slidably connected to the base plate 50. A pick-up and release opening located between the first telescopic fork unit 20 and the second telescopic fork unit 30 is formed at one end of the conveying assembly 10. When in use, the material enters or moves out of the fork from the pick-up and release opening. The width adjustment assembly 40 can adjust the distance between the first telescopic fork unit 20 and the second telescopic fork unit 30 to change the size of the pick-up and release opening. The first telescopic fork unit 20 and the second telescopic fork unit 30 can both be independently telescopic.

[0043] The external docking device in this embodiment includes but is not limited to a storage rack, a machine table, a roller conveyor line, a chain conveyor line, a belt conveyor line, etc.

[0044] When in use, the input end of the conveying component 10 of the utility model is docked with the output end of the external docking device, wherein the height of the input end of the conveying component 10 is generally not higher than the output end of the external docking device, so as to facilitate the transfer of materials on the external docking device to the conveying component 10. In actual operation, the height of the conveying component 10 can be adjusted by setting a lifting component so that it can adapt to external docking devices of different heights. In this way, the material on the external docking device can be directly delivered to the interior of the fork through the conveying component 10, so that the telescopic fork assembly does not need to extend into the external docking device (for example, an external shelf or a conveyor line), and the exchange of material boxes can be realized, which is suitable for more usage scenarios.

[0045] The width adjustment component 40 of the present embodiment is used to adjust the distance between the first telescopic fork unit 20 and the second telescopic fork unit 30. When the width of the material box is large, the distance between the first telescopic fork unit 20 and the second telescopic fork unit 30 is increased by the width adjustment component 40; when the width of the material box is small, the distance between the first telescopic fork unit 20 and the second telescopic fork unit 30 is reduced by the width adjustment component 40, so that the fork can adapt to the picking and placing operations of material boxes of different widths, thereby improving the applicability of the fork.

[0046] In some storage areas with small spaces, it is not possible for two telescopic fork units to extend at the same time. At this time, the telescopic forks of some cargo forks cannot extend, resulting in failure to pick up goods. The first telescopic fork unit 20 and the second telescopic fork unit 30 in the embodiment of the utility model can both act independently and can both extend into the space to pick up and place materials, which reduces the requirements for the size of the external storage area, has wider adaptability, and improves the handling efficiency.

[0047] The conveying assembly 10 of one embodiment of the present invention includes a first mounting plate 11 and a second mounting plate 12 arranged on a base plate 50, the first mounting plate 11 and the second mounting plate 12 are arranged opposite to each other, and the conveying assembly 10 also includes an active electric roller 13 and a plurality of passive rollers 14 arranged between the first mounting plate 11 and the second mounting plate 12, and the active electric roller 13 and the plurality of passive rollers 14 are transmission-connected.

[0048] In the embodiment of the present utility model, the specific implementation method of "transmission connection" is not particularly limited. For example, it can be connected by a roller belt 15 or a chain.

[0049] The following is an introduction to the specific implementation of "transmission connection" using the roller belt 15 as an example. The conveying assembly 10 of this embodiment adopts the roller conveying method. When working, the active electric roller 13 rotates as a driving member, and the roller belt 15 drives multiple passive rollers 14 to rotate synchronously in the same direction. The upper surfaces of the active electric roller 13 and the passive roller 14 are in the same horizontal plane and form a conveying surface. The material is placed on the conveying surface and conveyed into or out of the fork. The conveying direction of the conveying assembly 10 can be changed by changing the rotation direction of the active electric roller 13.

[0050] Of course, it is easy to imagine that the conveying component 10 can also be configured as chain conveying, synchronous belt conveying or other conveying methods.

[0051] See also Figure 1 , Figure 8 ,and Fig. 9In one embodiment of the utility model, the width adjustment component 40 includes a width adjustment guide rail 41 arranged on the bottom plate 50, the width adjustment guide rail 41 is arranged along the axial direction of the active electric roller 13 and the passive roller 14, and the first telescopic fork unit 20 and the second telescopic fork unit 30 are slidably arranged on the width adjustment guide rail 41.

[0052] A gap may be provided between the active motorized roller 13 and the passive roller 14, and the width-adjusting guide rail 41 may be provided in the gap between the active motorized roller 13 and the passive roller 14. Of course, the embodiment of the utility model is not limited thereto, and a gap may also be provided between two adjacent passive rollers 14, and the width-adjusting guide rail 41 may be provided in the gap between the two adjacent passive rollers 14.

[0053] The width adjustment component 40 also includes a synchronous belt, a pulley, a tensioning wheel and a width adjustment motor 45. The width adjustment motor 45 is arranged on one side of the conveying component 10 and is connected to a pulley at its output end. A tensioning wheel opposite to the pulley is arranged on the other side of the conveying component 10, and the tensioning wheel and the pulley are connected through a synchronous belt transmission. The first telescopic fork unit 20 is fixed to one side of the synchronous belt through a first adapter 46, and the second telescopic fork unit 30 is fixed to the other side of the synchronous belt through a second adapter 47. The fixing method of the first adapter 46 and the synchronous belt or the first telescopic fork unit 20 and the second adapter 47 and the synchronous belt or the second telescopic fork unit 30 can be fixed by one or more of clamping, screwing or other fixing methods.

[0054] In this embodiment, the first adapter 46 and the second adapter 47 each include two adapter plates that cooperate with each other, and the two adapter plates are connected by bolts and clamped and fixed on the synchronous belt. Of course, it is conceivable that the first adapter 46 and the second adapter 47 can be set as a structure that is integrated with the first telescopic fork unit 20 or the second telescopic fork unit 30.

[0055] When the width of the material box to be transported is larger or smaller, a width adjustment operation is required. When the width adjustment operation is performed, the width adjustment motor 45 serves as a driving component to drive the synchronous belt to rotate through the pulley, wherein the first telescopic fork unit 20 is fixed to one side of the synchronous belt through the first adapter 46, and the second telescopic fork unit 30 is fixed to the other side of the synchronous belt through the second adapter 47. In this way, the rotation of the synchronous belt drives the first telescopic fork unit 20 and the second telescopic fork unit 30 to move synchronously toward or away from each other through the first adapter 46 and the second adapter 47, thereby realizing the opening and closing of the first telescopic fork unit 20 and the second telescopic fork unit 30, thereby changing the spacing between the first telescopic fork unit 20 and the second telescopic fork unit 30, and changing the size of the pick-up and release opening.

[0056] In addition, it should be noted that in order to ensure the stability of the movement of the first telescopic fork unit 20 and the second telescopic fork unit 30 during the adjustment process, the width adjustment assembly 40 also includes a width adjustment guide rail 41, and the first telescopic fork unit 20 and the second telescopic fork unit 30 are slidably installed on the width adjustment guide rail 41, wherein the width adjustment guide rail 41 is generally provided with two intervals and in parallel, so that the stability of the first telescopic fork unit 20 and the second telescopic fork unit 30 during installation and adjustment can be improved.

[0057] It should also be noted that the first telescopic fork unit 20 and the second telescopic fork unit 30 are installed at both ends of the width adjustment rail 41, and the two share the width adjustment rail 41. In actual setting, in order to facilitate the assembly of the first telescopic fork unit 20 and the second telescopic fork unit 30 and the width adjustment rail 41, a sliding seat 49 is also provided on the width adjustment rail 41, and the first telescopic fork unit 20 and the second telescopic fork unit 30 are fixed on the sliding seat 49 to achieve sliding connection with the width adjustment rail 41. The synchronous adjustment action of the first telescopic fork unit 20 and the second telescopic fork unit 30 in this embodiment ensures that the center line position of the fork remains unchanged during the adjustment process, which facilitates the alignment of the fork with the external docking device.

[0058] In addition, it is important to note that in this embodiment, the width-adjusting guide rail 41 is arranged in the interval between the active electric roller 13 and the passive roller 14, or the width-adjusting guide rail 41 is arranged in the interval between two adjacent passive rollers 14. Such an arrangement can reduce the overall height of the fork, reduce the minimum picking height of the fork, improve space utilization, and improve the storage capacity of the warehouse.

[0059] In order to further improve the safety during the width adjustment operation, a drag chain 48 is installed on the bottom plate 50 of this embodiment and is placed at the end of the conveying assembly 10 opposite to the pick-up and release port. The drag chain 48 is used to carry the wire harnesses of the first telescopic fork unit 20 and the second telescopic fork unit 30. During the width adjustment operation, the drag chain 48 can move synchronously with the first telescopic fork unit 20 and the second telescopic fork unit 30 to protect the wire harnesses on the first telescopic fork unit 20 and the second telescopic fork unit 30.

[0060] See also Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7At least one of the first telescopic fork unit 20 and the second telescopic fork unit 30 of the utility model includes a zero-level plate, a motor, a primary guide rail, a primary plate, a first transmission assembly, a secondary plate, a secondary guide rail and a second transmission assembly. The zero-level plate is fixed on the bottom plate 50, the primary guide rail is fixed on the zero-level plate, the primary plate is slidably connected to the primary guide rail, the secondary guide rail is fixed on the primary plate, and the secondary plate is slidably connected to the secondary guide rail. The motor drives the primary plate and the secondary plate to extend or retract synchronously along the conveying direction of the conveying assembly 10 through the first transmission assembly and the second transmission assembly. The first transmission assembly includes a first pulley, a first tensioning wheel, and a first conveyor belt. The first pulley and the first tensioning wheel are fixed on the zero-level plate. The first conveyor belt is connected between the first pulley and the first tensioning wheel. The first plate is connected to the first conveyor belt through the first connecting plate. The output shaft of the motor drives the first pulley to rotate. The second transmission assembly includes a second conveyor belt and an idler assembly. The idler assembly includes two idlers fixed on the first plate, and the two idlers are connected through the second conveyor belt. One side of the second conveyor belt is fixed on the zero-level plate, and the other side of the second conveyor belt is fixed on the secondary plate.

[0061] As an optional embodiment, the first telescopic fork unit 20 and the second telescopic fork unit 30 both include a zero-level plate, a motor, a primary guide rail, a primary plate, a first transmission assembly, a secondary plate, a secondary guide rail and a second transmission assembly.

[0062] In the present embodiment, the telescopic principle of the first telescopic fork unit 20 and the second telescopic fork unit 30 is as follows: the motor drives the first conveyor belt to move through the first pulley, thereby driving the movement of the primary plate; the movement of the primary plate drives the movement of the secondary plate through the cooperation of two idle wheels and the second conveyor belt (because the secondary plate and the zero-level plate are fixed on both sides of the second transmission belt, and the position of the zero-level plate in the telescopic direction of the telescopic fork unit is fixed).

[0063] The first telescopic fork unit 20 and the second telescopic fork unit 30 in the present embodiment can work independently, and each of them is provided with a motor for driving. The first telescopic fork unit 20 and the second telescopic fork unit 30 can extend to the external docking device to stretch the material or push the material on the fork to the outside. Compared with the traditional synchronously moving telescopic fork structure, the first telescopic fork unit 20 and the second telescopic fork unit 30 in the present embodiment can adapt to a smaller storage space.

[0064] For the convenience of distinction, the same components on the first telescopic fork unit 20 and the second telescopic fork unit 30 are marked with different numbers in the accompanying drawings, wherein the first telescopic fork unit 20 includes: a left zero-level plate 201, a left motor 202, a left primary guide rail 203, a left primary plate 204, a left first transmission assembly, a left secondary plate 206, a left secondary guide rail 207 and a left second transmission assembly; the second telescopic fork unit 30 includes: a right zero-level plate 301, a right motor 302, a right primary guide rail 303, a right primary plate 304, a right first transmission assembly, a right secondary plate 306, a right secondary guide rail 307 and a right second transmission assembly.

[0065] The following description will be made by taking the first telescopic fork unit 20 as an example. Figure 2 , Figure 3 ,and Figure 4 During assembly, the left zero-level plate 201 serves as the installation base of the first telescopic fork unit 20, and is slidably connected to the width-adjusting guide rail 41 on the base through the sliding seat 49 mentioned above. During use, the left motor 202 drives the left first transmission assembly to drive the left first-level plate 204 to slide along the left first-level guide rail 203. At the same time, during the sliding process, the left first-level plate 204 can also serve as a driving member to drive the left second-level plate 206 to slide along the left second-level guide rail 207 through the left second transmission assembly. In this way, the left motor 202 can realize the synchronous extension or contraction of the left first-level plate 204 and the left second-level plate 206, providing a two-level telescopic structure, so that the fork has a larger telescopic range, adapting to the handling and retrieval requirements of storage locations with greater depth, and is more convenient to use and has better applicability.

[0066] In order to facilitate the entry of materials into the fork, the telescopic fork unit including the zero-level plate in the first telescopic fork unit 20 and the second telescopic fork unit 30 of the utility model also includes a guide assembly, which includes a guide plate, which is fixed on the inner side of the zero-level plate and arranged close to the conveying surface of the conveying assembly 10, and the guide plate is arranged along the conveying direction of the conveying assembly 10, and one end of the guide plate extends obliquely toward the outer side of the zero-level plate and forms a guide groove located at the pick-up and release port. When this embodiment is in use, since the posture and position of the material may have a certain deviation when entering the fork, the guide assembly can guide the material entering the fork, correct the posture and position of the material, so that it is facing the storage space inside the fork, and enable the goods to enter the fork more smoothly, reducing the risk of collision damage to the material caused by walking errors or other factors. When the guide plate is installed, multiple supports can be arranged in its length direction to be fixedly connected to the zero-level plate to improve the stability of the guide plate. For easy distinction, the component of the first telescopic fork unit 20 is set as a left guide component, which includes a left guide plate 2101 and a left support member 2102; the component of the second telescopic fork unit 30 is set as a right guide component, which includes a right guide plate 3101 and a right support member 3102.

[0067] As an optional embodiment, at least one of the first telescopic fork unit 20 and the second telescopic fork unit 30 may further include a zero position detection member. A zero position detection photoelectric matching assembly corresponding to the zero position detection member is mounted on the bottom plate 50. The zero position detection member and the zero position detection photoelectric matching assembly are used to perform zero return detection on the telescopic fork unit provided with the zero position detection member during the second width adjustment process of the width adjustment assembly 40.

[0068] In the embodiment of the utility model, it can be determined according to the actual working conditions and the operation requirements whether to set the zero position detection member on the first telescopic fork unit 20 or the second telescopic fork unit 30. The zero position detection member can be set on only one of the telescopic fork units, or on both telescopic fork units.

[0069] exist Figure 2 , Figure 4 , Figure 5 and Figure 7 In the embodiment shown in , both telescopic fork units are provided with zero position detection members. Specifically, the zero position detection members include a left zero position detection member 209 and a right zero position detection member 309. Accordingly, the first telescopic fork unit 20 of the utility model includes a left zero position detection member 209, the second telescopic fork unit 30 includes a right zero position detection member 309, and the bottom plate 50 is provided with zero position detection photoelectric matching components respectively arranged corresponding to the left zero position detection member 209 and the right zero position detection member 309.

[0070] The left zero position detection member 209 and the corresponding zero position detection photoelectric matching assembly cooperate with each other to perform zero return detection on the first telescopic fork unit 20 during the width adjustment process of the width adjustment assembly 40 .

[0071] The right zero position detection member 309 and the corresponding zero position detection photoelectric coordination component cooperate with each other to detect the return to zero of the second telescopic fork unit 30 during the adjustment process of the adjustment component 40.

[0072] By providing the left zero position detection member 209 and the right zero position detection member 309, the actual positions of the first telescopic fork unit 20 and the second telescopic fork unit 30 can be determined, thereby improving the accuracy of the width adjustment operation.

[0073] In an optional embodiment, the zero position detection component is arranged on the corresponding zero-level plate. Of course, it is easy to imagine that the first telescopic fork unit 20 and the second telescopic fork unit 30 can both be provided with multiple groups of zero position detection components and zero position detection photoelectric matching components, and multiple components can be arranged along the length direction of the zero-level plate to improve the accuracy of zero return detection.

[0074] The first telescopic unit in the utility model also includes a left push plate 211 arranged on the left secondary plate 206 and a left fork assembly 212 arranged at one end of the left secondary plate 206. Similarly, the second telescopic unit also includes a right push plate 311 arranged on the right secondary plate 306 and a right fork assembly 312 arranged at one end of the right secondary plate 306.

[0075] In actual design, the first telescopic fork unit 20 and the second telescopic fork unit 30 of the utility model are constructed as structures symmetrically distributed on both sides of the conveying assembly 10. Such a design can reduce the types of parts, facilitate production and assembly, and reduce production and design costs. Of course, in actual design, the first telescopic fork unit 20 and the second telescopic fork unit 30 can also be set to different structures or only partially different structures, but both need to have structures with the same functions as the above-mentioned parts to achieve the coordinated use of the first telescopic fork unit 20 and the second telescopic fork unit 30. In actual design, there are many structures that can achieve the above functions (such as telescopic, guiding, zero return detection, etc.), and designers can freely combine them according to their needs.

[0076] It is conceivable that the synchronous belt transmission structure between the above-mentioned components may also adopt a chain transmission or other similar transmission structures.

[0077] See also Figure 8 The bottom plate 50 of the utility model is provided with a positioning element 51 disposed at one end of the access port, and the positioning element 51 is used to position the conveying assembly 10 when the conveying assembly 10 is docked with the external docking device. This embodiment can improve the docking accuracy with the external docking device.

[0078] The bottom plate 50 of the utility model is provided with a plurality of photoelectric sensors spaced apart along the conveying direction of the conveying assembly 10, and the photoelectric sensors are used to detect the material positions of the input and output forks, and the photoelectric sensors are communicatively connected with the driving components of the conveying assembly 10, wherein the photoelectric sensors include an entry photoelectric sensor 52 (used to detect the material position of the input fork) and a removal photoelectric sensor 53 (used to detect the material position of the output fork). Automatic conveying of materials during the picking and placing operations is realized, which improves automation and work efficiency.

[0079] When the fork of the utility model is in use, it includes the following two working conditions:

[0080] 1. When the fork docks with the shelf material box, ① when picking up the goods: the width adjustment component 40 adjusts the opening and closing of the left and right telescopic fork units to the appropriate width, and pulls the shelf material box into the fork to ensure that the material box and the internal guide plate of the fork are parallel (to prevent the small material box from tilting, and the telescopic fork unit from interfering with the machine or the shelf); ② when the material box is moved out of the fork to the shelf: the left and right telescopic fork units are not adjusted to maintain the width when picking up the goods, and the left and right telescopic fork units push the material box onto the shelf or the machine.

[0081] 2. When the fork docks with the roller, chain plate or belt conveyor line, ① When picking up goods: adjust the opening and closing of the left and right telescopic fork units, adjust the appropriate width, open the left and right fork assemblies of the left and right telescopic fork units, control the conveying assembly 10 and the external conveying line to rotate at the same speed, and transport the material box from the external conveying line to the inside of the fork. When the material box is in place (entered) inside the fork, it will trigger the entry photoelectric sensor. At this time, the photoelectric sensor sends a signal to control the conveying assembly 10 to stop rotating and complete the picking operation. ② When releasing goods: open the left and right fork assemblies 312, and the conveying assembly 10 rotates to transport the material box to the external conveying line. When the material moves to the inside of the fork, it will trigger the removal photoelectric sensor. At this time, the photoelectric sensor sends a signal to control the conveying assembly 10 to stop rotating and complete the releasing operation.

[0082] See also Fig.10 The second aspect of the utility model discloses a transport robot, comprising a movable chassis 60 and the fork disclosed in the first aspect, wherein the fork is arranged on the movable chassis 60 through a bottom plate 50. The advantages of the transport robot in this embodiment are similar to those of the fork mentioned above, and will not be repeated here.

[0083] In addition, the transport robot in one embodiment of the second aspect of the present invention further includes a lifting mechanism 61 disposed on the movable chassis 60, and the cargo fork is disposed on the lifting platform of the lifting mechanism 61 through the bottom plate 50. In this way, the transport robot can adjust the height of the cargo fork through the lifting mechanism 61, and can adapt to the docking requirements of external docking devices of different heights. With the structure of the cargo fork, the transport range can be further increased and the transport efficiency can be improved.

[0084] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes but is not limited to the contents described in the drawings and the above specific embodiments. Any modification that does not deviate from the functional and structural principles of the present invention will be included in the scope of the claims.

Claims

1. A fork, comprising a base plate (50), characterized in that: It also includes a conveying assembly (10), a telescopic fork assembly and a width adjustment assembly (40) arranged on the base plate (50); the conveying assembly (10) is used to dock with an external docking device to output or input materials; the telescopic fork assembly includes a first telescopic fork unit (20) and a second telescopic fork unit (30) distributed on both sides of the conveying assembly (10) and slidably connected to the base plate (50); one end of the conveying assembly (10) is formed with a take-in and put-out opening located between the first telescopic fork unit (20) and the second telescopic fork unit (30); the width adjustment assembly (40) can adjust the distance between the first telescopic fork unit (20) and the second telescopic fork unit (30) to change the size of the take-in and put-out opening; the first telescopic fork unit (20) and the second telescopic fork unit (30) can both be independently telescopic.

2. The fork according to claim 1, characterized in that: The conveying assembly (10) comprises a first mounting plate (11) and a second mounting plate (12) which are arranged on the bottom plate (50), the first mounting plate (11) and the second mounting plate (12) being arranged opposite to each other, and the conveying assembly (10) further comprises an active electric roller (13) and a plurality of passive rollers (14), the active electric roller (13) and the plurality of passive rollers (14) being arranged between the first mounting plate (11) and the second mounting plate (12), and the active electric roller (13) and the plurality of passive rollers (14) being transmission-connected to each other.

3. The fork according to claim 2, characterized in that: The width adjustment assembly (40) comprises a width adjustment guide rail (41) arranged on a bottom plate (50), the width adjustment guide rail (41) being arranged along the axial direction of the active electric roller (13) and the passive roller (14), and the first telescopic fork unit (20) and the second telescopic fork unit (30) being slidably arranged on the width adjustment guide rail (41); A gap is provided between the active motor roller (13) and the passive roller (14), and the width adjustment guide rail (41) is arranged in the gap between the active motor roller (13) and the passive roller (14); or, a gap is provided between two adjacent passive rollers (14), and the width adjustment guide rail (41) is arranged in the gap between the two adjacent passive rollers (14).

4. The fork according to any one of claims 1 to 3, characterized in that: The width adjustment component (40) further comprises a synchronous belt, a pulley, a tensioning wheel and a width adjustment motor (45); the width adjustment motor (45) is arranged on one side of the conveying component (10) and the output end is connected to the pulley; the other side of the conveying component (10) is provided with a tensioning wheel opposite to the pulley; the synchronous belt is connected between the tensioning wheel and the pulley; the first telescopic fork unit (20) is fixed to one side of the synchronous belt through a first adapter (46); the second telescopic fork unit (30) is fixed to the other side of the synchronous belt through a second adapter (47); the rotation of the synchronous belt drives the first telescopic fork unit (20) and the second telescopic fork unit (30) to move synchronously toward or away from each other through the first adapter (46) and the second adapter (47).

5. The fork according to claim 4, characterized in that: A drag chain (48) is installed on the bottom plate (50) and is placed at the end of the conveying assembly (10) opposite to the loading and unloading port. The drag chain (48) is used to carry the wiring harnesses of the first telescopic fork unit (20) and the second telescopic fork unit (30).

6. The fork according to claim 1, characterized in that: The first telescopic fork unit (20) and the second telescopic fork unit (30) are constructed as structures symmetrically distributed on both sides of the conveying assembly (10).

7. The fork according to claim 3, characterized in that: At least one of the first telescopic fork unit (20) and the second telescopic fork unit (30) comprises a zero-level plate, a motor, a primary guide rail, a primary plate, a first transmission assembly, a secondary plate, a secondary guide rail and a second transmission assembly, wherein the zero-level plate is slidably arranged on the width-adjusting guide rail (41) via a sliding seat (49), the primary guide rail is fixed to the zero-level plate, the primary plate is slidably connected to the primary guide rail, the secondary guide rail is fixed to the primary plate, the secondary plate is slidably connected to the secondary guide rail, and the motor drives the primary plate and the secondary plate to extend or retract synchronously along the conveying direction of the conveying assembly (10) via the first transmission assembly and the second transmission assembly.

8. The fork according to claim 7, characterized in that: The first transmission assembly includes a first pulley, a first tensioning wheel, and a first conveyor belt. The first pulley and the first tensioning wheel are fixed to the zero-level plate. The first pulley and the first tensioning wheel are connected by the first conveyor belt transmission. The first-level plate is connected to the first conveyor belt by the first connecting plate. The output shaft of the motor drives the first pulley to rotate. The second transmission assembly includes a second conveyor belt and an idler wheel assembly. The idler wheel assembly includes two idler wheels fixed to the first-level plate. The two idler wheels are connected by the second conveyor belt transmission. One side of the second conveyor belt is fixed to the zero-level plate, and the other side of the second conveyor belt is fixed to the second-level plate.

9. The fork according to claim 7 or 8, characterized in that: The telescopic fork unit including the zero-level plate in the first telescopic fork unit (20) and the second telescopic fork unit (30) also includes a guide assembly, the guide assembly including a guide plate, the guide plate is fixed on the inner side of the zero-level plate and arranged close to the conveying surface of the conveying assembly (10), the guide plate is arranged along the conveying direction of the conveying assembly (10), one end of the guide plate extends obliquely toward the outer side of the zero-level plate and forms a guide groove located at the pick-up and release port.

10. The fork according to any one of claims 1-3 and 6-8, characterized in that: At least one of the first telescopic fork unit (20) and the second telescopic fork unit (30) further comprises a zero position detection component, and a zero position detection photoelectric matching component arranged corresponding to the zero position detection component is mounted on the bottom plate (50), and the zero position detection component and the zero position detection photoelectric matching component are used to perform zero return detection on the telescopic fork unit provided with the zero position detection component during the width adjustment process of the width adjustment component (40).

11. The fork according to any one of claims 1-3 and 6-8, characterized in that: The bottom plate (50) is provided with a positioning element (51) disposed at one end of the access opening, and the positioning element (51) is used to locate the position of the conveying assembly (10) when the conveying assembly (10) is docked with an external docking device.

12. The fork according to any one of claims 1-3 and 6-8, characterized in that: The bottom plate (50) is provided with a plurality of photoelectric sensors spaced apart along the conveying direction of the conveying assembly (10), the photoelectric sensors being used to detect the material positions of the input and output forks, and the photoelectric sensors being communicatively connected with the driving components of the conveying assembly (10).

13. A transport robot, comprising a movable chassis (60), characterized in that: The transport robot further comprises a fork as claimed in any one of claims 1 to 12, wherein the fork is arranged on the movable chassis (60) via a bottom plate (50).

14. The handling robot according to claim 13, characterized in that: The transport robot further comprises a lifting mechanism (61), wherein the lifting mechanism (61) is arranged on the movable chassis (60), and the cargo fork is arranged on the lifting platform of the lifting mechanism (61) through a bottom plate (50).

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