Pallet fork device and transfer robot

Abstract

The utility model discloses a pallet fork device and a transfer robot, relates to the technical field of warehouse logistics equipment, and aims to solve the technical problems that a drag chain in a current pallet fork device needs a large mounting space, the assembly efficiency is low and the maintenance cost is high. The pallet fork device comprises a pallet fork body and two telescopic arm assemblies; the two telescopic arm assemblies are arranged on the two sides of the pallet fork body in the first direction correspondingly, and the two telescopic arm assemblies synchronously slide relative to the pallet fork body in the second direction. Each telescopic arm assembly comprises at least two telescopic arms which are connected in a sliding mode, and the telescopic arm located on the outer side is connected with the pallet fork body in a sliding mode; a synchronous belt assembly is arranged between every two adjacent telescopic arms, and the synchronous belt assemblies can drive the two telescopic arms to slide relatively. A wire harness is integrated in the synchronous belt assembly and used for being electrically connected with an electrical element arranged on the pallet fork body and an electrical element arranged on the telescopic arm assembly. The carrying robot is gradually applied to cargo carrying work, and the cargo carrying efficiency can be improved.

Description

Technical Field

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

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

[0003] The handling robot includes a fork device, which includes a fork body and two telescopic arm assemblies. Along the width direction of the fork body, the two telescopic arm assemblies are slidably arranged on both sides of the fork body, and the telescopic arm assemblies are configured to grab the material box. The telescopic arm assembly is also provided with a driving element or a detection element, which needs to be electrically connected or communicated with the fork body. Therefore, a flexible drag chain and a wiring harness are also provided between the telescopic arm assembly and the fork body. The wiring harness is wrapped in the flexible drag chain and can move synchronously with the telescopic arm assembly.

[0004] However, the drag chain in the current fork device requires a large installation space, has low assembly efficiency and high maintenance cost. Utility Model Content

[0005] In view of the above problems, the embodiments of the present application provide a fork device and a transport robot, which can prevent the drag chain in the fork device from occupying a large installation space, improve assembly efficiency and reduce maintenance costs.

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

[0007] A first aspect of an embodiment of the present application provides a fork device, comprising a fork body and two telescopic arm assemblies; the two telescopic arm assemblies are respectively arranged on both sides of the fork body along a first direction, and the two telescopic arm assemblies slide synchronously relative to the fork body along a second direction; each telescopic arm assembly comprises at least two slidably connected telescopic arms, wherein the telescopic arm located on the outer side is slidably connected to the fork body; a synchronous belt assembly is arranged between two adjacent telescopic arms, and the synchronous belt assembly can drive the two telescopic arms to slide relative to each other; a wiring harness is integrated in the synchronous belt assembly, and the wiring harness is used to electrically connect electrical components arranged on the fork body and electrical components arranged on the telescopic arm assembly.

[0008] In an optional embodiment, the fork body includes a base plate and two fixed plates, and the two fixed plates are respectively fixed to both sides of the base plate along a first direction; the telescopic arm assembly includes a first telescopic arm and a second telescopic arm, the first telescopic arm is slidably connected to the fixed plate, and the second telescopic arm is slidably installed on the side of the first telescopic arm away from the fixed plate; the synchronous belt assembly is wound on the first telescopic arm and is respectively connected to the fixed plate and the second telescopic arm.

[0009] In an optional embodiment, the synchronous belt assembly includes at least a first synchronous belt and a second synchronous belt, and the wiring harness is integrated into the first synchronous belt or the second synchronous belt; the first synchronous belt and the second synchronous belt are connected to form a first connection point and a second connection point; the first connection point and the second connection point are respectively located on both sides of the first telescopic arm, and the first connection point is connected to the fixed plate, and the second connection point is connected to the second telescopic arm.

[0010] In an optional embodiment, the wiring harness is integrated into the first synchronous belt, and the first synchronous belt is located between the first telescopic arm and the fixed plate.

[0011] In an optional embodiment, the first synchronous belt includes a main body and a plurality of wire cores; the plurality of wire cores are arranged in the main body at intervals along the width direction of the main body, each of the wire cores extends along the length direction of the main body to form the wire harness; the end of each of the wire cores is arranged to protrude from the end of the main body.

[0012] In an optional embodiment, along the width direction of the main body, the plurality of cores are sequentially configured into four core groups, and at least one core in each core group forms a transmission line.

[0013] In an optional embodiment, the wire core is configured as a steel core; in the same wire core group, two of the steel cores are connected in parallel to form the transmission line.

[0014] In an optional embodiment, along the width direction of the main body, the wiring harness includes a first transmission line, a second transmission line, a third transmission line and a fourth transmission line; wherein the first transmission line and the fourth transmission line are configured as power supply lines; the second transmission line and the third transmission line are configured as signal lines, and a safe distance is maintained between adjacent transmission lines.

[0015] In an optional embodiment, in the wire core group forming the first transmission line and the fourth transmission line, the outermost steel core maintains a distance from the edge of the main body; and two steel cores away from the edge of the main body are selected to be connected in parallel to form the first transmission line and the fourth transmission line.

[0016] In an optional embodiment, in the core group forming the second transmission line, two of the steel cores away from the first transmission line are selected and connected in parallel to form the second transmission line; in the core group forming the third transmission line, two of the steel cores away from the fourth transmission line are selected and connected in parallel to form the third transmission line.

[0017] In an optional embodiment, the first synchronous belt also includes a wiring terminal and a heat shrink tube; the heat shrink tube is sleeved on the root of the transmission line protruding from the main body; part of the transmission line protrudes from the heat shrink tube and forms a wiring terminal, and the wiring terminal is electrically connected to the wiring terminal.

[0018] In an optional embodiment, the first synchronous belt further includes a supporting protective layer; the supporting protective layer is arranged at an end of the main body, and a surface of the supporting protective layer protrudes from a surface of the main body.

[0019] A second aspect of an embodiment of the present application provides a transport robot, comprising the fork device described in the first aspect.

[0020] Compared with the related art, the fork device and the handling robot provided in the embodiment of the present application have the following advantages:

[0021] The fork device provided in the embodiment of the present application integrates the wiring harness into the synchronous belt assembly. The synchronous belt assembly is not only used for power transmission between the two telescopic arms of the telescopic arm assembly to enable the two to slide relative to each other, but also can realize electrical connection between the electrical components on the fork body and the electrical components on the telescopic arm assembly.

[0022] Compared with the solution in the related art that a drag chain is provided for the fork mechanism, a wiring harness is provided in the drag chain, and the electrical components on the fork body are connected with the electrical components on the telescopic arm assembly through the wiring harness, the drag chain occupies a larger installation space, and the structure of the drag chain itself is relatively complex, the assembly is difficult, the drag chain is easily worn, and the maintenance cost is high.

[0023] However, the embodiment of the present application integrates the wiring harness into the synchronous belt, utilizes the existing synchronous belt to integrate the wiring harness, and does not need to set up a separate drag chain, thereby avoiding the drag chain from occupying a large installation space. Furthermore, since the synchronous belt has a certain structural strength, it is not easy to wear and has low cost. At the same time, the synchronous belt with integrated wiring harness is also easy to assemble, thereby improving assembly efficiency and reducing maintenance costs.

[0024] In addition to the technical problems solved by the embodiments of the present application, the technical features that constitute the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions described above, other technical problems that can be solved by the fork device and the handling robot provided by the embodiments of the present application, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail in the specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 A schematic diagram of the overall structure of the handling robot provided in an embodiment of the present application;

[0027] Figure 2 A schematic diagram of a telescopic arm assembly of a forklift device provided in an embodiment of the present application in a non-extended state;

[0028] Figure 3 for Figure 2 Schematic diagram of the arrangement of the telescopic arm assembly, the synchronous belt assembly and the fixing plate in the state shown;

[0029] Figure 4 A schematic diagram of a telescopic arm assembly of a forklift device provided in an embodiment of the present application in an extended state;

[0030] Figure 5 for Figure 4 The enlarged schematic diagram at A in the middle;

[0031] Figure 6 A schematic diagram of the structure of a synchronous belt assembly provided in an embodiment of the present application;

[0032] Figure 7 A schematic diagram of the steel core arrangement of the first synchronous belt provided in an embodiment of the present application;

[0033] Figure 8 A schematic diagram showing a perspective of arranging a supporting protective layer on a main body provided in an embodiment of the present application;

[0034] Fig. 9 A schematic diagram showing another perspective of arranging the support and protection layer provided in an embodiment of the present application on the main body;

[0035] Fig.10 A schematic diagram of the connection between the transmission line, wiring terminals and heat shrink tubing provided in an embodiment of the present application.

[0036] Description of reference numerals:

[0037] 10-Fork body;

[0038] 11-base plate; 12-fixed plate;

[0039] 20- telescopic arm assembly;

[0040] 21-first telescopic arm; 22-second telescopic arm;

[0041] 30-timing belt assembly;

[0042] 31- first synchronous belt;

[0043] 311-main body; 312-core; 3121-first core group; 3122-second core group; 3123-third core group; 3124-fourth core group;

[0044] 313- heat shrink tube; 314- terminal block; 315- support protective layer;

[0045] 32-second synchronous belt; 33-pressing plate; 34-pulley; 35-pressing piece;

[0046] 100-Fork device;

[0047] 200-storage space;

[0048] 300-gantry;

[0049] 400-mobile base;

[0050] 500-material box. DETAILED DESCRIPTION

[0051] In the related art, the fork device of the handling robot realizes the electrical connection between the electrical components of the fork body and the electrical components on the telescopic arm assembly by setting the wiring harness inside the drag chain, wherein the installation space required for the drag chain is large and the assembly efficiency is low. The inventors have found that the reason for this problem is that the wiring harness is set inside the drag chain to avoid the wiring harness being worn. However, the drag chain needs to have a certain installation space and a certain gap between the drag chain and the wiring harness, resulting in a relatively large space occupied by the drag chain; and the structure of the drag chain itself is relatively complex and easy to wear, resulting in low assembly efficiency and high maintenance costs.

[0052] In order to solve the above problems, the fork device provided in the embodiment of the present application integrates the wiring harness into the synchronous belt assembly. The synchronous belt assembly is not only used for power transmission between the two telescopic arms of the telescopic arm assembly to enable the two to slide relative to each other, but also can realize electrical connection between the electrical components on the fork body and the electrical components on the telescopic arm assembly.

[0053] In this way, the embodiment of the present application integrates the wiring harness into the synchronous belt, utilizes the existing synchronous belt to integrate the wiring harness, and does not need to set up a separate drag chain, thereby avoiding the drag chain from occupying a large installation space. Furthermore, since the synchronous belt has a certain structural strength, it is not easy to wear and has low cost. At the same time, the synchronous belt with integrated wiring harness is also easy to assemble, thereby improving assembly efficiency and reducing costs.

[0054] In order to make the above-mentioned purposes, features and advantages of the embodiments of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of this application.

[0055] To facilitate the description of the embodiments of the present application, the coordinate system of the transport robot shown in the accompanying drawings in this state is first defined, wherein the X-axis direction is the first direction, which is defined as the relative arrangement direction of the two telescopic arm assemblies; the Y-axis direction is the second direction, which is defined as the extension or retraction direction of the telescopic arm assembly, that is, the direction of picking up goods; the Z-axis direction is the third direction, which is defined as the height direction of the transport robot.

[0056] like Figure 1 As shown, the handling robot provided in the embodiment of the present application includes a mobile base 400, a walking mechanism (not shown in the figure), a lifting mechanism (not shown in the figure), a gantry 300, a fork device 100, a slewing mechanism (not shown in the figure), a load-bearing frame (not shown in the figure) and at least one storage location 200, wherein the walking mechanism is arranged below the mobile base 400 to drive the mobile base 400 to move. The walking mechanism includes a plurality of walking wheels and a driving device, and the driving device is used to provide a driving force to the walking wheels so that the walking wheels rotate relative to the ground.

[0057] For example, the driving device includes a driving motor connected to at least one running wheel, and the driving motor provides driving force to the running wheel, so that the mobile base 400 can move forward, backward, and turn, etc., so that the handling robot can move to a storage shelf or other working position to complete the transfer of goods. It should be noted that the goods in the embodiment of the present application can be a material box 500 containing materials, and the embodiment of the present application is described by taking this as an example.

[0058] The gantry 300 is installed on the mobile base 400 in a vertical state along the third direction. The gantry 300 includes two columns, which are arranged at intervals along the first direction and can be vertically connected to the mobile base 400. The gantry 300 is used to install the storage position 200 and the fork device 100, wherein the storage position 200 and the fork device 100 are arranged on both sides of the gantry 300 opposite to each other along the second direction. When the fork device 100 is opposite to the corresponding storage position 200, the material box 500 can be temporarily stored in the storage position 200, that is, the storage position 200 is used to temporarily store the material box 500.

[0059] For example, in the embodiment of the present application, the handling robot includes a plurality of storage locations 200, which may be formed by a horizontal storage plate mounted on a gantry 300. The plurality of storage locations 200 are sequentially arranged at intervals on one side of the gantry 300 along the third direction, and a storage space for the material box 500 is formed between two adjacent storage locations 200. With such an arrangement, the handling robot can transfer a plurality of material boxes 500 in a single stroke through the plurality of storage locations 200, thereby improving the operating efficiency of the handling robot.

[0060] In the embodiment of the present application, the slewing mechanism is disposed between the carrying frame and the fork body 10 , and the fork body 10 is rotatably connected to the slewing mechanism, and the slewing mechanism can drive the fork body 10 to rotate relative to the carrying frame.

[0061] For example, the fork body 10 is arranged above the carrying frame, and the fork body 10 is rotatably connected to the carrying frame through a slewing structure. The slewing mechanism is arranged on the carrying frame, and the slewing mechanism includes a driving motor, a transmission mechanism and a rotating disk. The driving motor is connected to the rotating disk through the transmission mechanism, and the rotating disk is connected to the fork body 10, thereby driving the fork body 10 to rotate, and the rotation of the entire fork device 100 can be realized.

[0062] The load-bearing frame is configured as the load-bearing structure of the entire fork device 100, the slewing mechanism is arranged on one side of the load-bearing frame, and the other side of the load-bearing frame is slidably mounted on the gantry 300, so as to drive the entire fork device 100 to move up and down along the third direction under the action of the lifting mechanism. When the handling robot provided in the embodiment of the present application is used to take and place the high-level material box 500, under the action of the lifting mechanism, the fork device 100 rises along the gantry 300 to the height of the target warehouse, and under the action of the slewing mechanism, the fork device 100 rotates 90° so that the fork device 100 is opposite to the target warehouse.

[0063] The fork device 100 is used to transfer the material box 500 between the handling robot and the storage shelf. The fork device 100 can be slidably mounted on the door frame 300. The lifting mechanism is arranged on the door frame 300, and the lifting mechanism is connected to the fork device 100, and provides a driving force to the fork device 100, so that the fork device 100 moves up and down relative to the door frame 300 along the third direction. In this way, the operating height of the fork device 100 can be adjusted, thereby completing the picking and placing of the material boxes 500 located at different heights on the storage shelf.

[0064] like Figure 2 and Figure 3 As shown, the fork device 100 provided in the embodiment of the present application includes a fork body 10 and two telescopic arm assemblies 20. The two telescopic arm assemblies 20 are relatively arranged on both sides of the fork body 10 along a first direction. The spacing between the two telescopic arm assemblies 20 along the first direction is matched with the width of the material box 500, so that the fork device 100 can take and put the material box 500.

[0065] The two telescopic arm assemblies 20 are respectively slidably mounted on the fork body 10, and the two telescopic arm assemblies 20 can slide synchronously relative to the fork body 10. The telescopic arm assembly 20 can move relative to the fork body 10 along the second direction under the drive of an external force, that is, the telescopic direction of the telescopic arm assembly 20 is consistent with the second direction. For example, when leaving the warehouse, the telescopic arm assembly 20 can extend into the storage position of the storage shelf and transfer the material box 500 from the storage shelf to the storage position 200; when entering the warehouse, the telescopic mechanism can extend into the storage position 200 and transfer the material box 500 from the storage position 200 to the storage shelf.

[0066] Furthermore, if Figure 4 and Figure 5 As shown, each telescopic arm assembly 20 includes at least two slidably connected telescopic arms. Along the second direction, the telescopic arm located on the outside is slidably connected to the fork body 10, and the telescopic arm located on the inside is slidably connected to the telescopic arm located on the outside, and the driving force is transmitted between the two through the synchronous belt assembly 30. When the telescopic arm on the outside moves along the second direction, the telescopic arm on the inside moves relative to the telescopic arm on the outside, that is, the synchronous belt assembly 30 can drive the two telescopic arms to slide relative to each other.

[0067] It is understandable that, according to the telescopic displacement requirements of the telescopic arm assembly 20, the telescopic arm assembly 20 may include more than two telescopic arms, so that the telescopic arm assembly 20 can be telescoped in multiple stages. For a multi-stage telescopic arm assembly, the synchronous belt assembly with electrical transmission function provided in the embodiment of the present application is at least arranged between the last two telescopic arms, and the embodiment of the present application is not limited to this. Unless otherwise specified, the embodiment of the present application is described by taking the telescopic arm assembly 20 including two telescopic arms as an example, and the two telescopic arms are defined as a first telescopic arm 21 and a second telescopic arm 22.

[0068] In the embodiment of the present application, the telescopic arm assembly 20 is usually provided with electrical components. For example, the electrical components provided in the telescopic arm assembly 20 include but are not limited to photoelectric sensors, etc. The photoelectric sensors can at least be used to detect the distance between the telescopic arm assembly 20 and the material box 500.

[0069] The electrical components of the telescopic arm assembly 20 need to communicate with or receive power supply current from the electrical components on the fork body 10. For example, the fork body 10 is provided with a control single circuit board and a power module, etc. Therefore, a wiring harness needs to be provided between the telescopic arm assembly 20 and the fork body 10 for electrical connection.

[0070] In the embodiment of the present application, the wiring harness is integrated in the synchronous belt assembly 30, that is, the wiring harness is integrated in the synchronous belt and can move with the synchronous belt. It can be seen that the synchronous belt assembly 30 can not only be used for the relative sliding of the two telescopic arms of the telescopic arm assembly 20, but also can realize the electrical connection between the electrical components on the fork body 10 and the electrical components on the telescopic arm assembly 20.

[0071] Compared with the solution in the related art that a tow chain is provided for the fork mechanism, a wiring harness is provided in the tow chain, and the electrical components on the fork body are connected with the electrical components on the telescopic arm assembly through the wiring harness, this tow chain occupies a larger installation space, and the structure of the tow chain itself is relatively complex, its assembly is difficult, the tow chain is easily worn, and the maintenance cost is high.

[0072] However, the embodiment of the present application integrates the wiring harness into the synchronous belt, utilizes the existing synchronous belt to integrate the wiring harness, and does not need to set up a separate drag chain, thereby avoiding the drag chain from occupying a large installation space. Furthermore, since the synchronous belt has a certain structural strength, it is not easy to wear and has low cost. At the same time, the synchronous belt with integrated wiring harness is also easy to assemble, thereby improving assembly efficiency and reducing maintenance costs.

[0073] Continue reading Figures 2 to 5 The following is a detailed description of the installation method of the telescopic arm assembly 20 on the fork body 10: The fork body 10 provided in the embodiment of the present application includes a base plate 11 and two fixing plates 12. The base plate 11 is a basic unit of the fork device 100, which is connected to the rotating disk of the slewing mechanism. The two fixing plates 12 are respectively fixed to both sides of the base plate 11 along the first direction, and each fixing plate 12 is used to install the telescopic arm assembly 20.

[0074] The telescopic arm assembly 20 includes a first telescopic arm 21 and a second telescopic arm 22, wherein along the first direction, the first telescopic arm 21 is located on the outside of the second telescopic arm 22, the first telescopic arm 21 is slidably connected to the fixed plate 12, the first telescopic arm 21 is located on the inner wall of the fixed plate 12, and is transmission-connected to the telescopic driving mechanism of the telescopic arm assembly. Under the action of the telescopic driving mechanism, the first telescopic arm 21 can slide along the second direction relative to the fixed plate 12.

[0075] The second telescopic arm 22 is slidably mounted on a side of the first telescopic arm 21 away from the fixed plate 12, and the second telescopic arm 22 can move relative to the first telescopic arm 21 along a second direction driven by the synchronous belt assembly 30. The synchronous belt assembly 30 is wound around the first telescopic arm 21 and connected to the fixed plate 12 and the second telescopic arm 22 respectively. When the first telescopic arm 21 moves relative to the fixed plate 12, the synchronous belt assembly 30 rotates and drives the second telescopic arm 22 to move relative to the first telescopic arm 21.

[0076] like Figure 6 As shown, along the second direction, two pulleys 34 are respectively provided at both ends of the first telescopic arm 21, and the two pulleys 34 are arranged opposite to each other. The synchronous belt assembly 30 includes a synchronous belt, which is wound around the two pulleys 34 respectively, and the synchronous belt located outside the first telescopic arm 21 is connected to the fixed plate 12, and the synchronous belt located inside the first telescopic arm 21 is connected to the second telescopic arm 22.

[0077] Exemplarily, in the embodiment of the present application, the synchronous belt assembly 30 includes at least a first synchronous belt 31 and a second synchronous belt 32, and the first synchronous belt 31 and the second synchronous belt 32 are connected together by a crimping plate 33 and a crimping piece 35 to form a first connection point and a second connection point.

[0078] For example, the first synchronous belt 31 and the second synchronous belt 32 are respectively arranged on both sides of the first telescopic arm 21, and a crimping plate 33 is provided at the connection between the first synchronous belt 31 and the second synchronous belt 32. The ends of the first synchronous belt 31 and the second synchronous belt 32 are embedded in the positioning groove of the crimping plate 33, and the crimping part 35 is vertically installed on the crimping plate 33, and the ends of the first synchronous belt 31 and the second synchronous belt 32 are fixed on the crimping plate 33, that is, the first synchronous belt 31 and the second synchronous belt 32 are connected together.

[0079] The above-mentioned first connection point and second connection point are respectively located on the inner and outer sides of the first telescopic arm 21, wherein the first connection point is connected to the fixed plate 12, and the second connection point is connected to the second telescopic arm 22. Along the second direction, the first connection point is located at the front end of the fixed plate 12, and the second connection point is located at the rear end of the second telescopic arm. With such an arrangement, when the first telescopic arm 21 is extended along the second direction, the second connection point can be driven to move and the second telescopic arm 22 can be extended synchronously.

[0080] For example, under the action of driving force, the first telescopic arm 21 moves forward by a displacement L along the second direction relative to the fixed plate 12. Since the first connection point is fixed to the fixed plate 12, the second telescopic arm 22 moves forward by a displacement L following the synchronous belt. The second telescopic arm 22 moves by a displacement 2L relative to the fixed plate 12.

[0081] Furthermore, the wiring harness in the embodiment of the present application is integrated into the first synchronous belt 31 or the second synchronous belt 32, and the embodiment of the present application is not limited to this. Preferably, the wiring harness is integrated into the first synchronous belt 31, and the first synchronous belt 31 is located between the first telescopic arm 21 and the fixed plate 12. Such a configuration can facilitate the electrical connection between the electrical components on the fork body 10 and the electrical components on the telescopic arm assembly 20. It should be noted that the first synchronous belt 31 is integrated with a wiring harness, which can also be defined as a wiring harness synchronous belt, which is different from a common synchronous belt used for transmission.

[0082] The following embodiments of the present application provide a detailed description of the wiring harness synchronous belt:

[0083] like Figure 7 As shown, in the embodiment of the present application, the first synchronous belt 31 includes a main body 311 and multiple wire cores 312. The multiple wire cores 312 are arranged in the main body 311 at intervals along the width direction of the main body 311, and the wire cores 312 extend along the length direction of the main body 311 to form a wire harness.

[0084] It is understandable that the extension direction of the main body 311 is the same as the transmission direction of the first synchronous belt 31, and the main body 311 has a certain width and thickness so that the synchronous belt has a certain structural strength to meet the transmission requirements. Further, the end of each wire core 312 is protruding from the end of the main body 311 for electrical connection.

[0085] In some embodiments, along the width direction of the main body 311, the plurality of cores 312 are sequentially divided into four core groups, each core group includes at least one core 312, and the core 312 can be made of conductive metal, such as copper or other metals, and the core 312 is constructed as a transmission line for electrical connection. Alternatively, each core group includes a plurality of cores 312, and the plurality of cores 312 can be connected in parallel to form a transmission line, which not only improves the reliability of the electrical connection, but also reduces the resistance of the transmission line.

[0086] In the embodiment of the present application, two cores can be selected in the same core group to be connected in parallel to form a transmission line. Specifically, the core set in the main body 311 can be a steel core, which can not only be electrically connected, but also improve the structural strength of the first synchronous belt 31 and ensure the transmission stability of the first synchronous belt 31.

[0087] For the convenience of describing the structure of the first synchronous belt 31, the four core groups are respectively the first core group 3121, the second core group 3122, the third core group 3123 and the fourth core group 3124. Further, the transmission line formed in the first core group 3121 is the first transmission line; the transmission line formed in the second core group 3122 is the second transmission line, the transmission line formed in the third core group 3123 is the third transmission line; the transmission line formed in the fourth core group 3124 is the fourth transmission line.

[0088] Along the width direction of the main body 311, the first transmission line, the second transmission line, the third transmission line and the fourth transmission line are arranged in sequence, wherein the first transmission line and the fourth transmission line are arranged close to the edge of the main body 311, and both are configured as power supply circuits; the second transmission line and the third transmission line are arranged in the middle position of the main body 311, and are configured as signal lines, and a safe distance is maintained between each transmission line to ensure electrical clearance and improve wiring harness reliability.

[0089] Furthermore, in the embodiment of the present application, in the wire core group forming the first transmission line and the fourth transmission line, the outermost steel core maintains a distance from the edge of the main body 311; and, two steel cores away from the edge of the main body 311 are selected to be connected in parallel to form the first transmission line and the fourth transmission line.

[0090] Exemplarily, the first wire core group 3121 includes three steel cores arranged at intervals, and the outermost steel core is arranged close to the edge of the main body 311. Since the first synchronous belt 31 collides and rubs against the pulley 34 during operation, the edge of the synchronous belt is easily damaged, which may damage the outermost steel core. Therefore, in the first wire core group 3121, the outermost steel core is spaced apart from the edge of the main body 311 to reduce the risk of the steel core being damaged and broken. In addition, the other two steel cores away from the edge of the main body 311 are selected to be connected in parallel to form a first transmission line to improve the reliability of the first transmission line.

[0091] Similarly, the fourth wire core group 3124 includes three steel cores arranged at intervals, and the outermost steel core maintains a distance from the edge of the main body 311 to reduce the risk of damage and breakage of the steel core; and the other two steel cores away from the edge of the main body 311 are selected to be connected in parallel to form a fourth transmission line to improve the reliability of the first transmission line, which will not be repeated here.

[0092] On the basis of the above embodiments, in the embodiments of the present application, in the wire core group forming the second transmission line, two steel cores away from the first transmission line are selected to be connected in parallel to form a second transmission line; in the wire core group forming the third transmission line, two steel cores away from the fourth transmission line are selected to be connected in parallel to form a third transmission line.

[0093] Specifically, the second wire core group 3122 includes three steel cores, wherein the steel core close to the first transmission line is not used as an electrical connection, but only provides support for the main body 311. Two steel cores far from the first transmission line are selected and connected in parallel to form a second transmission line. In this way, a large safety distance can be maintained between the first transmission line and the second transmission line, ensuring electrical clearance and improving reliability.

[0094] Similarly, the third wire core group 3123 includes three steel cores, of which the steel core close to the fourth transmission line is not used as an electrical connection, but only provides support for the main body 311. Two steel cores far from the fourth transmission line are selected to be connected in parallel to form a third transmission line. In this way, a large safety distance can be maintained between the third transmission line and the fourth transmission line, ensuring electrical clearance and improving reliability.

[0095] like Figure 8 and Fig. 9 As shown, in the embodiment of the present application, the first synchronous belt 31 further includes a supporting protective layer 315, which is disposed at the end of the main body 311, and the surface of the supporting protective layer 315 protrudes from the surface of the main body 311. For example, a polyurethane layer is disposed at the end of the main body 311, and the polyurethane layer has a certain thickness and width, so as to improve the structural strength of the end of the first synchronous belt 31, prevent the steel core in the first synchronous belt 31 from being broken by the fastener when the end of the first synchronous belt 31 is connected to the crimping plate 33 of the telescopic arm, and improve the reliability of the electrical connection.

[0096] like Fig.10 As shown, in the embodiment of the present application, the first synchronous belt 31 also includes a wiring terminal 314 and a heat shrink tube 313, wherein the heat shrink tube 313 is sleeved on the portion of each transmission line protruding from the main body 311, and the end of the heat shrink tube 313 is in contact with the end face of the main body 311, and the length of the heat shrink tube 313 can be 5 mm; that is, the heat shrink tube 313 can be sleeved on the root of the portion of the transmission line protruding from the main body 311 to ensure electrical insulation between the transmission lines, and to prevent the transmission lines from contacting each other during bending and twisting to affect the electrical connection.

[0097] Furthermore, part of the transmission line protrudes from the heat shrink tube 313 and forms a terminal, and the terminal 314 is connected to the terminal. For example, the end of the transmission line protrudes from the end of the heat shrink tube 313 and forms a terminal. The terminal is used to be crimped with the terminal 314, and the two are electrically connected. The terminal 314 can be a fully enclosed cold-pressed terminal, so that the phenomenon of the heat shrink tube 313 being damaged due to the steel core being exposed due to stamping during the crimping process between the terminal and the terminal 314 can be prevented.

[0098] The various embodiments or implementation methods in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referenced to each other.

[0099] It should be noted that the embodiments represented by "one embodiment", "an embodiment", "an exemplary embodiment", "some embodiments", etc. mentioned in the specification may include specific features, structures or characteristics, but not every embodiment may include the specific features, structures or characteristics. In addition, such phrases do not necessarily refer to the same embodiment. In addition, when describing specific features, structures or characteristics in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such features, structures or characteristics in conjunction with other embodiments that are explicitly or not explicitly described.

[0100] In general, terms should be understood, at least in part, by the context in which they are used. For example, the term "one or more" as used herein may be used to describe any feature, structure, or characteristic in a singular sense, or may be used to describe a combination of features, structures, or characteristics in a plural sense, depending, at least in part, on the context. Similarly, terms such as "a" or "" may also be understood to convey singular usage or to convey plural usage, depending, at least in part, on the context.

[0101] In addition, spatially relative terms, such as "below", "below", "beneath", "above", "above", etc., may be used herein for ease of description to describe the relationship of one element or feature relative to other elements or features as shown in the figures. The spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation shown in the figures.

[0102] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A fork device, characterized in that: It includes a fork body and two telescopic arm assemblies; The two telescopic arm assemblies are respectively arranged on both sides of the fork body along the first direction, and the two telescopic arm assemblies slide relative to the fork body along the second direction synchronously; Each telescopic arm assembly comprises at least two slidably connected telescopic arms, wherein the telescopic arm located on the outside is slidably connected to the fork body; a synchronous belt assembly is arranged between two adjacent telescopic arms, and the synchronous belt assembly can drive the two telescopic arms to slide relative to each other; A wiring harness is integrated in the synchronous belt assembly, and the wiring harness is used to electrically connect the electrical components arranged on the fork body and the electrical components arranged on the telescopic arm assembly.

2. The fork device according to claim 1, characterized in that: The fork body comprises a base plate and two fixing plates, and the two fixing plates are respectively fixed to two sides of the base plate along a first direction; The telescopic arm assembly comprises a first telescopic arm and a second telescopic arm, the first telescopic arm is slidably connected to the fixed plate, and the second telescopic arm is slidably installed on a side of the first telescopic arm away from the fixed plate; The synchronous belt assembly is wound on the first telescopic arm and is respectively connected to the fixing plate and the second telescopic arm.

3. The fork device according to claim 2, characterized in that: The synchronous belt assembly comprises at least a first synchronous belt and a second synchronous belt, and the wiring harness is integrated into the first synchronous belt or the second synchronous belt; The first synchronous belt and the second synchronous belt are connected to form a first connection point and a second connection point; The first connection point and the second connection point are respectively located on both sides of the first telescopic arm, and the first connection point is connected to the fixing plate, and the second connection point is connected to the second telescopic arm.

4. The fork device according to claim 3, characterized in that: The wiring harness is integrated into the first synchronous belt, and the first synchronous belt is located between the first telescopic arm and the fixing plate.

5. The fork device according to claim 4, characterized in that: The first synchronous belt includes a main body and a plurality of wire cores; A plurality of the wire cores are arranged in the main body at intervals along the width direction of the main body, each of the wire cores extends along the length direction of the main body to form the wire harness; The end of each wire core is protruded from the end of the main body.

6. The fork device according to claim 5, characterized in that: Along the width direction of the main body, the plurality of cores are sequentially configured into four core groups, and at least one core in each core group forms a transmission line.

7. The fork device according to claim 6, characterized in that: The wire core is configured as a steel core; In the same wire core group, two of the steel cores are connected in parallel to form the transmission line.

8. The fork device according to claim 7, characterized in that: Along the width direction of the main body, the wiring harness includes a first transmission line, a second transmission line, a third transmission line and a fourth transmission line; wherein the first transmission line and the fourth transmission line are configured as power supply lines; The second transmission line and the third transmission line are configured as signal lines, and a safe distance is maintained between adjacent transmission lines.

9. The fork device according to claim 8, characterized in that: In the wire core group forming the first transmission line and the fourth transmission line, the outermost steel core maintains a distance from the edge of the main body; And, two of the steel cores away from the edge of the main body are selected to be connected in parallel to form the first transmission line and the fourth transmission line.

10. The fork device according to claim 8, characterized in that: In the wire core group forming the second transmission line, two steel cores far from the first transmission line are selected and connected in parallel to form the second transmission line; In the wire core group forming the third transmission line, two steel cores far away from the fourth transmission line are selected to be connected in parallel to form the third transmission line.

11. The fork device according to any one of claims 6 to 10, characterized in that: The first synchronous belt also includes a wiring terminal and a heat shrink tube; The heat shrink tube is sleeved on the root of the transmission line protruding from the main body; Part of the transmission line protrudes from the heat shrink tube and forms a wiring terminal, and the wiring terminal is electrically connected to the wiring terminal.

12. The fork device according to claim 11, characterized in that: The first synchronous belt also includes a supporting protective layer; The supporting protective layer is arranged at the end of the main body, and the surface of the supporting protective layer protrudes from the surface of the main body.

13. A transport robot, characterized in that: A fork device comprising the fork device according to any one of claims 1 to 12.

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