Multi-fork transfer robot

Abstract

The utility model relates to a multi-fork transfer robot, and belongs to the technical field of intelligent warehousing. The multi-fork transfer robot comprises a walking chassis. The driving device is used for driving the multi-fork transfer robot to walk; the at least two groups of gantries are arranged on the walking chassis, each group of gantries comprises a first gantry and two second gantries, and the two second gantries are respectively and movably arranged on the first gantry and are configured to move along the height direction of the first gantry; the at least one first accessory is arranged between two adjacent groups of gantries, the first accessory is arranged on two adjacent second gantries of the two groups of gantries in a sliding manner, and the first accessory is configured to pick and place goods towards one side or two sides of the walking direction of the robot; and the at least two second accessories are installed on the two second door frames correspondingly and can move in the height direction of the second door frames correspondingly, and each second accessory is configured to take and place goods towards one side of the walking direction of the robot.

Description

Technical Field

[0001] The utility model relates to a multi-fork handling robot, belonging to the technical field of intelligent warehousing. Background Art

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

[0003] Existing AMR forklift products can only pick up or transfer one cargo pallet at a time, which is inefficient. Utility Model Content

[0004] Based on this, the utility model aims to provide a multi-fork handling robot that can fork or transfer multiple pallets at a time.

[0005] The utility model provides a multi-fork handling robot, comprising:

[0006] Walking chassis 100a; used to drive the multi-fork handling robot to walk;

[0007] At least two groups of door frames 100b are installed on the walking chassis 100a, each group of door frames 100b includes a first door frame 10 and two second door frames 20, and the two second door frames 20 are respectively movably installed on the first door frame 10 and configured to move along the height direction of the first door frame 10;

[0008] At least one first attachment, the first attachment is arranged between two adjacent groups of door frames, the first attachment is slidably arranged on two second door frames adjacent to the two groups of door frames, and the first attachment is configured to pick up and place goods on one side or on both sides of the walking direction of the robot;

[0009] At least two second attachments 100c are respectively mounted on the two second gantries 20 and can respectively move along the height direction of the second gantries 20. Each of the second attachments is configured to pick up and place goods on one side of the walking direction of the robot.

[0010] In one embodiment of the present application, the second attachment includes an aerial attachment 40 and a ground attachment.

[0011] The fork of the ground attachment 30 can be moved downward along the height direction to a first preset position, and when in the first preset position, the fork is in contact with the walking surface carrying the walking chassis 100a or a position below the walking surface;

[0012] The fork of the aerial attachment 40 can move downward along the height direction to a second preset position. When in the second preset position, the fork is in contact with or at a distance from the upper surface of the traveling chassis 100a.

[0013] In one embodiment of the present application, the second attachments on the two second portals, the second attachment on one portal is an aerial attachment, and the second attachment on the other second portal is a ground attachment;

[0014] Or the second attachments on the two second masts are aerial attachments;

[0015] Or the second attachments on the two second door frames are ground attachments.

[0016] In one embodiment of the present application, the first attachment includes a fork support and at least one fork plate, the fork plate is mounted on the fork support or the fork plate, and a sliding assembly is provided between the fork plate and the fork support and / or between the fork plate and the fork plate, configured to enable the fork plate to slide on the fork plate below it and / or the fork plate to slide between the forks below it;

[0017] A drive device is used for the fork plate to slide on the fork plate below it and / or the fork plate to slide on the fork bracket below it.

[0018] In one embodiment of the present application, the second attachment 100c includes a fork frame 32, and the fork frame 32 includes:

[0019] The sliding part 321 is directly or indirectly connected to the second gantry 20 and is configured to drive the fork to slide along the direction of picking up and releasing goods;

[0020] A mounting portion 322, on which the fork is mounted;

[0021] The extension portion 323 connects the sliding portion 321 and the mounting portion 322 into one body, and extends obliquely downward from the lower end of the sliding portion 321 toward a side away from the supporting body 50 .

[0022] In one embodiment of the present application, the second attachment 100c further includes a translation mechanism 33, and the translation mechanism 33 is configured to move the fork along the height direction of the mast, and the translation mechanism 33 includes:

[0023] The slide 331 is arranged on the second door frame 20 and moves along the height direction of the second door frame 20.

[0024] The fork frame 32 is slidably mounted on the slide 331 , and the fork frame 32 moves on the slide 331 along the direction of picking up and placing goods.

[0025] In one embodiment of the present application, a gantry installation space 101 is respectively provided on both sides of the first gantry 10, and each of the second gantry 20 is correspondingly installed in each of the gantry installation spaces 101.

[0026] The first gantry 10 includes an enclosure portion 11 and a connection portion 12 , and the gantry installation space 101 is enclosed by the enclosure portion 11 and the connection portion 12 .

[0027] In one embodiment of the present application, there are two enclosures 11, and the two enclosures 11 are spaced apart along the direction of picking up and releasing goods.

[0028] The connecting portion 12 is disposed between the two enclosure portions 11, connecting the two enclosure portions 11, and the two extending ends of each enclosure portion 11 protrude a distance relative to the connecting portion 12, and the area between the two enclosure portions 11 and located on one side of the connecting portion 12 constitutes a mast installation space 101.

[0029] The second door frame 20 is slidably disposed on the inner walls of the two enclosure parts 11 .

[0030] In one embodiment of the present application, the second door frame 20 includes:

[0031] Two limiting parts 21 have a height direction and are arranged at intervals along the direction of picking and releasing goods, and the outer walls of the two limiting parts 21 are respectively slidably connected to the inner walls of the two enclosure parts 11; and,

[0032] A plurality of second connecting plates 22 are arranged at intervals along the height direction, and two extending ends of the second connecting plates 22 are respectively fixed to the two limiting portions 21 .

[0033] In one embodiment of the present application, the multi-fork handling robot further includes a linkage mechanism, which corresponds to the attachment and includes:

[0034] a sprocket 71 rotatably disposed on the second door frame 20 at a top position in the height direction; and

[0035] The chain 72 is wound around the sprocket 71 , one end of the chain 72 is fixed to the first door frame 10 , and the other end of the chain 72 is fixed to the corresponding attachment.

[0036] In one embodiment of the present application, the walking chassis 100a further includes a motion mechanism 80, and the motion mechanism 80 includes:

[0037] A driving wheel 81 is rotatably disposed on the carrying body 50 , and part or all of the driving wheel 81 protrudes from the lower surface of the carrying body 50 ; and

[0038] A driven wheel 82 is disposed on the carrying body 50, and part or all of the driven wheel 82 protrudes from the lower surface of the carrying body 50;

[0039] When the two groups of driving wheels 81 rotate in opposite directions but at the same speed, the traveling chassis 100 a turns, and at this time the rotation center is located between the two groups of driving wheels 81 .

[0040] Therefore, compared with the prior art, the utility model has the following advantages:

[0041] According to the multi-fork handling robot involved in the utility model, the multi-fork handling robot includes a walking chassis, a gantry, and at least one first attachment and at least two second attachments. The gantry has a height direction, and includes a first gantry and a second gantry installed on the walking chassis. The second gantry is movably installed on the first gantry, and can move in the height direction respectively. The attachments are installed on at least two second gantries, and can move in the height direction respectively. When the second gantries move in the height direction, they can drive the attachments thereon to move synchronously. Since the second attachments are provided on multiple second gantries, the multi-fork handling robot can fork or transport multiple pallets at a time, and the efficiency is effectively improved. In addition, since the second attachment can move in the height direction relative to the second gantry, the second attachment cooperates with the second gantry to form a two-stage motion, and the second attachment has a larger moving stroke in the height direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 A schematic diagram of the three-dimensional structure of a multi-fork handling robot according to one embodiment;

[0043] Figure 2 A front view of a multi-fork handling robot according to one embodiment;

[0044] Figure 3 Schematic diagram of the three-dimensional structure of the door frame in this embodiment;

[0045] Figure 4 is a schematic diagram of the three-dimensional structure of the first door frame in this embodiment;

[0046] Figure 5 is a schematic diagram of the three-dimensional structure of the second door frame in this embodiment;

[0047] Figure 6 Schematic diagram of the three-dimensional structure of the linkage mechanism in this embodiment;

[0048] Figure 7 is a schematic diagram of the three-dimensional structure of the second attachment in this embodiment;

[0049] Figure 8 Schematic diagram of the three-dimensional structure of the aerial attachment in this embodiment;

[0050] Fig. 9 is a schematic diagram of the three-dimensional structure of the ground attachment in this embodiment;

[0051] Fig.10 FIG. 4 is a schematic diagram of the three-dimensional structure of the attachment identification unit in this embodiment.

[0052] Reference numerals:

[0053] 100. Multi-fork handling robot;

[0054] 100a, walking chassis;

[0055] 100b, door frame; 10, first door frame; 101, door frame installation space; 11, enclosure portion; 12, connection portion; 121, first connection plate; 20, second door frame; 21, limit portion; 22, second connection plate;

[0056] 100c, second attachment; 30, ground attachment; 31, ground fork; 32, ground fork frame; 321, sliding portion; 322, mounting portion; 323, extension portion; 33, translation mechanism; 331, slide frame; 332, drive unit; 332a, drive motor; 332b, gear; 332c, rack; 34, identification unit; 341, telescopic rod; 342, identification element; 40, aerial attachment; 41, aerial fork; 42, aerial fork frame;

[0057] 100d, first attachment; 401, fork support; 402, first fork plate; 403, second fork plate; 404, third fork plate;

[0058] 50, bearing body; 51, installation area; 511, connection hole; 52, balance weight compartment; 521, balance weight; 521a, balance sheet; 60, reinforcement component; 61, first reinforcement plate; 62, second reinforcement plate;

[0059] 71. sprocket; 72. chain;

[0060] 80. Motion mechanism; 81. Driving wheel; 82. Driven wheel. DETAILED DESCRIPTION

[0061] In order to make the above-mentioned purposes, features and advantages of the utility model more obvious and easy to understand, the specific implementation methods of the utility model are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the utility model. However, the utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the utility model, so the utility model is not limited by the specific embodiments disclosed below.

[0062] This embodiment provides a multi-fork transport robot that can pick up or transfer multiple pallets at a time.

[0063] Figure 1-2 Schematic diagram of the three-dimensional structure of the multi-fork handling robot in this embodiment.

[0064] See also Figure 1 to Figure 2 The embodiment of the utility model provides a multi-fork handling robot 100, which includes a walking chassis 100a, a gantry 100b, and a first attachment 100d and a second attachment 100c. The gantry 100b has a height direction and includes a first gantry 10 and a second gantry 20 installed on the walking chassis 100a. The second gantry 20 is movably installed on the first gantry 10 and can move in the height direction respectively.

[0065] At least one first attachment 100d, the first attachment 100d is arranged between two adjacent groups of door frames, the first attachment 100d is slidably arranged on two second door frames adjacent to the two groups of door frames, and the first attachment 100d is configured to pick up and place goods on one side or on both sides of the walking direction of the robot;

[0066] At least two second attachments 100c are respectively mounted on the two second gantries 20 and can respectively move along the height direction of the second gantries 20. Each of the second attachments is configured to pick up and place goods on one side of the walking direction of the robot.

[0067] Specifically, in one embodiment, the first attachment 100d has a fork extending in a bidirectional direction.

[0068] It can be understood that when the second gantry 20 moves in the height direction, it can drive the accessories thereon to move synchronously, thereby driving the accessories to fork or transfer pallets, and because accessories are provided on multiple second gantries 20, the multi-fork handling robot 100 can fork or transfer multiple pallets at a time, and the efficiency is effectively improved. In addition, because the accessories can move in the height direction relative to the second gantry 20, the accessories and the second gantry 20 cooperate to form a two-stage motion, and the accessories have a larger moving range in the height direction.

[0069] The second attachment includes an aerial attachment and a ground attachment. The second attachment 100c includes a ground attachment 30 and an aerial attachment 40. Each second attachment 100c includes a fork. The fork of the ground attachment 30 can move downward in the height direction to a first preset position. When in the first preset position, the fork is in contact with the ground carrying the traveling chassis 100a. The fork of the aerial attachment 40 can move downward in the height direction to a second preset position. When in the second preset position, the fork is in contact with or a distance from the upper surface of the traveling chassis 100a.

[0070] It can be understood that since the forks of the ground attachment 30 can move downward in the height direction to a first preset position where they are in contact with the ground supporting the walking chassis 100a, the forks of the aerial attachment 40 can move downward in the height direction to a second preset position where they are in contact with or a certain distance from the upper surface of the walking chassis 100a, the multi-fork transport robot 100 can not only fork pallets on the ground, but also fork pallets in the air, with a wider range of applications, and the two second attachments 100c can work independently.

[0071] The first attachment 100d includes a fork bracket 401 and at least one fork plate 402, wherein the fork plate 402 is mounted on the fork bracket 401 or the fork plate 402, and a sliding component is provided between the fork plate and the fork bracket 401 and / or between the fork plate and the fork plate, configured to enable the fork plate to slide on the fork plate 402 below it and / or the fork plate to slide between the forks below it; a driving device is used for the fork plate to slide on the fork plate below it and / or the fork plate 402 to slide on the fork bracket 401 below it.

[0072] Specifically, the first attachment 100d includes a fork support 401, and the two ends of the fork support 401 in the walking direction are respectively connected to the two adjacent second door frames 20 on the two adjacent door frames. At least one level fork plate 402 is installed on the fork support 41, and the first level fork plate 402 can slide on the fork support 41. For the specific transmission method, those skilled in the art can choose to use gear racks, synchronous belts, or sprocket chains for transmission, and this application does not limit the transmission method. Figure 7 As shown in one embodiment, the first attachment 100d includes a fork support 401, a first-level fork plate 402, a second-level fork plate 403 and a third-level fork plate 404. The third-level fork plate 404 slides on the second-level fork plate 403, the second-level fork plate 403 slides on the first-level fork plate 402, and the first-level fork plate 402 slides on the fork support 401. The above sliding is bidirectional sliding, that is, Figure 7 The first attachment 100d can extend in two directions. Specifically, on a multi-fork handling robot, the first attachment 100d can extend to both sides of the robot's walking direction.

[0073] In one embodiment, Figure 8-Figure 10 FIG. 4 is a schematic diagram of the three-dimensional structure of the second attachment in this embodiment.

[0074] Figure 8The figure is a schematic diagram of the structure of an aerial attachment of one embodiment. The aerial attachment 40 includes a fork frame 32, and the fork frame 32 includes a sliding portion 321 and a mounting portion 322. Since the aerial attachment 40 does not need to be lowered to the chassis walking surface or a position below, the aerial attachment 40 does not include an extension of the ground attachment 30. The fork of the aerial attachment 40 is an aerial fork 41, and the aerial attachment 40 also includes an aerial fork frame 42. The difference between the structure of the aerial fork frame 42 and the structure of the ground fork frame 32 is that the aerial fork frame 42 only includes a connecting portion 321 and a mounting portion 322 in the ground fork frame 32. The connecting portion 321 extends in the height direction and is indirectly or directly connected to the corresponding second mast 20. The mounting portion 322 extends in a first direction perpendicular to the height direction, and is an integrally formed or fixedly connected structure with the connecting portion 321, and the aerial fork 41 is fixed on the mounting portion 322.

[0075] Fig. 9 FIG. 1 is a schematic diagram of the structure of a ground attachment 30 according to one embodiment of the present invention. The ground attachment 30 includes a fork frame 32. The fork frame 32 includes a sliding portion 321, a mounting portion 322, and an extension portion 323. The sliding portion 321 extends in the height direction and is directly or indirectly connected to the corresponding second mast 20. The mounting portion 322 extends in a first direction perpendicular to the height direction. Figure 8 The direction indicated by B in the figure is the first direction, which is also the walking direction of the robot), and the fork 31 is fixed on the mounting portion 322. The extension portion 323 connects the sliding portion 321 and the mounting portion 322 as a whole, and extends obliquely downward from the lower end of the sliding portion 321 toward a side away from the carrying body 50, so that the fork 31 can move downward along the height direction to the first preset position.

[0076] It can be understood that when it is necessary to fork or transfer a pallet on the walking surface or below the walking surface of the robot, the ground attachment 30 is controlled to move downward in the height direction, thereby driving the fork frame 32 to move downward in the height direction. Due to the setting of the extension portion 323, when the fork frame 32 moves downward, the walking chassis 100a will only block the sliding portion 321 in the fork frame 32, and will not block the mounting portion 322 and the extension portion 323 in the fork frame 32, thereby eliminating the influence of the walking chassis 100a on the moving stroke of the fork 31, thereby enabling the fork frame 32 to drive the fork 31 to move to a preset position when moving downward. When reaching the preset position, when the preset position is set to the ground, the fork 31 contacts the ground that supports the walking chassis 100a during use, so that the fork 31 can move to the ground, thereby enabling the fork 31 to fork the pallet on the ground.

[0077] In this embodiment, the height direction of the door frame 100b is the vertical direction when in use, and the sliding portion 321 and the extension portion 323 are located directly above the chassis.

[0078] Combination Figures 7 to 9 As shown, the translation mechanism 33 also includes a driving unit 332, which is arranged on the slide 331 or the fork frame 32 to drive the fork frame 32 to move along the direction of picking up and placing goods. The driving unit 332 includes a driving motor 332a, a gear 332b and a rack 332c. The driving motor 332a is fixed to the fork frame 32. The gear 332b is fixed to the output shaft of the driving motor 332a. The rack 332c is fixed to the slide 331 and extends along the direction of picking up and placing goods. The gear 332b is meshed with the rack 332c.

[0079] It can be understood that when the driving motor 332a rotates, it can drive the gear 332b to rotate. When the gear 332b rotates, it can rotate along the extension direction of the rack 332c under the action of the rack 332c, thereby driving the fork frame 32 to move along the direction of picking up and placing goods.

[0080] In this embodiment, the driving motor 332a adopts servo control, which can accurately control the moving distance of the fork frame 32. A translation position sensor is provided on the fork frame 32 to detect the translation position of the fork frame 32 and feed back a signal to the controller of the second attachment 100c.

[0081] Fig.10 Schematic diagram of the installation structure of the identification unit in this embodiment.

[0082] Both the ground attachment 30 and the aerial attachment 40 further include an identification unit 34 capable of identifying the specific position and distance of the pallet when picking up or placing goods, and the identification unit 34 includes a telescopic rod 341 and an identification element 342. The telescopic rod 341 is fixed to the bottom end of the fork frame 32 and can be extended and retracted in the height direction. The identification element 342 is fixed to the telescopic end of the telescopic rod 341 and is located between the two fork units in the fork 31.

[0083] It can be understood that the identification element 342 in the identification unit 34 can identify the specific position and distance of the pallet when picking up and placing goods, so as to control the corresponding fork to move accurately to the pick-up and placement position. If there is goods on the fork or the pallet blocks the identification element 342, the telescopic rod 341 can be controlled to extend to drive the identification element 342 to extend for identification. When it is not necessary to extend, the telescopic rod 341 can be controlled to retract. In this embodiment, the identification element 342 is a 3D camera.

[0084] like Figure 1-Figure 2 As shown, in one embodiment, the two second attachments 100 c of the multi-fork handling robot are both ground attachments 30 .

[0085] In another embodiment, the second attachments on the two second masts, the second attachment on one mast is an aerial attachment, and the second attachment on the other second mast is a ground attachment.

[0086] In another embodiment, the second attachments on the two second gantries are aerial attachments.

[0087] In another embodiment, the second attachments on the two second door frames are ground attachments.

[0088] Figure 3 Schematic diagram of the distribution structure of the gantry in this embodiment. Figure 3 The direction indicated by A is the height direction.

[0089] Combination Figure 3 and Figure 6 As shown, there are two first gantries 10 and four second gantries 20 , and every two second gantries 20 are installed on the front and rear sides of the first gantries 10 in the walking direction.

[0090] Figure 4 It is a schematic diagram of the three-dimensional structure of the first door frame in this embodiment.

[0091] Combination Figure 4 As shown, the first gantry 10 is provided with a gantry installation space 101 on both sides of the front and rear sides in the walking direction, and each second gantry 20 is correspondingly installed in a gantry installation space 101. The first gantry 10 includes a blocking portion 11 and a connecting portion 12, and the two gantry installation spaces 101 are enclosed by the blocking portion 11 and the connecting portion 12.

[0092] It can be understood that two gantry installation spaces 101 are formed on both sides of the first gantry 10 in the first direction through the cooperation between the enclosing portion 11 and the connecting portion 12 to provide installation space for the second gantry 20 .

[0093] Combination Figure 3 to Figure 4 As shown, each first gantry 10 has two enclosures 11, and the two enclosures 11 are spaced apart along a direction of picking up and placing goods that is perpendicular to the height direction, and the direction of picking up and placing goods is perpendicular to the walking direction. The connecting portion 12 is arranged between the two enclosures 11, and the opposite ends are respectively fixed to the two enclosures 11. The enclosure 11 extends along the walking direction, and the two extended ends protrude a distance relative to the two ends of the connecting portion 12 in the walking direction. The area between the two enclosures 11 and located on one side of the connecting portion 12 constitutes a gantry installation space 101. The opposite ends on the second gantry 20 are respectively slidably connected to the inner walls of the two enclosures 11.

[0094] It should be noted that Figure 4 and Figure 7 The direction indicated by C is the direction for picking up and releasing goods.

[0095] It can be understood that the second gantry 20 is installed in the gantry installation space 101. When the second gantry 20 moves in the height direction in the gantry installation space 101, it can move synchronously with the accessories thereon, thereby driving the pallet that the accessories fork or transfer to be lifted and lowered. Through the arrangement of the two enclosures 11 and the connecting portion 12, two gantry installation spaces 101 can be formed in the area between the two enclosures 11 and on both sides of the connecting portion 12, so that the two second gantries 20 can be installed in one gantry installation space 101 respectively, so that each gantry 100b can be installed with two sets of accessories, and multiple pallets can be forked or transferred at a time, thereby effectively improving efficiency.

[0096] In this embodiment, the two enclosure parts 11 are parallel to each other. Figure 4 As shown, the connecting portion 12 includes a plurality of first connecting plates 121 which are spaced apart along the height direction. The first connecting plates 121 extend along the direction of picking up and placing goods, and two extending ends are respectively fixed to the two enclosing portions 11 .

[0097] It can be understood that the two enclosure parts 11 are connected together by a plurality of first connecting plates 121, so that the first door frame 10 can form a stable frame structure to carry the second door frame 20 and the second attachment 100c thereon.

[0098] Figure 5 It is a schematic diagram of the three-dimensional structure of the second door frame in this embodiment.

[0099] Combination Figure 5 As shown, each second door frame 20 includes two limit parts 21 and a plurality of second connecting plates 22. The two limit parts 21 are erected in the height direction and are arranged at intervals in the direction of picking and placing goods. The outer walls of the two limit parts 21 are respectively slidably connected to the inner walls of the two enclosure parts 11. The plurality of second connecting plates 22 are arranged at intervals in the height direction. The second connecting plates 22 extend in the direction of picking and placing goods, and the two extending ends are respectively fixed to the two limit parts 21.

[0100] It can be understood that the two second limiting portions 21 are connected together by a plurality of second connecting plates 22, so that the second door frame 20 can form a stable frame structure to carry the second attachment 100c thereon. In addition, the cooperation between the limiting portion 21 and the enclosure portion 11 can realize the sliding connection between the second door frame 20 and the first door frame 10, so that the second door frame 20 can move in the height direction along the first door frame 10.

[0101] Combination Figures 4 to 5As shown, a reinforcing component 60 is also provided on the door frame 100b. The reinforcing component 60 has four connecting ends and is arranged between two adjacent first connecting plates 121 on the first door frame 10, or between two adjacent second connecting plates 22 on the second door frame 20; the reinforcing component 60 is in an "X" shape.

[0102] Two of the connection ends are fixed to one of the two adjacent first connection plates 121 or one of the two adjacent second connection plates 22 , and the other two connection ends are fixed to the other of the two adjacent first connection plates 121 or the other of the two adjacent second connection plates 22 .

[0103] It can be understood that the reinforcing component 60 can further strengthen the connection strength between the two enclosure parts 11, and can connect the first connecting plates 121 together, thereby further strengthening the overall structural strength of the first door frame 10. When the first door frame 10 is subjected to an eccentric load, the reinforcing component 60 can also effectively prevent the first door frame 10 from shearing.

[0104] The reinforcing component 60 can further strengthen the connection strength between the two limiting parts 21, and can connect multiple second connecting plates 22 together, thereby further strengthening the overall structural strength of the second door frame 20. When the second door frame 20 is under overload, the reinforcing component 60 can also effectively prevent the second door frame 20 from shearing.

[0105] In this embodiment, the reinforcing member 60 includes a first reinforcing plate 61 and a second reinforcing plate 62. Each first reinforcing plate 61 is disposed between two adjacent first connecting plates 121 and has four connecting ends, two of which are fixed to one of the two adjacent first connecting plates 121, and the other two are fixed to the other of the two adjacent first connecting plates 121. Each second reinforcing plate 62 is disposed between two adjacent second connecting plates 22 and has four connecting ends, two of which are fixed to one of the two adjacent second connecting plates 22, and the other two are fixed to the other of the two adjacent second connecting plates 22.

[0106] Figure 6 Schematic diagram of the three-dimensional structure of the linkage mechanism in this embodiment.

[0107] Combination Figure 6 As shown, the multi-fork handling robot 100 further includes a linkage mechanism, which corresponds to at least one attachment and includes a sprocket 71 and a chain 72. The sprocket 71 is rotatably disposed at the top position of the second gantry 20. The chain 72 is wound around the sprocket 71, one end of the chain 72 is fixed to the first gantry 10, and the other end is fixed to the corresponding attachment.

[0108] It can be understood that when the second gantry 20 moves in the height direction, it can drive the sprocket 71 thereon to move synchronously. Since one end of the chain 72 is fixed to the first gantry 10, when the sprocket 71 moves with the second gantry 20, the attachment can be moved upward in the height direction by pulling the chain 72, or the attachment can be moved downward under the action of gravity by releasing the chain 72, thereby realizing the linkage between the attachment and the second gantry 20, and the attachment and the second gantry 20 are 2:1 rising height coordination.

[0109] In this embodiment, there are two driving wheels and two driven wheels, which are spaced apart along the direction of picking and placing goods. Each driving wheel is connected to a driving motor and a servo controller. In this embodiment, the driven wheel is a universal wheel.

[0110] It should be noted that when the walking chassis 100a moves, the control system sends instructions to the servo controller, and the servo controller controls the operation of the two drive motors, thereby driving the two drive wheels to move. When the two drive wheels rotate in the same direction and at the same speed, the whole vehicle can move forward or backward; when the two drive wheels rotate in opposite directions and at the same speed, the whole vehicle can turn on the spot; when the two drive wheels rotate in the same direction and at different speeds, the whole vehicle can turn in an arc; when the two drive wheels rotate in opposite directions and at different speeds, the whole vehicle can turn in a near-circular arc. When the walking chassis 100a is in operation, different operating modes can be executed according to working conditions and scene requirements to improve efficiency.

[0111] In one embodiment, the multi-fork handling robot 100 further includes a guide unit (not shown in the figure), which is arranged on both sides of the load-bearing body in the direction of picking up and placing goods. The guide unit includes at least one guide wheel, which is rotatably arranged on the load-bearing body, and part or all of the guide wheel protrudes from two side surfaces of the load-bearing body in the walking direction. The rotation plane of the guide wheel is parallel to the walking plane of the robot.

[0112] It can be understood that when the lane is too narrow, the guide wheels cooperate with the lane guide rails, and the guide wheels move in the guide rails, so that the walking chassis 100a can be suitable for the working environment of moving in narrow lanes.

[0113] In this embodiment, the number of guide wheels is four, and they are arranged in groups of two on two side surfaces of the bearing body in the walking direction.

[0114] The above-mentioned embodiments only express several implementation methods of the utility model, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A multi-fork handling robot, characterized in that: include: Walking chassis (100a); Used to drive the multi-fork handling robot to move; At least two groups of door frames (100b) are installed on the walking chassis (100a), each group of door frames (100b) comprises a first door frame (10) and two second door frames (20), the two second door frames (20) are respectively movably installed on the first door frame (10) and are configured to move along the height direction of the first door frame (10); At least one first attachment, the first attachment is arranged between two adjacent groups of door frames, the first attachment is slidably arranged on two second door frames adjacent to the two groups of door frames, and the first attachment is configured to pick up and place goods on one side or on both sides of the walking direction of the robot; At least two second attachments (100c) are respectively mounted on the two second door frames (20) and are respectively movable along the height direction of the second door frames (20); each of the second attachments is configured to pick up and place goods on one side of the walking direction of the robot.

2. The multi-fork handling robot according to claim 1, characterized in that: The second attachments include aerial attachments and ground attachments. The fork of the ground attachment (30) can move downward along the height direction to a first preset position, and when in the first preset position, the fork contacts the walking surface carrying the walking chassis (100a) or a position below the walking surface; The fork of the aerial attachment (40) can move downward along the height direction to a second preset position, and when in the second preset position, the fork is in contact with or a distance from the upper surface of the walking chassis (100a).

3. The multi-fork handling robot according to claim 2, characterized in that: The second attachments on the two second masts, the second attachment on one mast is an aerial attachment, and the second attachment on the other second mast is a ground attachment; Or the second attachments on the two second masts are aerial attachments; Or the second attachments on the two second door frames are ground attachments.

4. The multi-fork handling robot according to claim 1, characterized in that: The first attachment comprises a fork support and at least one fork plate, wherein the fork plate is mounted on the fork support or the fork plate, and a sliding assembly is provided between the fork plate and the fork support and / or between the fork plate and the fork plate, configured to enable the fork plate to slide on the fork plate below it and / or the fork plate to slide between the forks below it; A drive device is used for the fork plate to slide on the fork plate below it and / or the fork plate to slide on the fork bracket below it.

5. The multi-fork handling robot according to claim 1, characterized in that: The second attachment (100c) comprises a fork frame (32), and the fork frame (32) comprises: A sliding part (321) is directly or indirectly connected to the second door frame (20) and is configured to drive the fork to slide along the direction of picking up and releasing goods; A mounting portion (322), on which the fork is mounted; The extension portion (323) connects the sliding portion (321) and the mounting portion (322) into one body, and extends obliquely downward from the lower end of the sliding portion (321) toward a side away from the bearing body (50).

6. The multi-fork handling robot according to claim 5, characterized in that: The second attachment (100c) further comprises a translation mechanism (33), wherein the translation mechanism (33) is configured to move the fork along the height direction of the mast, and the translation mechanism (33) comprises: The slide (331) is arranged on the second door frame (20) and moves along the height direction of the second door frame (20). The fork frame (32) is slidably mounted on the slide frame (331), and the fork frame (32) moves on the slide frame (331) along the direction of picking up and placing goods.

7. The multi-fork handling robot according to claim 1, characterized in that: A door frame installation space (101) is respectively provided on both sides of the first door frame (10), and each of the second door frames (20) is correspondingly installed in each of the door frame installation spaces (101). The first door frame (10) comprises an enclosure portion (11) and a connection portion (12), and the door frame installation space (101) is enclosed by the enclosure portion (11) and the connection portion (12).

8. The multi-fork handling robot according to claim 7, characterized in that: There are two enclosure parts (11), and the two enclosure parts (11) are arranged at intervals along the direction of picking up and releasing goods. The connecting portion (12) is arranged between the two enclosure portions (11) to connect the two enclosure portions (11); the two extending ends of each enclosure portion (11) protrude a certain distance relative to the connecting portion (12); the area between the two enclosure portions (11) and located on one side of the connecting portion (12) constitutes a gantry installation space (101); The second door frame (20) is slidably arranged on the inner walls of the two enclosure parts (11).

9. The multi-fork handling robot according to claim 7, characterized in that: The second door frame (20) comprises: Two limiting parts (21) have a height direction and are arranged at intervals along the direction of picking up and releasing goods, and the outer walls of the two limiting parts (21) are respectively slidably connected to the inner walls of the two enclosure parts (11); and, A plurality of second connecting plates (22) are arranged at intervals along the height direction, and two extending ends of the second connecting plates (22) are respectively fixed to the two limiting portions (21).

10. The multi-fork handling robot according to claim 1, characterized in that: The multi-fork handling robot further includes a linkage mechanism, which corresponds to the attachment and includes: a sprocket (71) rotatably disposed on the second door frame (20) at a top position in the height direction; and A chain (72) is wound around the sprocket (71); one end of the chain (72) is fixed to the first door frame (10), and the other end of the chain (72) is fixed to the corresponding attachment.

11. The multi-fork handling robot according to claim 3, characterized in that: The walking chassis (100a) further comprises a motion mechanism (80), wherein the motion mechanism (80) comprises: a driving wheel (81) rotatably disposed on the carrying body (50), wherein a part or all of the driving wheel (81) protrudes from the lower surface of the carrying body (50); and A driven wheel (82) is arranged on the bearing body (50), and part or all of the driven wheel (82) protrudes from the lower surface of the bearing body (50); When the two sets of driving wheels (81) rotate in opposite directions but at the same speed, the walking chassis (100a) turns, and the rotation center is located between the two sets of driving wheels (81).

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