Plate fork type goods shelf robot

Abstract

The utility model discloses a plate fork type goods shelf robot, which relates to the technical field of goods carrying, and comprises at least one guide rail, an upright post, a goods carrying table and a telescopic plate fork, at least one stand column is matched with the guide rail and moves along the guide rail through a walking mechanism. At least one cargo carrying table is matched with the stand column and moves up and down along the stand column through a lifting mechanism. And the at least one telescopic plate fork is arranged on the cargo carrying table and telescopically moves in a one-way or two-way mode in the direction of cargoes on the goods shelf through the telescopic mechanism. The goods forking device can improve the goods forking stability and expand the application range of equipment.

Description

Technical Field

[0001] The utility model relates to the technical field of cargo handling, in particular to a plate-fork type shelf robot. Background Art

[0002] The statements herein merely provide background art related to the present invention and do not necessarily constitute prior art.

[0003] Goods on shelves are transferred by a handling robot that moves along guide rails. For example, the prior art discloses a collaborative shelf robot comprising a first loading and unloading assembly and a second loading and unloading assembly. The first and second loading and unloading assemblies each comprise a column, a lifting mechanism, and a loading and unloading mechanism. The column is connected to the loading and unloading mechanism via the lifting mechanism. The loading and unloading mechanism comprises a cargo-carrying component connected to the lifting mechanism, and the cargo-carrying component is connected to a fork via a telescopic mechanism. The prior art also discloses a dual-column shelf robot comprising two columns, a loading and unloading mechanism disposed between the two columns, and the loading and unloading mechanism is connected to the lifting mechanism disposed on the columns.

[0004] The current picking structure on the shelf robot is a grabbing type picking structure, which is generally suitable for the use conditions of material boxes. For some specific scenarios, such as the 3C industry, materials are stored in crisp trays, which are generally soft plastic parts and are not suitable for picking up by grabbing. Therefore, a picking mechanism suitable for the shelf robot in this scenario is needed. Utility Model Content

[0005] The purpose of the utility model is to overcome the above-mentioned deficiencies of the prior art and to provide a plate-fork type shelf robot, which can improve the stability of cargo forking and expand the scope of use of the equipment.

[0006] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0007] The embodiment of the present utility model provides a plate-fork type shelf robot, comprising:

[0008] At least one guide rail is provided on the shelf;

[0009] at least one upright column, cooperating with the guide rail and moving along the guide rail via a traveling mechanism;

[0010] At least one cargo platform, cooperating with the column and moving up and down along the column via a lifting mechanism;

[0011] At least one telescopic fork is arranged on the cargo platform and is telescopically movable in one direction or two directions along the direction of the cargo on the shelf through a telescopic mechanism.

[0012] As a further implementation, the telescopic plate fork is a single-depth structure or a double-depth structure.

[0013] As a further implementation, the column is a single-column structure or a double-column structure. When the column is a double-column structure, the two columns are connected by a crossbeam.

[0014] As a further implementation, the guide rail is arranged in an aisle between two adjacent shelves;

[0015] The guide rail is arranged on a single-side shelf in the lane, or on two-side shelves in the lane, or on the ground and the top surface.

[0016] As a further implementation, the walking mechanism is a single-motor driven walking mechanism or a multi-motor driven walking mechanism.

[0017] As a further implementation method, there are two columns, and the two columns move independently along the guide rail through a walking mechanism, and a cargo platform is provided on both columns.

[0018] As a further implementation method, both cargo platforms are provided with telescopic forks, and the telescopic forks are moved along a direction perpendicular to the telescopic direction of the telescopic forks through an adjustment mechanism. When the two columns are close to each other, the two cargo platforms are connected to each other, and the telescopic forks on the two cargo platforms are in a state of connection.

[0019] As a further implementation, one or two telescopic forks are provided on the cargo platform.

[0020] As a further implementation, two telescopic forks are provided on the cargo platform, and an adjustment mechanism is provided between the two telescopic forks, and the adjustment mechanism is used to adjust the distance between the two telescopic forks.

[0021] As a further implementation, the adjustment mechanism is a screw-nut mechanism, and the telescopic plate fork cooperates with the screw through a nut;

[0022] Alternatively, the adjustment mechanism is a synchronous belt mechanism, and the two telescopic plate forks are respectively connected to the upper and lower rotating surfaces of the synchronous belt;

[0023] Alternatively, the adjustment mechanism is a connecting rod mechanism, one end of the two connecting rods is hinged, the other ends of the two connecting rods are respectively hinged to a telescopic plate fork, and the hinged ends of the two connecting rods are connected to the driving mechanism.

[0024] As a further implementation, the lifting mechanism includes a lifting motor and a circulation structure, and the cargo platform is connected to the circulation structure;

[0025] The circulating structure is a synchronous belt or a chain.

[0026] As a further implementation, the moving mechanism includes a synchronous belt mechanism, and the synchronous belt mechanism cooperates with the telescopic plate fork through a tooth structure.

[0027] The beneficial effects of the above utility model are as follows:

[0028] (1) The picking mechanism of the shelf robot of the present invention adopts a sampling plate-fork structure. In certain scenarios where the grabbing type picking structure is not suitable, the plate-fork picking structure can pick up the material from the bottom of the material tray to avoid damage to the material tray.

[0029] (2) The utility model can be provided with multiple telescopic forks and multiple cargo platforms according to the size of the cargo, and the uprights can also work together to increase the scope of use of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The drawings in the specification, which constitute a part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute a limitation on this application.

[0031] Figure 1 This is a schematic structural diagram of a plate-fork shelf robot according to Example 1 of the present utility model;

[0032] Figure 2 This is a schematic diagram of the installation of a single telescopic plate fork in Example 1 of the present utility model;

[0033] Figure 3 This is a schematic diagram of the structure of the split cargo platform of Example 1 of the present utility model;

[0034] Figure 4 This is a schematic diagram of the two telescopic plate forks in the separated state of embodiment 1 of the present utility model;

[0035] Figure 5 It is a schematic diagram of the two telescopic plate forks in the close proximity state of Example 1 of the utility model.

[0036] Among them, 1. column, 2. telescopic fork, 3. cargo platform, 4. guide rail, 5. lifting mechanism, 6. walking mechanism, 7. moving block, 8. screw, 9. track, 10. motor. DETAILED DESCRIPTION

[0037] Example 1:

[0038] This embodiment provides a plate-fork type shelf robot, such as Figure 1As shown, it includes a telescopic plate fork 2, a column 1, a cargo platform 3, a guide rail 4, etc. There is at least one guide rail 4, which is set on the shelf; the column 1 cooperates with the guide rail 4 and moves along the guide rail 4 through a walking mechanism; the guide rail 4 is set in the aisle between two adjacent shelves, and the guide rail 4 is set on a single-side shelf in the aisle, or on shelves on both sides of the aisle, or on the ground and top surface of the aisle. There is at least one cargo platform 3, which cooperates with the column 1 and moves up and down along the column 1 through a lifting mechanism 5; at least one telescopic plate fork 2 is set on the cargo platform 3, and is telescopically moved in one direction or two directions along the direction of the goods on the shelf through a telescopic mechanism. The telescopic direction of the telescopic plate fork 2 is along the X direction, the direction of movement of the telescopic plate fork 2 along the guide rail 4 with the column 1 is the Y direction, and the vertical direction is the Z direction.

[0039] Specifically, the telescopic fork 2 can be extended in one direction to achieve a single-depth forking operation, i.e., the telescopic fork 2 has a single-depth structure; it can also be extended in two directions to achieve a double-depth forking operation, i.e., the telescopic fork 2 has a double-depth structure. The cargo platform 3 can be equipped with one or two telescopic forks 2. When two telescopic forks 2 are provided on the cargo platform 3, an adjustment mechanism is provided between the two telescopic forks 2 to adjust the distance between the two telescopic forks 2.

[0040] It should be noted that the telescopic plate fork 2 is a plate fork structure with a telescopic function, which can be telescoped by a cylinder, a hydraulic cylinder or other linear drive methods.

[0041] In this embodiment, if Figure 1 and Figure 2 As shown, a telescopic fork 2 is mounted on the cargo platform 3. Because the center of gravity may shift when picking up a loaded pallet, this embodiment incorporates an adjustment mechanism to adjust the position of the telescopic fork 2 to ensure balanced cargo handling. The telescopic fork 2 is mounted on the upper side of the cargo platform 3 and connected to the cargo platform 3 via the adjustment mechanism.

[0042] like Figure 3 As shown, the adjustment mechanism of this embodiment includes a power source and a linear motion module, with the power source connected to the telescopic fork 2 via the linear motion module. The power source is a rotary power source, such as a motor 10; the linear motion module can be any mechanism that provides linear motion. In this embodiment, it includes a lead screw 8 and a movable block 7. The lead screw 8 is arranged along the Y direction, with its ends mounted to the cargo platform 3 via bearing blocks. The movable block 7 is threadedly connected to the lead screw 8. The motor 10 drives the lead screw 8 to rotate, thereby causing the movable block 7 to move axially along the lead screw 8. Of course, in other embodiments, the adjustment mechanism can also be a synchronous belt mechanism or a parallelogram linkage.

[0043] To ensure stable movement of the moving block 7, a track 9 is fixed to the upper surface of the cargo platform 3. The track 9 is arranged along the Y direction, and the two ends of the moving block 7 are slidably connected to the corresponding track 9. The telescopic fork 2 is installed on the moving block 7 and can be extended and retracted along the moving block 7.

[0044] During bidirectional extension and retraction of the telescopic fork 2, it is connected to a moving mechanism. In this embodiment, the moving mechanism comprises a synchronous belt mechanism, wherein the synchronous belt surface of the synchronous belt mechanism is provided with a toothed structure, and the bottom surface of the telescopic fork 2 is provided with gear teeth that match the toothed structure. The meshing toothed structure enables the telescopic fork 2 to move in the positive or negative X-direction, thereby increasing the pickup range.

[0045] like Figure 1 As shown, the cargo platform 3 is mounted on the inner side of the column 1. The cargo platform 3 is slidably connected to the column 1 and is connected to the lifting mechanism 5. The lifting mechanism 5 enables the cargo platform 3 and the telescopic fork 2 to move in the Z direction. The lifting mechanism 5 includes a lifting motor and a circulation structure. The cargo platform 3 is connected to the circulation structure, which is a synchronous belt or chain.

[0046] The column 1 can be a single-column or dual-column structure. In the dual-column structure, the two columns are connected by a crossbeam. The column 1 is connected to the guide rail 4 via a running mechanism 6. The guide rail 4 is arranged along the Y direction, enabling Y-direction movement of the telescopic fork 2. The running mechanism 6 utilizes existing technology and can be driven by a single motor or multiple motors. The column 1 engages with the guide rail 4 via running wheels and is driven by the motors to move along the guide rail 4.

[0047] When two uprights 1 are provided, they are spaced a certain distance apart in the Y direction, and the cargo platform 3 is disposed between the two uprights 1. The two uprights 1 are not connected to each other and move independently along the guide rails 4 via the traveling mechanism 6. The two uprights 1 can also work in coordination, that is, a telescopic mechanism (e.g., a telescopic rod) is connected between the two uprights 1 to adjust the distance between the two uprights 1 to accommodate forks of different sizes.

[0048] The working principle of this embodiment is:

[0049] The telescopic fork 2 and the cargo platform 3 move along the guide rail 4 with the column 1. After moving to the pickup position, the telescopic fork 2 extends to pick up the pallet with the goods; then the telescopic fork 2 retracts to move the pallet to the cargo platform 3. The telescopic fork 2 and the cargo platform 3 continue to move along the guide rail 4 with the column 1 to transport the goods to the target position.

[0050] When the center of gravity of the pallet is detected to be offset, the adjustment mechanism is activated, driving the telescopic fork 2 to move along the Y direction until the center of gravity returns to the center of gravity of the telescopic fork 2 (when there are two telescopic forks 2, the center of gravity is located in the middle position of the two telescopic forks 2).

[0051] This embodiment improves the stability of cargo forking by providing an adjustment mechanism, and multiple telescopic plate forks 2 and multiple cargo platforms 3 can be provided according to the size of the cargo. The columns 1 can also work together to increase the scope of use of the equipment.

[0052] Example 2:

[0053] This embodiment provides a plate-fork shelf robot, which differs from the embodiment 1 in that: Figure 4 and Figure 5 As shown, both cargo platforms 3 are provided with telescopic forks 2, and the telescopic forks 2 are moved along the telescopic direction perpendicular to the telescopic fork 2 through the adjustment mechanism. When the two columns 1 are close to each other, the two cargo platforms 3 are connected to each other, and the telescopic forks 2 on the two cargo platforms 3 are in a state of connection.

[0054] The adjusting mechanism can be a screw-nut mechanism, in which the telescopic plate fork 2 cooperates with the screw through the nut; or, the adjusting mechanism is a synchronous belt mechanism, in which the two telescopic plate forks 2 are respectively connected to the upper and lower rotating surfaces of the synchronous belt; or, the adjusting mechanism is a connecting rod mechanism, in which one end of the two connecting rods is hinged, and the other ends of the two connecting rods are respectively hinged to a telescopic plate fork 2, and the hinged ends of the two connecting rods are connected to a driving mechanism.

[0055] Although the above description of the specific implementation methods of the present invention is combined with the accompanying drawings, it does not limit the scope of protection of the present invention. Technical personnel in the relevant field should understand that on the basis of the technical solution of the present invention, various modifications or deformations that can be made by technical personnel in this field without creative work are still within the scope of protection of the present invention.

Claims

1. A plate-fork shelf robot, characterized in that: include: At least one guide rail is provided on the shelf; at least one upright column, cooperating with the guide rail and moving along the guide rail via a traveling mechanism; At least one cargo platform, cooperating with the column and moving up and down along the column via a lifting mechanism; At least one telescopic fork is arranged on the cargo platform and is telescopically movable in one direction or two directions along the direction of the cargo on the shelf through a telescopic mechanism.

2. The plate-fork type shelf robot according to claim 1, characterized in that: The telescopic plate fork is a single-depth structure or a double-depth structure.

3. The plate-fork type shelf robot according to claim 1, characterized in that: The column is a single column structure or a double column structure. When the column is a double column structure, the two columns are connected by a crossbeam.

4. The plate-fork shelf robot according to claim 1, characterized in that: The guide rail is arranged in the lane between two adjacent shelves; The guide rail is arranged on a single-side shelf in the lane, or on two-side shelves in the lane, or on the ground and the top surface.

5. The plate-fork type shelf robot according to claim 4, characterized in that: The traveling mechanism is a single-motor driven traveling mechanism or a multi-motor driven traveling mechanism.

6. A pallet-type shelf robot according to claim 1 or 3, characterized in that: There are two upright posts, which move independently along the guide rails through a traveling mechanism, and both posts are provided with a cargo platform.

7. The plate-fork type shelf robot according to claim 6, characterized in that: Both cargo platforms are provided with telescopic forks, and the telescopic forks are moved along a direction perpendicular to the telescopic direction of the telescopic forks through an adjustment mechanism. When the two columns are close to each other, the two cargo platforms are connected to each other, and the telescopic forks on the two cargo platforms are in a state of connection.

8. The plate-fork type shelf robot according to claim 1, characterized in that: One or two telescopic forks are provided on the cargo platform.

9. The plate-fork type shelf robot according to claim 8, characterized in that: Two telescopic forks are provided on the cargo platform, and an adjustment mechanism is provided between the two telescopic forks, and the adjustment mechanism is used to adjust the distance between the two telescopic forks.

10. A pallet-type shelf robot according to claim 7 or 9, characterized in that: The adjustment mechanism is a screw-nut mechanism, and the telescopic plate fork cooperates with the screw through the nut; Alternatively, the adjustment mechanism is a synchronous belt mechanism, and the two telescopic plate forks are respectively connected to the upper and lower rotating surfaces of the synchronous belt; Alternatively, the adjustment mechanism is a connecting rod mechanism, one end of the two connecting rods is hinged, the other ends of the two connecting rods are respectively hinged to a telescopic plate fork, and the hinged ends of the two connecting rods are connected to the driving mechanism.

11. The plate-fork type shelf robot according to claim 1, characterized in that: The lifting mechanism includes a lifting motor and a circulation structure, and the cargo platform is connected to the circulation structure; The circulating structure is a synchronous belt or a chain.

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