Physical in-place sensing mechanism for stacking forklift robot

Abstract

The utility model relates to the technical field of stacking forklift robot in-place sensing, in particular to a physical in-place sensing mechanism for a stacking forklift robot, which comprises a robot body, fork plates are symmetrically mounted on one side of the robot body, a fixing plate is arranged on the fork plates, a transmission piece is connected in the fixing plate, one side of the transmission piece is connected with a transmission block, and the other side of the transmission piece is connected with a transmission shaft. An arc-shaped blocking piece is connected to the bottom end of the transmission block, a stretching rod is arranged on the arc-shaped blocking piece, an abutting rod is fixed to one side of the stretching rod, a transverse plate is installed at the rear side end of the fork plate, and a protruding block is installed on the transverse plate. The possibility that the lifting precision is influenced due to the fact that the sensor identification position is influenced by environmental factors is reduced, the contact linkage induction effect of the device is improved, the induction precision is more accurate, the overall service life of the device is prolonged, and the possibility that the device is not prone to being damaged is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of in-place sensing technology for stacker forklift robots, in particular to a physical in-place sensing mechanism for stacker forklift robots. Background Technique

[0002] A stacker forklift robot is a highly efficient and automated material handling device, specifically used for stacking and retrieving goods in warehouses and logistics centers. Its main features include a high-precision positioning system and advanced sensor technology, enabling it to operate flexibly in narrow spaces. The physical in-place sensing mechanism is a key component to ensure that the stacker forklift robot can accurately and safely reach the designated position when performing tasks such as stacking and handling.

[0003] Currently, in order to ensure that the forklift forks stay precisely at the appropriate height, the lifting mechanism is usually equipped with sensors for automatic identification to feedback the current moving position. However, the sensors themselves may have manufacturing errors or wear after long-term use, resulting in inaccurate measurement data. Environmental factors such as light and temperature may affect the normal identification of the sensors, leading to measurement data deviation or fuzzy perception. Moreover, the sensors may shift in position due to long-term vibration and impact, resulting in abnormal operation. Therefore, a physical in-place sensing mechanism for stacker forklift robots is proposed. Summary of the Invention

[0004] The purpose of the utility model is to solve the shortcomings existing in the prior art, and to propose a physical in-place sensing mechanism for stacker forklift robots.

[0005] In order to achieve the above purpose, the utility model adopts the following technical scheme:

[0006] A physical in-place sensing mechanism for a stacker forklift robot, including a robot body. On one side of the robot body, fork plates are symmetrically installed. On the fork plates, fixing plates are provided. Inside the fixing plates, transmission pieces are connected. On one side of the transmission pieces, transmission blocks are connected. At the bottom end of the transmission blocks, arc-shaped blocking pieces are connected. On the arc-shaped blocking pieces, stretching rods are provided. On one side of the stretching rods, abutting rods are fixed. On the rear end of the fork plates, transverse plates are installed. On the transverse plates, convex blocks are installed. Inside the convex blocks, movable blocks are connected. On the top ends of the movable blocks, trapezoidal blocks are provided. On the outside of the trapezoidal blocks, extrusion rods are connected.

[0007] Preferably, two electrically controlled lifting chains are symmetrically installed inside the robot body. Between the two lifting chains, a slider is provided. On the rear side surface of the fixing plate, a fixing block is installed. One end of the lifting chain is arranged on the fixing block. On the rear side surface of the fixing plate, a limiting block is also fixedly installed. On both sides of the limiting block, rollers are symmetrically provided. An intermediate slideway is opened on the slider. The rollers are movably connected inside the intermediate slideway.

[0008] Preferably, the fixed plate is vertically installed on the top surfaces of the two fork plates, the transverse plate is fixedly installed at the tail ends of the two fork plates, a groove is formed on the front side surface of the fixed plate, a rotating rod is connected to the inner wall of the groove, the transmission piece is fixedly installed on the outer surface of the rotating rod, the groove is adapted to the transmission piece, and a spring connection is formed between the rear side surface of the top end of the transmission piece and the inner wall surface of the groove.

[0009] Preferably, a hydraulic cavity is formed in the fixed plate, one end of the hydraulic cavity is connected with a transmission block, the other end of the hydraulic cavity is spring-connected with a pressing rod, hydraulic oil is arranged in the hydraulic cavity, an arc-shaped strip is fixed at the middle position of the rear side surface of the transmission piece, and the arc-shaped strip is adapted to the transmission block.

[0010] Preferably, a through hole is formed in the middle position of the fixed plate, the convex block is located in the through hole, the bottom end of the movable block is spring-connected in the convex block, the top end of the movable block penetrates to the top surface of the convex block, a trapezoidal block is fixedly installed on the top end of the movable block, a contact block is installed on the top surface of the trapezoidal block, an outer frame is arranged on one side of the convex block, a sensor is installed on the bottom surface of the outer frame, the contact block is connected to the sensor, and one end of the pressing rod extends into the through hole and is connected to the outside of the trapezoidal block.

[0011] Preferably, a positioning block is installed at the bottom end of the groove, a spring connection is formed between the arc-shaped baffle and the positioning block, one end of the stretching rod penetrates through the positioning block and is connected to the bottom surface of the arc-shaped baffle, the stretching rod is in an "L" shape, the abutting rod is fixed on the stretching rod and is parallel to each other, and the top end of the abutting rod is clamped on the bottom surface of the positioning block.

[0012] The beneficial effects of the utility model are as follows:

[0013] In this solution, the contact between the material and the transmission piece can make it rotate, and the contact with the transmission block 16 can drive the telescopic movement of the pressing rod. The up and down movement of the trapezoidal block can achieve the effect of contacting and sensing the sensor. The arc-shaped baffle can continuously keep the transmission piece in a vertical state, so that the fork plates can continuously maintain the same height to transport materials.

[0014] In this solution, it reduces the possibility that the position of the sensor for automatically identifying the position is shifted or the identification is blurred due to long-term vibration and impact, thus affecting the lifting accuracy, reduces the possibility that the sensor's identification position is affected by environmental factors, improves the contact linkage induction effect of the device, the induction accuracy is more accurate, and also improves the overall service life of the device, achieving the possibility of being not easily damaged. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic structural diagram of a physical in-place sensing mechanism for a reach truck robot proposed by the utility model;

[0016] Figure 2 It is a structural schematic diagram of the fork plate and the fixed plate part;

[0017] Figure 3 It is a schematic diagram of the main structure of the fork plate and the fixed plate;

[0018] Figure 4 It is a schematic diagram of the structure of the transmission plate and the fixed plate;

[0019] Figure 5 for Figure 4 The structural diagram of part A in the figure;

[0020] Figure 6 It is a schematic cross-sectional view of the transmission plate and the fixed plate;

[0021] Figure 7 for Figure 6 A schematic diagram of the main structure of the part;

[0022] Figure 8 for Figure 6 A schematic diagram of a partial top view structure;

[0023] Figure 9 for Figure 7 Schematic diagram of the structure of part B.

[0024] In the figure: 1. Robot body; 2. Fork plate; 3. Fixed plate; 4. Lifting chain; 5. Slider; 6. Transmission plate; 7. Rotating rod; 8. External frame; 9. Sensor; 10. Contact block; 11. Movable block; 12. Trapezoidal block; 13. Extrusion rod; 14. Fixed block; 15. Limit block; 16. Transmission block; 17. Arc baffle; 18. Stretching rod; 19. Resistance rod; 20. Hydraulic oil; 21. Bump. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0026] Example: Refer to Figures 1-9A physical in-position sensing mechanism for a forklift robot comprises a robot body 1, a fork plate 2 is symmetrically mounted on one side of the robot body 1, a fixed plate 3 is arranged on the fork plate 2, a transmission plate 6 is connected inside the fixed plate 3, a transmission block 16 is connected to one side of the transmission plate 6, an arc-shaped baffle 17 is connected to the bottom end of the transmission block 16, a stretching rod 18 is arranged on the arc-shaped baffle 17, a resistance rod 19 is fixed to one side of the stretching rod 18, a transverse plate is mounted on the rear side end of the fork plate 2, a convex block 21 is mounted on the transverse plate, a movable block 11 is connected inside the convex block 21, a trapezoidal block 12 is arranged on the top of the movable block 11, an extrusion rod 13 is connected to the outer side of the trapezoidal block 12, the robot body 1 will speed up the movement speed when there is no material, and will transport at a uniform and slow speed when there is material.

[0027] Specifically, two electrically controlled lifting chains 4 are symmetrically installed in the robot body 1, a slider 5 is arranged between the two lifting chains 4, a fixed block 14 is installed on the rear side of the fixed plate 3, one end of the lifting chain 4 is arranged on the fixed block 14, a limit block 15 is also fixedly installed on the rear side of the fixed plate 3, rollers are symmetrically arranged on both sides of the limit block 15, an intermediate slideway is opened on the slider 5, and the movement of the rollers connected in the intermediate slideway can make the lifting process more stable.

[0028] Furthermore, the fixed plate 3 is vertically mounted on the top surfaces of the two fork plates 2, and the transverse plate is fixedly mounted on the tail ends of the two fork plates 2. The fork plates 2 and the transverse plates are respectively located on both sides of the vertical plate. A groove is provided on the front side surface of the fixed plate 3, and the groove includes an upper cavity and a lower groove. A rotating rod 7 is connected to the inner wall of the upper cavity. The transmission plate 6 is fixedly mounted on the outer surface of the rotating rod 7, and the top end of the transmission plate 6 is rotatably connected in the upper cavity to avoid collision between the transmission plate 6 and the groove. The size of the groove is matched with that of the transmission plate 6, which facilitates the plane fit of the transmission plate 6 in the vertical state with the fixed plate 3, thereby ensuring more accurate rotation accuracy. The rear side surface of the top end of the transmission plate 6 and the inner wall surface of the groove are spring-connected to facilitate the rapid rebound of the transmission plate 6 after the material is moved.

[0029] In this embodiment, a hydraulic chamber is provided in the fixed plate 3, one end of the hydraulic chamber is connected to the transmission block 16, the other end of the hydraulic chamber is connected to the extrusion rod 13 by a spring to act on the rapid reset of the extrusion rod 13, hydraulic oil 20 is provided in the hydraulic chamber, the hydraulic oil 20 is sealed and arranged between the extrusion rod 13 and the transmission block 16, an arc-shaped bar is fixed at the middle position of the rear side of the transmission plate 6, the arc-shaped bar is adapted to the position of the transmission block 16, the arc-shaped bar is movably connected to one side of the transmission block 16 to act on the transmission of force, and the transmission block 16 is connected in the lower tank body;

[0030] A through hole is provided in the middle of the fixed plate 3, and the protrusion 21 is located in the through hole. The bottom spring of the movable block 11 is connected in the protrusion 21 to act on the trapezoidal block 12 to quickly descend and achieve the effect of disconnecting the contact with the sensor 9. The top of the movable block 11 penetrates to the top surface of the protrusion 21 to act on the support of the trapezoidal block 12. The trapezoidal block 12 is fixedly installed on the top of the movable block 11. The side length of the upper side of the trapezoidal block 12 is greater than the side length of the lower side, so that its two sides are sloped. A contact block 10 is installed on the top surface of the trapezoidal block 12. An outer frame 8 is provided on one side of the protrusion 21. A photoelectric sensor can be installed on the top surface of the outer frame 8. A sensor 9 is installed on the bottom surface of the outer frame 8. The sensor 9 is directly electrically connected to the robot body 1. The contact block 10 is connected to the sensor 9. The two are in contact to achieve a stable sensing effect. One end of the extrusion rod 13 extends into the through hole, and it is connected to the outer side of the trapezoidal block 12 to push the trapezoidal block 12 upward.

[0031] A positioning block is installed on the bottom side of the groove lower groove body to act on the lifting and lowering of the arc-shaped baffle 17. The arc-shaped baffle 17 and the positioning block are spring-connected to facilitate the rebound of the arc-shaped baffle 17. One end of the stretching rod 18 passes through the positioning block and is connected to the bottom surface of the arc-shaped baffle 17. The stretching rod 18 is "L"-shaped, and the resistance rod 19 is fixed on the stretching rod 18. The two are parallel to each other. The top end of the resistance rod 19 is clamped on the bottom surface of the positioning block to act on the long-term limiting of the arc-shaped baffle 17.

[0032] Working principle: When the robot body 1 is working, it will automatically move to the specified position, and then control the lifting chain 4 to move and pull the fork plate 2 upward. When it rises to the specified height, the material will touch the transmission plate 6, and the inclined transmission plate 6 will rotate, thereby pushing the transmission block 16 inward. The hydraulic oil 20 will push the extrusion rod 13 outward, and the extrusion rods 13 on both sides will be squeezed toward the middle. The trapezoidal block 12 will extend upward, and the contact block 10 will touch the sensor 9. At this time, the robot body 1 will sense the signal, stop rising, and then continue the subsequent movement steps. Since the material continues to contact the transmission plate 6, the robot body 1 can sense that the equipment is in a loading state, and the movement will be decelerated and more stable. When the material is removed, the transmission plate 6, the extrusion rod 13 and the movable block 11 will reset under the action of the spring;

[0033] If the material carried by the robot body 1 is light in weight and small in size, it is easy to physically break contact with the transmission plate 6 due to vibration during movement. When the loading is completed, the stretching rod 18 can be rotated ninety degrees, and the resistance rod 19 will turn away from the bottom surface of the positioning block. Under the action of the spring, the arc-shaped baffle 17 will position the bottom end of the transmission plate 6, so that the transmission plate 6 always remains in a vertical state, avoiding the possibility of the robot body 1 accelerating to move because it thinks there is no loading after the contact is broken.

[0034] The content not detailed in this specification belongs to the prior art well-known to those skilled in the art.

[0035] The standard parts used in the present utility model can all be purchased from the market. The special-shaped parts can all be customized according to the descriptions in the specification and the attached drawings. The specific connection methods of each part all adopt conventional means such as bolts, rivets, welding, etc. that are mature in the prior art. The machinery, parts and equipment all adopt conventional models in the prior art. Coupled with the circuit connection adopting the conventional connection method in the prior art, no further details will be given here.

[0036] The above is only the preferred specific implementation mode of the present utility model, but the protection scope of the present utility model is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present utility model, according to the technical solution of the present utility model and its inventive concept, makes equivalent substitutions or changes, and all should be covered within the protection scope of the present utility model.

Claims

1. A physical position sensing mechanism for a forklift robot, characterized in that: include: A robot body (1) is symmetrically mounted on one side of the robot body (1), a fork plate (2) is arranged on the fork plate (2), a transmission plate (6) is connected to the fixed plate (3), a transmission block (16) is connected to one side of the transmission plate (6), an arc-shaped baffle (17) is connected to the bottom end of the transmission block (16), a stretching rod (18) is arranged on the arc-shaped baffle (17), a resisting rod (19) is fixed to one side of the stretching rod (18), a transverse plate is mounted on the rear side end of the fork plate (2), a convex block (21) is mounted on the transverse plate, a movable block (11) is connected to the inside of the convex block (21), a trapezoidal block (12) is arranged on the top end of the movable block (11), and an extrusion rod (13) is connected to the outer side of the trapezoidal block (12).

2. The physical position sensing mechanism for a stacker forklift robot according to claim 1, characterized in that: Two electrically controlled lifting chains (4) are symmetrically installed in the robot body (1), a slider (5) is arranged between the two lifting chains (4), a fixing block (14) is installed on the rear side of the fixing plate (3), one end of the lifting chain (4) is arranged on the fixing block (14), a limit block (15) is also fixedly installed on the rear side of the fixing plate (3), rollers are symmetrically arranged on both sides of the limit block (15), an intermediate slideway is opened on the slider (5), and the rollers are movably connected in the intermediate slideway.

3. The physical position sensing mechanism for a stacker forklift robot according to claim 2, characterized in that: The fixing plate (3) is vertically mounted on the top surfaces of the two fork plates (2), the transverse plate is fixedly mounted on the tail ends of the two fork plates (2), a groove is provided on the front side surface of the fixing plate (3), a rotating rod (7) is connected to the inner wall of the groove, the transmission plate (6) is fixedly mounted on the outer surface of the rotating rod (7), the groove and the transmission plate (6) are matched with each other, and the rear side surface of the top end of the transmission plate (6) is connected to the inner wall surface of the groove in a spring manner.

4. The physical position sensing mechanism for a stacker forklift robot according to claim 3 is characterized in that: A hydraulic chamber is provided in the fixed plate (3), one end of the hydraulic chamber is connected to a transmission block (16), the other end of the hydraulic chamber is spring-connected to an extrusion rod (13), hydraulic oil (20) is provided in the hydraulic chamber, an arc strip is fixed at a middle position of a rear side surface of the transmission plate (6), and the arc strip is adapted to fit the transmission block (16).

5. The physical position sensing mechanism for a stacker forklift robot according to claim 4, characterized in that: A through opening is provided in the middle of the fixed plate (3), the convex block (21) is located in the through opening, the bottom end spring of the movable block (11) is connected to the convex block (21), the top end of the movable block (11) penetrates to the top surface of the convex block (21), the trapezoidal block (12) is fixedly mounted on the top end of the movable block (11), a contact block (10) is mounted on the top surface of the trapezoidal block (12), an outer frame (8) is provided on one side of the convex block (21), a sensor (9) is mounted on the bottom surface of the outer frame (8), the contact block (10) is connected to the sensor (9), and one end of the extrusion rod (13) extends into the through opening and is connected to the outside of the trapezoidal block (12).

6. The physical position sensing mechanism for a stacker forklift robot according to claim 5, characterized in that: A positioning block is installed on the bottom end of the groove, the arc-shaped baffle (17) is connected to the positioning block by a spring, one end of the stretching rod (18) passes through the positioning block and is connected to the bottom surface of the arc-shaped baffle (17), the stretching rod (18) is "L"-shaped, the abutment rod (19) is fixed on the stretching rod (18), the two are parallel to each other, and the top end of the abutment rod (19) is clamped on the bottom surface of the positioning block.

Images