Composite function fork arm and storage robot with same

Abstract

The utility model provides a compound function fork arm and a storage robot with the same, and the compound function fork arm comprises a main frame, the at least two telescopic arm assemblies are arranged on the main frame side by side and are configured to be capable of stretching and retracting relative to the main frame; the telescopic driving assembly is in driving connection with the telescopic arm assembly so as to drive the telescopic arm assembly to stretch out and draw back; the pallet forks are correspondingly arranged on the telescopic arm assembly, and each pallet fork comprises a supporting base connected with the telescopic arm assembly, a lifting fork arm arranged on the supporting base in a lifting mode and a lifting driving mechanism for driving the lifting fork arm. The fork arm with the composite function can stretch out, draw back, ascend and descend, is high in function strength, capable of flexibly adapting to complex and changeable storage environments and high in logistics operation efficiency, in addition, due to multi-stage stretching out and drawing back, the overall length of the fork arm can be greatly shortened, a pallet fork is not prone to colliding with objects in the environments, the overall structure is simple, and the strength is high.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and particularly relates to a composite function fork arm and a warehousing robot with the fork arm. Background Art

[0002] At present, the degree of automation of production enterprises is getting higher and higher, the production efficiency is constantly climbing, and the requirements for product logistics transfer are also increasing. The storage of goods in many enterprises' warehouses is still in a relatively traditional mode. The goods are stored randomly, disorderly and irregularly. Moreover, the fork arms of traditional forklifts are relatively long, which often causes the forklifts to encounter insufficient space and it is difficult for the fork arms to pick up goods, greatly reducing the logistics transfer efficiency. Content of the Utility Model

[0003] The purpose of the utility model is to overcome the defects and deficiencies in the prior art, and provide a composite function fork arm and a warehousing robot with the fork arm.

[0004] An embodiment of the utility model provides a composite function fork arm, including:

[0005] A main frame;

[0006] At least two telescopic arm assemblies, arranged side by side on the main frame and configured to be able to telescope relative to the main frame; [[ID=2)3]]

[0007] A telescopic drive assembly, drivingly connected to the telescopic arm assembly to drive the telescopic arm assembly to telescope;

[0008] At least two forks, the forks are correspondingly arranged on the telescopic arm assembly, and each fork includes a support seat connected to the telescopic arm assembly, a lifting fork arm liftably arranged on the support seat, and a lifting drive mechanism for driving the lifting fork arm.

[0009] In some optional embodiments, the telescopic arm assembly includes a first-stage telescopic frame movably connected to the main frame and a second-stage telescopic frame movably connected to the first-stage telescopic frame. The first-stage telescopic frame telescopes relative to the main frame under the drive of the telescopic drive assembly, and the second-stage telescopic frame telescopes relative to the first-stage telescopic frame under the drive of the telescopic drive assembly. The support seat of the fork is correspondingly arranged on the second-stage telescopic frame.

[0010] In some optional embodiments, the fork is movably connected to the second-stage telescopic frame, and the support seat telescopes relative to the second-stage telescopic frame under the drive of the telescopic drive assembly.

[0011] In some alternative embodiments, two inner support slide rails are provided on the main frame, the first-stage telescopic frame, and the second-stage telescopic frame. The two sides of the first-stage telescopic frame are slidably engaged with the two inner support slide rails of the main frame. The two sides of the second-stage telescopic frame are slidably engaged with the two inner support slide rails of the first-stage telescopic frame. The two sides of the support seat are slidably engaged with the two inner support slide rails of the second-stage telescopic frame.

[0012] In some alternative embodiments, the telescopic drive assembly includes a power module, at least two first-stage chain drive modules, at least two second-stage chain drive modules, and at least two third-stage chain drive modules. The first-stage chain drive modules are provided on the main frame and are drivingly connected to the first-stage telescopic frame correspondingly. The second-stage chain drive modules are correspondingly provided on the first-stage chain drive modules and are drivingly connected to the second-stage telescopic frame correspondingly. The third-stage chain drive modules are correspondingly provided on the second-stage chain drive modules and are drivingly connected to the support seat correspondingly. The power module is drivingly connected to the first-stage chain drive modules, the second-stage chain drive modules, and the third-stage chain drive modules.

[0013] In some alternative embodiments, the first-stage chain drive modules, the second-stage chain drive modules, and the third-stage chain drive modules are sequentially drivingly connected. The power module is drivingly connected to the second-stage chain drive modules through the first-stage chain drive modules, and is drivingly connected to the third-stage chain drive modules through the first-stage chain drive modules and the second-stage chain drive modules.

[0014] In some alternative embodiments, the power module includes a main drive motor and a transmission shaft. The main drive motor is provided on the main frame and is drivingly connected to each of the first-stage chain drive modules through the transmission shaft.

[0015] In some alternative embodiments, the lifting drive mechanism includes a scissor lift structure, a transmission rod, and a fork arm drive cylinder. The scissor lift structure is provided on the support seat and is drivingly connected to the lifting fork arms. The transmission rod is rotatably engaged with the output ends of the scissor lift structure and the drive cylinder respectively. The drive cylinder drives the lifting fork arms to lift through the transmission rod and the scissor lift structure.

[0016] In some alternative embodiments, guide wheels, through slots, swing arm mechanisms, and guide wheel drive cylinders are provided on the support seat. The swing arm mechanisms are rotatably engaged with the support seat. The guide wheels are rotatably provided on the swing arm mechanisms. The guide wheel drive cylinders are drivingly connected to the swing arm mechanisms. The swing arm mechanisms drive the guide wheels to extend from the through slots to the lower part of the support seat or retract to the top of the support seat under the drive of the guide wheel drive cylinders.

[0017] Another embodiment of the present utility model provides a warehousing robot with a composite function fork arm, including: a composite function fork arm as described above.

[0018] Compared with the prior art, the composite function fork arm of the present utility model can be telescoped and lifted, with high functional strength, can flexibly adapt to complex and changeable warehousing environments, and has high logistics operation efficiency. In addition, multi-stage telescoping can greatly shorten the overall length of the fork arm, making it difficult for the fork to collide with objects in the environment. The overall structure is simple and has high strength.

[0019] In order to understand the present utility model more clearly, the following will describe the specific implementation manners of the present utility model in conjunction with the accompanying drawings. Description of the Drawings

[0020] Figure 1 Schematic structural diagram of the composite function fork arm according to an embodiment of the present utility model;

[0021] Figure 2 Schematic structural diagram of the composite function fork arm according to an embodiment of the present utility model when the telescopic arm assembly extends relative to the main frame;

[0022] Figure 3 Schematic structural diagram of the fork according to an embodiment of the present utility model;

[0023] Figure 4 Schematic structural diagram of the fork according to an embodiment of the present utility model when the lifting fork arm rises;

[0024] Figure 5 For Figure 2 Enlarged view of the position A shown;

[0025] Figure 6 For Figure 2 Enlarged view of the position B shown;

[0026] Figure 7 For Figure 2 Enlarged view of the position C shown;

[0027] Figure 8 For Figure 4 Enlarged view of the position D shown.

[0028] Description of the Reference Numerals:

[0029] 10. Main frame; 20. Telescopic arm assembly; 21. First-stage telescopic frame; 22. Second-stage telescopic frame; 23. Inner support slide rail; 30. Telescopic drive assembly; 31. Power module; 311. Main drive motor; 312. Transmission shaft; 32. First-stage chain drive module; 321. First drive block; 33. Second-stage chain drive module; 331. Second drive block; 34. Third-stage chain drive module; 40. Fork; 41. Support seat; 411. Guide wheel; 412. Through slot; 413. Swing arm mechanism; 414. Guide wheel drive cylinder; 42. Lifting fork arm; 43. Lifting drive mechanism; 431. Scissor lift structure; 432. Transmission rod; 433. Fork arm drive cylinder Detailed implementation manners

[0030] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Please refer to Figure 1 and Figure 2 , an embodiment of the present invention provides a composite function fork arm, including:

[0031] Main frame 10;

[0032] At least two telescopic arm assemblies 20, arranged side by side on the main frame 10 and configured to be able to telescopically relative to the main frame 10;

[0033] Telescopic drive assembly 30, drivingly connected to the telescopic arm assembly 20 to drive the telescopic arm assembly 20 to telescope;

[0034] Please refer to Figure 3 and Figure 4 , at least two forks 40, the forks 40 are correspondingly arranged on the telescopic arm assembly 20, and the forks 40 include a support seat 41 connected to the telescopic arm assembly 20, a lifting fork arm 42 liftably arranged on the support seat 41, and a lifting drive mechanism 43 for driving the lifting fork arm 42. The telescopic arm assembly 20 can drive the fork 40 to extend out of the main frame 10 or retract into the main frame 10 to achieve the telescopic function. The fork 40 adopts a liftable design, which can realize the lifting of goods, has strong flexibility, and can adapt to complex and changeable application scenarios.

[0035] Please refer to Figure 2, in some alternative embodiments, the telescopic arm assembly 20 includes a first-stage telescopic frame 21 movably connected to the main frame 10 and a second-stage telescopic frame 22 movably connected to the first-stage telescopic frame 21. The first-stage telescopic frame 21 telescopes relative to the main frame 10 under the drive of the telescopic drive assembly 30, and the second-stage telescopic frame 22 telescopes relative to the first-stage telescopic frame 21 under the drive of the telescopic drive assembly 30. The support base 41 of the forklift 40 is correspondingly arranged on the second-stage telescopic frame 22. The telescopic arm assembly 20 can achieve two-stage telescoping, so that the length of the telescopic arm assembly 20 is shorter after contraction and longer when extended.

[0036] Please refer to Figure 2 , in some alternative embodiments, the forklift 40 is movably connected to the second-stage telescopic frame 22. The support base 41 telescopes relative to the second-stage telescopic frame 22 under the drive of the telescopic drive assembly 30. The telescopic arm assembly 20 cooperating with the forklift 40 can achieve three-stage telescoping. When contracted, the overall length is approximately the length of the main frame 10, so that the length of the telescopic arm assembly 20 is greatly shortened after contraction. When extended, the overall length is the superposition of the length of the main frame 10, a part of the length of the first-stage telescopic frame 21, a part of the length of the second-stage telescopic frame 22, and a part of the length of the forklift 40, making the length of the overall fork arm greatly increased.

[0037] Please refer to Figure 2 , Figures 5 to 7 , to improve the stability of telescoping, in some alternative embodiments, two inner support slide rails 23 are provided on the main frame 10, the first-stage telescopic frame 21, and the second-stage telescopic frame 22. Both sides of the first-stage telescopic frame 21 are slidably engaged with the two inner support slide rails 23 of the main frame 10, so that the first-stage telescopic frame 21 stably slides and telescopes. Both sides of the second-stage telescopic frame 22 are slidably engaged with the two inner support slide rails 23 of the first-stage telescopic frame 21, so that the second-stage telescopic frame 22 stably slides and telescopes. Both sides of the support base 41 are slidably engaged with the two inner support slide rails 23 of the second-stage telescopic frame 22, so that the forklift 40 stably slides and telescopes.

[0038] Please refer to Figure 2, the structure of the telescopic driving assembly 30 can be designed according to actual needs. For example, in some alternative embodiments, the telescopic driving assembly 30 includes a power module 31, at least two first-stage chain drive modules 32, at least two second-stage chain drive modules 33, and at least two third-stage chain drive modules 34. The first-stage chain drive module 32 is disposed on the main frame 10 and is drivingly connected to the first-stage telescopic frame 21 correspondingly. The second-stage chain drive module 33 is correspondingly disposed on the first-stage chain drive module 32 and is drivingly connected to the second-stage telescopic frame 22 correspondingly. The third-stage chain drive module 34 is correspondingly disposed on the second-stage chain drive module 33 and is drivingly connected to the support base 41 correspondingly. The power module 31 is drivingly connected to the first-stage chain drive module 32, the second-stage chain drive module 33, and the third-stage chain drive module 34. Among them, the first-stage chain drive module 32 drives the first-stage telescopic frame 21 to expand and contract relative to the main frame 10, and the first-stage telescopic frame 21 can be connected to the chain of the first-stage chain drive module 32 through the first transmission block 321. The second-stage chain drive module 33 drives the second-stage telescopic frame 22 to expand and contract relative to the first-stage telescopic frame 21, and the second-stage telescopic frame 22 can be connected to the chain of the second-stage chain drive module 33 through the second transmission block 331. The third-stage chain drive module 34 drives the support base 41 to expand and contract relative to the second-stage telescopic frame 22, and the support base 41 can be connected to the chain of the third-stage chain drive module 34 through the third transmission block. The structures and principles of the first-stage chain drive module 32, the second-stage chain drive module 33, and the third-stage chain drive module 34 are well-known technologies to those skilled in the art and will not be elaborated herein.

[0039] Please refer to Figure 2, in some alternative embodiments, the first-stage chain drive module 32, the second-stage chain drive module 33, and the third-stage chain drive module 34 are sequentially drivingly connected. The power module 31 is drivingly connected to the second-stage chain drive module 33 through the first-stage chain drive module 32, and is drivingly connected to the third-stage chain drive module 34 through the first-stage chain drive module 32 and the second-stage chain drive module 33, which is beneficial to simplifying the structure of the power module 31. Among them, the way of sequentially drivingly connecting the first-stage chain drive module 32, the second-stage chain drive module 33, and the third-stage chain drive module 34 can be designed according to actual needs. For example, the sprocket of the first-stage chain drive module 32 and the sprocket of the second-stage chain drive module 33 are connected by a rotating shaft to achieve synchronous rotation, or the sprocket of the first-stage chain drive module 32 and the sprocket of the second-stage chain drive module 33 are in driving cooperation through a gear module; similarly, the sprocket of the second-stage chain drive module 33 and the sprocket of the third-stage chain drive module 34 are connected by a rotating shaft to achieve synchronous rotation, or the sprocket of the second-stage chain drive module 33 and the sprocket of the third-stage chain drive module 34 are in driving cooperation through a gear module. Of course, the power module 31 may also include three motors, and the three motors are respectively drivingly connected to the first-stage chain drive module 32, the second-stage chain drive module 33, and the third-stage chain drive module 34 to achieve independent driving. At this time, the first-stage chain drive module 32, the second-stage chain drive module 33, and the third-stage chain drive module 34 can operate independently of each other, so that the first-stage telescopic frame 21 can be driven to expand and contract alone, or the second-stage telescopic frame 22 or the support base 41 can be driven to expand and contract, so that the forklift forks 40 extend a suitable length relative to the main frame 10.

[0040] Please refer to Figure 2 , in some alternative embodiments, the power module 31 includes a main drive motor 311 and a transmission shaft 312. The main drive motor 311 is disposed on the main frame 10 and is drivingly connected to the sprocket of each first-stage chain drive module 32 through the transmission shaft 312. By means of a single main drive motor 311, each first-stage chain drive module 32, each second-stage chain drive module 33, and each third-stage chain drive module 34 can be driven to operate synchronously, which is beneficial to simplifying the structure and reducing costs.

[0041] Please refer to Figure 4, the structure of the lifting drive mechanism 43 can be designed according to actual needs. For example, in some alternative embodiments, the lifting drive mechanism 43 includes a scissor lift structure 431, a transmission rod 432, and a fork arm drive cylinder 433. The scissor lift structure 431 is disposed on the support base 41 and is in transmission connection with the lifting fork arm 42. The transmission rod 432 is rotatably engaged with the output ends of both the scissor lift structure 431 and the drive cylinder. The drive cylinder drives the lifting fork arm 42 to lift through the transmission rod 432 and the scissor lift structure 431. Of course, the lifting drive mechanism 43 may also include a plurality of jacking cylinders disposed on the support base 41. The output ends of the plurality of jacking cylinders are connected to the lifting fork arm 42 to jointly drive the lifting fork arm 42 to lift.

[0042] Please refer to Figure 8 , to facilitate guiding the fork 40 to fork into the bottom of the goods. In some alternative embodiments, the support base 41 is provided with a guide wheel 411, a through slot 412, a swing arm mechanism 413, and a guide wheel 411 drive cylinder. The swing arm mechanism 413 is rotatably engaged with the support base 41. The guide wheel 411 is rotatably disposed on the swing arm mechanism 413. The guide wheel 411 drive cylinder is drivingly connected to the swing arm mechanism 413. The swing arm mechanism 413 drives the guide wheel 411 to extend from the through slot 412 to the lower side of the support base 41 under the drive of the guide wheel 411 drive cylinder, so that the guide wheel 411 can guide the movement of the support base 41. The swing arm mechanism 413 can also drive the guide wheel 411 to retract from the through slot 412 to the top of the support base 41 under the drive of the guide wheel 411 drive cylinder, thus facilitating the storage of the guide wheel 411 and preventing the guide wheel 411 from colliding with the structures in the environment. In this embodiment, the swing arm mechanism 413 can be rotatably engaged with the support base 41 through a first rotating shaft. The output end of the fork arm drive cylinder 433 can be rotatably engaged with the swing arm mechanism 413 through a second rotating shaft. The connection positions between the output end of the fork arm drive cylinder 433 and the swing arm mechanism 413 and the position of the guide wheel 411 are respectively arranged on both sides of the first rotating shaft.

[0043] The guide wheel 411 drive cylinder and the fork arm drive cylinder 433 can be an electric cylinder, a pneumatic cylinder, a hydraulic cylinder, etc.

[0044] The above-mentioned composite function fork arm can be applied to a warehousing robot with a composite function fork arm. The warehousing robot with a composite function fork arm includes: a composite function fork arm as described above.

[0045] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A composite functional fork arm, characterized in that, Comprising: Main frame; At least two telescopic arm assemblies, arranged side by side on the main frame and configured to be able to telescope relative to the main frame; Telescopic drive assembly, drivingly connected to the telescopic arm assembly to drive the telescopic arm assembly to telescope; At least two forks, the forks being correspondingly arranged on the telescopic arm assembly, the forks including a support seat connected to the telescopic arm assembly, a lifting fork arm liftably arranged on the support seat, and a lifting drive mechanism for driving the lifting fork arm.

2. The composite functional fork arm according to claim 1, wherein: The telescopic arm assembly includes a first-stage telescopic frame movably connected to the main frame and a second-stage telescopic frame movably connected to the first-stage telescopic frame. The first-stage telescopic frame telescopes relative to the main frame under the drive of the telescopic drive assembly, and the second-stage telescopic frame telescopes relative to the first-stage telescopic frame under the drive of the telescopic drive assembly. The support seat of the fork is correspondingly arranged on the second-stage telescopic frame.

3. A composite function fork arm according to claim 2, characterized in that: The fork is movably connected to the second-stage telescopic frame, and the support seat telescopes relative to the second-stage telescopic frame under the drive of the telescopic drive assembly.

4. The composite function fork arm according to claim 3, characterized in that: Two inner support slide rails are provided on the main frame, the first-stage telescopic frame, and the second-stage telescopic frame. The two sides of the first-stage telescopic frame are slidably engaged with the two inner support slide rails of the main frame, the two sides of the second-stage telescopic frame are slidably engaged with the two inner support slide rails of the first-stage telescopic frame, and the two sides of the support seat are slidably engaged with the two inner support slide rails of the second-stage telescopic frame.

5. The composite functional fork arm according to claim 3, characterized in that: The telescopic drive assembly includes a power module, at least two first-stage chain drive modules, at least two second-stage chain drive modules, and at least two third-stage chain drive modules. The first-stage chain drive module is arranged on the main frame and is drivingly connected to the first-stage telescopic frame correspondingly. The second-stage chain drive module is correspondingly arranged on the first-stage chain drive module and is drivingly connected to the second-stage telescopic frame correspondingly. The third-stage chain drive module is correspondingly arranged on the second-stage chain drive module and is drivingly connected to the support seat correspondingly. The power module is drivingly connected to the first-stage chain drive module, the second-stage chain drive module, and the third-stage chain drive module.

6. The composite functional fork arm according to claim 5, characterized in that: The first-stage chain drive module, the second-stage chain drive module, and the third-stage chain drive module are sequentially drivingly connected. The power module is drivingly connected to the second-stage chain drive module through the first-stage chain drive module, and is drivingly connected to the third-stage chain drive module through the first-stage chain drive module and the second-stage chain drive module.

7. The composite functional fork arm according to claim 6, wherein: The power module includes a main drive motor and a transmission shaft. The main drive motor is arranged on the main frame and is drivingly connected to each first-stage chain drive module through the transmission shaft.

8. A composite functional fork arm according to any one of claims 1 to 7, characterized in that: The lifting drive mechanism includes a scissor lift structure, a transmission rod, and a fork arm drive cylinder. The scissor lift structure is disposed on the support base and is in transmission connection with the lifting fork arm. The transmission rod is rotatably engaged with the output ends of the scissor lift structure and the drive cylinder respectively. The drive cylinder drives the lifting fork arm to lift through the transmission rod and the scissor lift structure.

9. A composite functional fork arm according to any one of claims 1 to 7, characterized in that: The support base is provided with a guide wheel, a through groove, a swing arm mechanism, and a guide wheel drive cylinder. The swing arm mechanism is rotatably engaged with the support base. The guide wheel is rotatably disposed on the swing arm mechanism. The guide wheel drive cylinder is drivingly connected to the swing arm mechanism. The swing arm mechanism drives the guide wheel to extend from the through groove to the lower part of the support base or retract to the top of the support base under the drive of the guide wheel drive cylinder.

10. A warehousing robot with a composite function fork arm, characterized in that, Comprising: A composite function fork arm according to any one of claims 1 to 9.

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