Pallet fork assembly and transfer robot

Abstract

The utility model is suitable for the technical field of warehousing, and provides a pallet fork assembly and a transfer robot. The pallet fork assembly is used for being installed in the transfer robot. The pallet fork assembly comprises a pallet fork body, at least two telescopic arms and a plurality of grabbing assemblies, the pallet fork body is provided with a first side face, a second side face and a third side face, the first side face and the second side face are oppositely arranged, the third side face is connected with the first side face and the second side face, and a storage cavity is defined by the first side face, the second side face and the third side face. The at least two telescopic arms are arranged on the first side face and the second side face correspondingly and can stretch out and draw back relative to the pallet fork body. The multiple grabbing assemblies are arranged on the telescopic arm and the third side face, and the grabbing assemblies are used for grabbing goods. The multiple grabbing assemblies can conduct grabbing actions in multiple directions, the material box can be conveniently and stably stored in the storage cavity temporarily, the possibility that the material box inclines or falls off is reduced, and the carrying reliability of the pallet fork assembly is improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to warehousing technical field especially relates to a fork assembly and carrying robot. BACKGROUND

[0002] With the rapid development of artificial intelligence technology, automation technology and information technology, the intelligent degree of terminal logistics is also constantly improved, and intelligent logistics terminal is the development trend of terminal logistics, and carrying robot is one of the main equipment which can realize intelligent logistics terminal and carry out automatic carrying operation, and the heavy physical labor of human can be reduced and carrying efficiency can be improved through carrying robot. The carrying robot in the related art carries, lifts and takes and places goods through the fork assembly, but in the related art, the goods carried by the fork assembly are prone to falling or tilting in the process of moving the carrying robot, the carrying reliability is poor, and the working efficiency of the carrying robot and the precision of placing goods are affected. SUMMARY

[0003] Therefore, the utility model provides a fork assembly and carrying robot to solve the technical problem of how to improve the carrying reliability of the fork assembly.

[0004] To solve the above problems, the technical scheme provided by the utility model embodiment is implemented as follows:

[0005] The utility model embodiment provides a fork assembly, which comprises: a fork body, which has a first side face and a second side face arranged oppositely, and a third side face connecting the first side face and the second side face, the first side face, the second side face and the third side face enclosing a storage cavity; at least two telescopic arms, which are arranged on the first side face and the second side face respectively, and can be telescoped relative to the fork body; and a plurality of grabbing assemblies, which are arranged on the telescopic arms and the third side face, and are used for grabbing goods.

[0006] In some embodiments, the grabbing assembly comprises a first grabbing assembly arranged on the telescopic arm and a second grabbing assembly arranged on the third side face, the telescopic arm is telescopically moved relative to the fork body along a first direction, the first grabbing assembly can be telescopically moved in a second direction to grab goods, and the first direction is perpendicular to the second direction.

[0007] In some embodiments, the minimum distance between the first grabbing assembly and the second grabbing assembly in the height direction of the fork body is 0.

[0008] In some embodiments, the first grabbing assembly comprises: a first base connected with the telescopic arm, the base being rotatable; a first grabbing member for grabbing goods; a first connecting member connecting the first base and the first grabbing member; and a driving member, a driving shaft of the driving member being connected with the first base to drive the first base to rotate, the first connecting member reciprocating in a horizontal plane along with the rotation of the first base to drive the first grabbing member to reciprocate in the horizontal plane.

[0009] In some embodiments, the second grabbing assembly comprises: a second base fixedly connected with the third side surface; a second grabbing member for grabbing goods; and a second connecting member connecting the second base and the second grabbing member and keeping the second grabbing member protruding from the third side surface so that the second grabbing member extends into the storage cavity.

[0010] In some embodiments, the first connecting member is slidingly connected with the first base, and the first grabbing assembly further comprises a first elastic member abutting between the first base and the first grabbing member, the first elastic member driving the first grabbing member to reciprocate horizontally relative to the first base; and / or, the second connecting member is slidingly connected with the second base, and the second grabbing assembly further comprises a second elastic member abutting between the second base and the second grabbing member, the second elastic member driving the second grabbing member to reciprocate horizontally relative to the second base.

[0011] In some embodiments, the first grabbing assembly further comprises: a mounting member fixed to the telescopic arm, the first base being rotatably connected with the mounting member, and the driving member being mounted on the mounting member.

[0012] In some embodiments, the mounting member is provided with a receiving groove, a driving shaft of the driving member extends into the receiving groove through the mounting member and is connected with the first base, and the first connecting member can receive the first grabbing member in the receiving groove along the extension direction of the receiving groove.

[0013] In some embodiments, the fork assembly further comprises: a lifting assembly connected with the fork body and used for driving the telescopic arm to lift, and the first grabbing assembly lifts along with the telescopic arm and lifts goods to the height of the second grabbing assembly.

[0014] The utility model embodiment further provides a carrying robot, which comprises the fork assembly in any of the above embodiments.

[0015] The utility model discloses an embodiment provides a fork assembly for installing in the carrying robot. The fork assembly includes a fork body, at least two telescopic arms and a plurality of grabbing assemblies. The fork body has a first side and a second side arranged oppositely, and a third side connecting the first side and the second side. The first side, the second side and the third side enclose a storage cavity. The at least two telescopic arms are arranged on the first side and the second side respectively. The telescopic arms can be telescoped relative to the fork body. The plurality of grabbing assemblies are arranged on the telescopic arms and the third side. The grabbing assemblies are used for grabbing goods. In this way, when one or a stack of containers enters the storage cavity for temporary storage, the fork assembly can grab the left and right sides of one container or one stack of containers through the grabbing assemblies arranged on the telescopic arms, and grab the back of one container or one stack of containers through the grabbing assemblies arranged on the third side. The plurality of grabbing assemblies can perform grabbing actions in multiple directions, facilitating the stable temporary storage of the containers in the storage cavity, reducing the possibility of container tilting or falling, and improving the carrying reliability of the fork assembly. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 A structure diagram of the carrying robot provided by the utility model embodiment is shown.

[0017] Figure 2 A structure diagram of the fork assembly provided by the utility model embodiment is shown.

[0018] Figure 3 A structure diagram of the first grabbing assembly in the extended state provided by the utility model embodiment is shown.

[0019] Figure 4 A structure diagram of the second grabbing assembly in the extended state provided by the utility model embodiment is shown.

[0020] Figure 5 A structure diagram of the first grabbing assembly in the retracted state provided by the utility model embodiment is shown.

[0021] BRIEF DESCRIPTION OF DRAWINGS

[0022] 10, fork assembly; 1, fork body; 11, first side; 12, second side; 13, third side; 14, storage cavity; 2, telescopic arm; 3, grabbing assembly; 31, first grabbing assembly; 311, first base; 312, first grabbing piece; 313, first connecting piece; 314, first elastic piece; 315, mounting piece; 3151, receiving groove; 316, driving piece; 32, second grabbing assembly; 321, second base; 322, second grabbing piece; 323, second connecting piece; 324, second elastic piece; 4, lifting assembly. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical scheme and advantages of the utility model more clearly, the following will be further described in detail in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the utility model, and are not used to limit the utility model.

[0024] In the specific embodiments, each specific technical feature described can be combined in any suitable manner without contradiction, for example, different embodiments and technical solutions can be formed by combining different specific technical features. In order to avoid unnecessary repetition, various possible combinations of each specific technical feature in the utility model are not described again.

[0025] In the following description, the terms "first", "second", and the like are only used to distinguish different objects, and do not mean that the objects have the same or related relationship. It should be understood that the orientation description "upper", "lower", "outer", "inner" is the orientation in the normal use state, and the "left" and "right" directions represent the left and right directions shown in the specific corresponding schematic diagram, which can be the left and right directions in the normal use state or not.

[0026] It should be noted that the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the sentence "includes one" does not exclude the presence of another identical element in the process, method, article or device including the element. "Multiple" means greater than or equal to two.

[0027] As shown in Figure 1 and Figure 2 The utility model embodiment provides a fork assembly 10 for installing in a carrying robot to realize the carrying and placing of goods. It should be noted that the goods in the utility model embodiment can be stored in a material box. For simplicity, the material box represents the goods, and the material box is not limited in shape, size and other parameters. All material boxes in the warehouse can be one or more standard parts. Of course, in other embodiments, the stored goods can also not be stored in a material box, but directly use the goods themselves or other forms to represent.

[0028] As shown in Figure 1 and Figure 2As shown, the fork assembly 10 comprises a fork body 1, at least two telescopic arms 2 and a plurality of grabbing assemblies 3, the fork body 1 forms a mounting base of the telescopic arms 2 and the grabbing assemblies 3. The fork body 1 has a first side face 11 and a second side face 12 oppositely arranged, and a third side face 13 connecting the first side face 11 and the second side face 12, the first side face 11, the second side face 12 and the third side face 13 enclose a storage cavity 14. It can be understood that the storage cavity 14 forms an opening in communication with the external environment at a position relative to the third side face 13.

[0029] The telescopic arms 2 can be telescopic relative to the fork body 1, specifically, the telescopic arms 2 can be extended out of the storage cavity 14 through the opening or retracted into the storage cavity 14. It can be understood that although the storage cavity 14 can be understood as an open or semi-open cavity, the boundary between the inside and outside of the storage cavity 14 can be determined by the connection line of the first side face 11, the second side face 12 and the third side face 13; for example Figure 1 As shown, the upper edges of the first side face 11, the second side face 12 and the third side face 13 can be considered to be approximately in the same upper plane, the part above the upper plane is outside the storage cavity 14; similarly, the front edges of the first side face 11 and the second side face 12 are considered to be approximately in the same front plane, the part in front of the front plane is outside the storage cavity 14; and the space actually enclosed by the first side face 11, the second side face 12 and the third side face 13 can be clearly distinguished as inside the storage cavity 14. The at least two telescopic arms 2 are arranged at the first side face 11 and the second side face 12 respectively, it can be understood that the number of telescopic arms 2 is at least two, each two oppositely arranged telescopic arms 2 form a group, in addition to this, the number of telescopic arms 2 can be four, six, etc., to form a plurality of groups of telescopic arms 2, the fork body 1 can be provided with a plurality of groups of telescopic arms 2 in the height direction, it needs to be explained that the height direction can be the vertical direction of the fork assembly 10 in the normal use state, or the thickness direction of the grabbing assembly 3.

[0030] As shown, Figure 2 The grabbing assembly 3 is used to grab the goods, specifically, the outer surface of the box can form a stepped surface, the grabbing member can abut below the stepped surface to support the box in the height direction and drive the box to move. The grabbing assembly 3 can grab one box, or can grab multiple boxes, specifically, multiple boxes can be stacked in the height direction to form a stack of boxes, that is, the stacking of multiple boxes does not need to use a shelf to support, the adjacent boxes in the same stack of boxes at least partially contact each other in the height direction, multiple stacks of boxes can be stored in the warehouse to increase the number of boxes that can be stored in the warehouse. In this way, when the grabbing assembly 3 lifts one box, it can simultaneously lift the box and all the boxes stacked above the box, and grab multiple boxes at a time.

[0031] As shown, Figure 1 andFigure 2 As shown, the plurality of grabbing assemblies 3 are arranged on the telescopic arms 2 and the third side 13. One telescopic arm 2 can be provided with only one set of grabbing assemblies 3, or one telescopic arm 2 can be provided with multiple sets of grabbing assemblies 3 to increase the positions for performing grabbing action and the force arm for supporting the material box on one side of the material box. The third side 13 can be provided with only one set of grabbing assemblies 3, multiple sets of grabbing assemblies 3 can be arranged in the same horizontal plane, or multiple sets of grabbing assemblies 3 can be arranged in the height direction of the fork body 1, or multiple sets of grabbing assemblies 3 can be arranged in the height direction of the fork body 1 and in the same horizontal plane. It should be noted that the grabbing assemblies 3 arranged on one set of telescopic arms 2 and the grabbing assemblies 3 arranged on the third side 13 form a grabbing module to grab the same material box. In the embodiment in which the fork body 1 is provided with multiple sets of telescopic arms 2, the grabbing assemblies 3 arranged on the third side 13 are also arranged in multiple sets in the height direction of the fork body 1, i.e., the fork assembly 10 can be provided with multiple layers of grabbing modules in the height direction, and each layer of grabbing modules grabs one material box, so that the fork assembly 10 can grab multiple material boxes in the height direction.

[0032] It can be understood that the grabbing assemblies 3 arranged on the telescopic arms 2 can be extended out of the storage cavity 14 with the telescopic movement of the telescopic arms 2, and the grabbing assemblies 3 arranged on the third side 13 remain in the storage cavity 14 and grab the material box after the telescopic arms 2 are retracted into the storage cavity 14, i.e., the grabbing assemblies 3 arranged on the third side 13 grab the material box located in the storage cavity 14 to make the material box more stably stored in the storage cavity 14. It should be noted that each telescopic arm 2 is provided with a grabbing assembly 3, and the grabbing assembly 3 can move out of the storage cavity 14 or move into the storage cavity 14 with the telescopic movement of the telescopic arm 2 to transport the material box outside the storage cavity 14 to the storage cavity 14 for temporary storage, or transport the material box in the storage cavity 14 to the outside of the storage cavity 14 for placement. In the embodiment in which the fork body 1 is provided with multiple sets of telescopic arms 2, the multiple sets of telescopic arms 2 can be simultaneously extended out of the storage cavity 14, and the grabbing assemblies 3 located at different heights can be used to separate two adjacent material boxes to realize the lifting of the target material box.

[0033] Therefore, the grabbing assemblies 3 in the same group can be arranged on opposite sides of the length direction of the box, so that the grabbing assembly 3 arranged on the third side 13 is arranged on one side of the width direction of the box; the grabbing assemblies 3 in the same group can also be arranged on opposite sides of the width direction of the box, so that the grabbing assembly 3 arranged on the third side 13 is arranged on one side of the length direction of the box. In order to distinguish, the orientation words "front, back, left and right" are used for explanation, which can be simply understood as that the grabbing assemblies 3 arranged on the telescopic arms 2 can grab the left and right sides of the box, and the grabbing assemblies 3 arranged on the third side 13 can grab the back of the box. Regardless of the arrangement, the grabbing assembly 3 arranged on the third side 13 can grab the side of the box perpendicular to the telescopic arm 2, which increases the position of the box that can be grabbed by the fork assembly 10, and the box can be grabbed in multiple directions, thereby increasing the reliability of the fork assembly 10 in carrying the box and reducing the possibility of the box stored in the storage cavity 14 falling and tilting during the movement of the carrying robot. In addition, in the implementation mode in which the fork assembly 10 carries multiple boxes at a time, the grabbing assemblies 3 arranged on the telescopic arms 2 support the left and right sides of the whole stack of boxes by carrying the left and right sides of one box; the grabbing assemblies 3 arranged on the third side 13 support the back of the whole stack of boxes by carrying the back of one box, which reduces the possibility of the whole stack of boxes toppling during the movement of the carrying robot, and also improves the reliability of the fork assembly 10 in carrying the whole stack of boxes.

[0034] The fork assembly 10 provided by the embodiment of the utility model, including fork body 1, at least two telescopic arms 2 and multiple grabbing assemblies 3, the fork body 1 has oppositely arranged first side 11 and second side 12, and the third side 13 connecting first side 11 and second side 12, and first side 11, second side 12 and third side 13 enclose storage cavity 14. At least two telescopic arms 2 are arranged on first side 11 and second side 12 respectively, and telescopic arm 2 can be telescopic relative to fork body 1. Multiple grabbing assemblies 3 are arranged on telescopic arm 2 and third side 13, and grabbing assembly 3 is used to grab goods. By such arrangement, the fork assembly 10 can carry the left and right sides of one box or one stack of boxes by the grabbing assemblies 3 arranged on the telescopic arms 2, and carry the back of one box or one stack of boxes by the grabbing assemblies 3 arranged on the third side 13, the position and orientation of the box that can be grabbed by the fork assembly 10 are increased, so that the box is more stably temporarily stored in the storage cavity 14, the possibility of a single box falling is reduced, and the possibility of one or one stack of boxes tilting is reduced, thereby more effectively reducing the possibility of the whole stack of boxes toppling, and improving the carrying reliability of the fork assembly 10.

[0035] In some embodiments, as Figure 2As shown, the grabbing assembly 3 includes a first grabbing assembly 31 arranged on the telescopic arm 2 and a second grabbing assembly 32 arranged on the third side surface 13. It can be understood that the embodiment of the utility model divides the grabbing assembly 3 into the first grabbing assembly 31 and the second grabbing assembly 32, which is only a name division according to the different installation positions of the grabbing assembly 3, and is not limited to the structure of the first grabbing assembly 31 and the second grabbing assembly 32. The structure of the first grabbing assembly 31 and the second grabbing assembly 32 can be the same, or different, or partially different, so that the first grabbing assembly 31 and the second grabbing assembly 32 have structural similarities. The telescopic arm 2 is telescopic relative to the fork body 1 along a first direction, the first grabbing assembly 31 is telescopic in a second direction to grab the goods, and the first direction is perpendicular to the second direction. It can be understood that in this embodiment, the second grabbing assembly 32 can also be extended and retracted relative to the third side surface 13, but at least the first grabbing assembly 31 can be extended and retracted relative to the telescopic arm 2 to avoid the telescopic action of the telescopic arm 2 in the retracted state.

[0036] The first direction and the second direction perpendicular to each other form a plane, which can be a horizontal plane for the movement of the carrying robot. It can be understood that the height direction of the fork assembly 10 is perpendicular to the horizontal plane. In the schematic diagram of the present application, N1 represents the first direction, and N2 represents the second direction. It should be noted that the ground of the warehouse is generally a horizontal plane, so the plane in which the height direction is located is a vertical plane. Of course, the ground of the warehouse can have concave and convex in some areas, that is, the horizontal plane does not have to be a plane with an angle of 0 degrees with the horizontal direction in the strict sense. Considering the actual error, the horizontal plane can be understood as having an angle of less than 5 degrees with the horizontal direction, which can be called a horizontal plane. The horizontal plane does not require to be absolutely horizontal, and the corresponding vertical plane also does not require to be absolutely vertical, as long as it is approximately horizontal and vertical. In addition, if the telescopic arm 2 and the first grabbing assembly 31 are simplified as two-dimensional line segments or curves, they can swing in the same horizontal plane; if the telescopic arm 2 and the first grabbing assembly 31 are regarded as three-dimensional objects, their movements can be carried out in multiple parallel different horizontal planes.

[0037] In this way, the first grabbing assembly 31 can grab the bin in the direction perpendicular to the telescopic arm 2, the first direction N1 is perpendicular to the second direction N2, and then the first grabbing assembly 31 can keep the bin in a posture parallel to the telescopic arm 2 after grabbing the bin, which is beneficial to maintaining the position accuracy of the bin and reducing the possibility of affecting the carrying accuracy and efficiency due to the inclination of the bin.

[0038] In some embodiments, as Figure 1 and Figure 2As shown, the minimum distance between the first grabbing assembly 31 and the second grabbing assembly 32 in the height direction of the fork body 1 is 0, that is, the height difference between the first grabbing assembly 31 and the second grabbing assembly 32 in the same layer grabbing module can be greater than or equal to 0. When the height difference between the first grabbing assembly 31 and the second grabbing assembly 32 is greater than 0, the grabbing position of the first grabbing assembly 31 and the grabbing position of the second grabbing assembly 32 are in different horizontal planes, respectively, to grab the same bin in different horizontal planes. When the height difference between the first grabbing assembly 31 and the second grabbing assembly 32 is 0, the grabbing position of the first grabbing assembly 31 and the grabbing position of the second grabbing assembly 32 are in the same horizontal plane, to grab the same bin in the same horizontal plane. The resultant force of the first grabbing assembly 31 and the second grabbing assembly 32 grabbing the bin is in the same horizontal plane, and the resultant force formed is large, which facilitates the bin to maintain a horizontal posture and further reduces the possibility of the bin tilting and falling.

[0039] In some embodiments, as shown in Figure 2 and Figure 3 The first grabbing assembly 31 includes a first base 311, a first grabbing piece 312, a first connecting piece 313, and a driving piece 316. The first base 311 is connected with the telescopic arm 2, wherein the first base 311 can be mounted on the telescopic arm 2, or indirectly mounted on the telescopic arm 2 through other components. The first grabbing piece 312 is used to grab goods, specifically, the first grabbing piece 312 can be supported below the bin step surface to lift the bin. The first connecting piece 313 connects the first base 311 and the first grabbing piece 312, and the driving shaft of the driving piece 316 is connected with the first base 311 to drive the first base 311 to rotate. The first connecting piece 313 reciprocates in the horizontal plane with the rotation of the first base 311 to drive the first grabbing piece 312 to reciprocate in the horizontal plane. That is, driven by the driving piece 316, the first base 311, the first connecting piece 313, and the first grabbing piece 312 all reciprocate in the horizontal plane, so that the first grabbing piece 312 has a position closest to the telescopic arm 2 and a position farthest from the telescopic arm 2 in the second direction N2. In the state that the first grabbing piece 312 is closest to the telescopic arm 2, the interval space between a group of telescopic arms 2 is maximum, facilitating the telescopic arms 2 to extend into the left and right sides of the bin; in the state that the first grabbing piece 312 is farthest from the telescopic arm 2, the first grabbing piece 312 protrudes from the telescopic arm 2 in the second direction N2, and the lifting of the bin can be achieved.

[0040] It can be understood that if the first grabbing member 312 is flipped in the vertical plane, the height space of the first grabbing assembly 31 needs to be reserved for the flipping of the first grabbing member 312, and the minimum height dimension of the first grabbing assembly 31 is limited, so that the height of the first grabbing assembly 31 is large, thereby making the height and volume of the fork assembly 10 large, affecting the moving flexibility and working efficiency of the carrying robot.

[0041] In the first grabbing assembly 31 provided in the utility model embodiment, the first base 311 is driven to drive the first grabbing member 312 to swing reciprocally in the horizontal plane, the first grabbing member 312 is not flipped in the height direction, the first grabbing assembly 31 does not need to reserve space for the flipping of the first grabbing member 312 in the height direction, the action of the first grabbing member 312 does not occupy the height space, so that the height dimension of the first grabbing assembly 31 is small, thereby reducing the overall height dimension of the fork assembly 10.

[0042] In some embodiments, as shown in Figure 2 and Figure 4 The second grabbing assembly 32 includes a second base 321, a second grabbing member 322 and a second connecting member 323, wherein the second grabbing assembly 32 has the same or similar parts as the first grabbing assembly 31, and the explanation of the second base 321, the second grabbing member 322 and the second connecting member 323 can refer to the first grabbing assembly 31. In the second grabbing assembly 32, the second base 321 is fixedly connected with the third side surface 13, and the second connecting member 323 keeps the second grabbing member 322 protruding from the third side surface 13 and extending into the storage cavity 14. That is, the second base 321, the second grabbing member 322 and the second connecting member 323 do not need to swing reciprocally in the horizontal plane, the first grabbing assembly 31 moves with the telescopic arm 2 to carry one or a stack of boxes into the storage cavity 14, and the box carried by the first grabbing assembly 31 gradually approaches the second grabbing assembly 32 as the telescopic arm 2 is retracted, until the step surface of the box is supported on the second grabbing member 322, so that the second grabbing assembly 32 carries the box. In this way, the second base 321, the second grabbing member 322 and the second connecting member 323 are fixedly arranged, and the second grabbing assembly 32 does not need to be provided with a driving source, thereby saving energy, and making the second grabbing assembly 32 have fewer parts than the first grabbing assembly 31, facilitating the assembly operation of the second grabbing assembly 32.

[0043] In some embodiments, as shown in Figure 3As shown, the first connecting piece 313 is in sliding connection with the first base 311, and the first grabbing assembly 31 further comprises a first elastic piece 314 abutting between the first base 311 and the first grabbing piece 312, and the first elastic piece 314 drives the first grabbing piece 312 to reciprocate and translate relative to the first base 311. The first connecting piece 313 slides relative to the base, drives the first grabbing piece 312 to translate towards or away from the first base 311, under the action of an external force, the first grabbing piece 312 translates towards the first base 311 to compress the first elastic piece 314, so that the first elastic piece 314 stores elastic force, and after the external force disappears, the first elastic piece 314 releases the elastic force, and the first elastic piece 314 drives the first connecting piece 313 to recover relative to the first base 311, so that the first grabbing piece 312 moves away from the first base 311 to reset, thereby realizing the automatic expansion and contraction of the first grabbing piece 312 relative to the first base 311.

[0044] It should be noted that the first elastic piece 314 in the embodiment of the utility model represents a component with deformation and recovery capacity, and the setting of the first elastic piece 314 in the embodiment of the utility model includes but is not limited to a spring, an elastic ball, a silica gel piece and other components with recovery capacity.

[0045] In this way, the size of the first grabbing assembly 31 in the second direction N2 can be adjusted, which is beneficial to adapt to different sizes of the material box, and in the case that the position of the material box is offset, the deformation space of the first elastic piece 314 can be directly used to adapt to the offset of the material box, without the need for multiple adjustments of the grabbing position of the first grabbing piece 312, and the grabbing action can also be completed in the case that the first grabbing piece 312 is offset from the position of the material box, thereby increasing the tolerance of the first grabbing piece 312 to grab the material box and being beneficial to improve the grabbing efficiency of the first grabbing assembly 31. In addition, no additional power is needed to adjust the position of the first grabbing piece 312, which is beneficial to reduce energy consumption.

[0046] In some possible embodiments, as Figure 4 As shown, the second grabbing piece 322 is in sliding connection with the second base 321, and the second grabbing assembly 32 further comprises a second elastic piece 324 abutting between the second base 321 and the second grabbing piece 322, and the second elastic piece 324 drives the second grabbing piece 322 to reciprocate and translate relative to the second base 321. The second elastic piece 324 has the same parts as the first elastic piece 314, and the same parts can be referred to each other, and will not be described in detail here.

[0047] The second elastic member 324 is arranged so that the size of the second grabbing assembly 32 in the first direction N1 can be adjusted, which can adapt the second grabbing assembly 32 to different sizes of the container, and is also conducive to making the second grabbing member 322 flexibly contact the container, increasing the tolerance of the second grabbing member 322 to grab the container, and being conducive to improving the grabbing efficiency of the second grabbing assembly 32.

[0048] In some embodiments, as shown in Figure 2 and Figure 3 The first grabbing assembly 31 further includes a mounting member 315 fixed to the telescopic arm 2, the first base 311 is rotationally connected with the mounting member 315, and the driving member 316 is mounted on the mounting member 315. That is, the mounting member 315 forms the mounting basis of the first base 311 and the driving member 316, so that the first grabbing assembly 31 can be assembled independently of the telescopic arm 2, and then the mounting member 315 is fixed to the telescopic arm 2, that is, the first grabbing assembly 31 can be installed on the telescopic arm 2 as a whole, which is conducive to improving the assembly efficiency of the fork assembly 10.

[0049] It should be noted that when the second grabbing assembly 32 is fixed to the third side surface 13, the second grabbing assembly 32 can be directly fixed on the third side surface 13 through the second base 321, without the need to arrange the mounting member. In some possible embodiments, the second grabbing assembly 32 can also be telescopic relative to the third side surface 13, and then in this embodiment, the second grabbing assembly 32 can have the same structure as the first grabbing assembly 31, that is, the second grabbing assembly 32 can also have the mounting member and the driving member.

[0050] In some embodiments, as shown in Figure 3 and Figure 5 The mounting member 315 is provided with a receiving groove 3151, the driving shaft of the driving member 316 penetrates through the mounting member 315 and extends into the receiving groove 3151, and is connected with the first base 311. As known from the above, the first base 311 reciprocates in the horizontal plane, and therefore the extension direction of the driving shaft connected with the first base 311 is in the vertical plane. Such arrangement makes the torque borne by the driving shaft in the horizontal plane, and the load borne by the first grabbing member 312 in the vertical plane, which is conducive to reducing the torque borne by the driving shaft, thereby improving the safety of the driving member 316 and prolonging the service life of the driving member 316.

[0051] As shown in Figure 5As shown, the first connecting piece 313 can accommodate the first grabbing piece 312 in the accommodation groove 3151 along the extension direction of the accommodation groove 3151. It can be understood that the extension direction of the accommodation groove 3151 represents the length direction of the accommodation groove 3151, and is also the maximum length direction of the accommodation groove 3151 in the three-dimensional coordinate system. In the state that the first grabbing piece 312 is retracted relative to the mounting piece 315, the space of the accommodation groove 3151 can be used for the accommodation of the first grabbing piece 312, the space utilization is high, the size of the first grabbing assembly 31 in the state that the first grabbing piece 312 is retracted is reduced, and the size of the fork assembly 10 in the horizontal plane is reduced.

[0052] In some embodiments, as shown in Figure 1 and Figure 2 As shown, the fork assembly 10 further comprises a lifting assembly 4 connected with the fork body 1 and used for driving the telescopic arm 2 to lift. By using the lifting assembly 4, the first grabbing assembly 31 can be lifted with the telescopic arm 2, and two layers of stacked containers in a container stack are separated. The first grabbing assembly 31 is lifted with the telescopic arm 2, and the goods are lifted to the height where the second grabbing assembly 32 is located, that is, the second grabbing assembly 32 does not need to be lifted, the number of parts and driving sources of the fork assembly 10 are reduced, the fork assembly 10 is facilitated to be assembled, and the volume of the fork assembly 10 is reduced.

[0053] The utility model embodiment further provides a carrying robot, as shown in Figure 1 The carrying robot comprises the fork assembly 10 described in any of the above embodiments, and therefore has the same technical effects as the fork assembly 10 described in any of the above embodiments. That is, the carrying robot provided by the utility model embodiment can grab the left side, the right side and the back side of the container, increases the area and the position of the container that can be grabbed, makes the container temporarily stored in the storage cavity 14 have high position stability, reduces the possibility that the container stored falls or tilts in the movement process of the carrying robot, and makes the carrying reliability of the carrying robot high.

[0054] The above merely describes preferred embodiments of the utility model, and is not used to limit the utility model, and any modification, equivalent replacement and improvement made within the spirit and principle of the utility model should be included in the protection scope of the utility model.

Claims

1. A fork assembly comprising: The fork assembly comprises: a fork body having a first side, a second side and a third side connecting the first side and the second side, the first side, the second side and the third side enclosing a storage cavity; at least two telescopic arms arranged on the first side and the second side respectively, the telescopic arms being telescopic relative to the fork body; a plurality of grabbing assemblies arranged on the telescopic arms and the third side, the grabbing assemblies being used for grabbing cargos.

2. The fork assembly of claim 1, wherein, The grabbing assemblies comprise a first grabbing assembly arranged on the telescopic arm and a second grabbing assembly arranged on the third side, the telescopic arm being telescopic relative to the fork body along a first direction, the first grabbing assembly being telescopic in a second direction to grab cargos, the first direction being perpendicular to the second direction.

3. The fork assembly of claim 2, wherein, In a height direction of the fork body, a minimum distance between the first grabbing assembly and the second grabbing assembly is 0.

4. The fork assembly of claim 2, wherein, The first grabbing assembly comprises: a first base connected with the telescopic arm; a first grabbing member used for grabbing cargos; a first connecting member connecting the first base and the first grabbing member; a driving member, a driving shaft of the driving member being connected with the first base to drive the first base to rotate, the first connecting member reciprocating in a horizontal plane along with the rotation of the first base to drive the first grabbing member to reciprocate in the horizontal plane.

5. The fork assembly of claim 4, wherein, The second grabbing assembly comprises: a second base fixedly connected with the third side; a second grabbing member used for grabbing cargos; a second connecting member connecting the second base and the second grabbing member and keeping the second grabbing member protruding from the third side, so that the second grabbing member extends into the storage cavity.

6. The fork assembly of claim 5, wherein, The first connecting member is slidingly connected with the first base, the first grabbing assembly further comprises a first elastic member abutting between the first base and the first grabbing member, the first elastic member driving the first grabbing member to reciprocate relative to the first base; and / or, the second connecting member is slidingly connected with the second base, the second grabbing assembly further comprises a second elastic member abutting between the second base and the second grabbing member, the second elastic member driving the second grabbing member to reciprocate relative to the second base.

7. The fork assembly of claim 4, wherein, The first grabbing assembly further comprises: a mounting member fixed to the telescopic arm, the first base being rotationally connected with the mounting member, the driving member being mounted on the mounting member.

8. The fork assembly of claim 7, wherein, The mounting member is provided with a receiving groove, a driving shaft of the driving member extending into the receiving groove through the mounting member and being connected with the first base, the first connecting member being capable of receiving the first grabbing member in the receiving groove along an extension direction of the receiving groove.

9. The fork assembly of claim 2, wherein, The fork assembly further comprises: a lifting assembly connected with the fork body and used for driving the telescopic arm to lift; wherein the first grabbing assembly lifts along with the telescopic arm and lifts cargos to a height at which the second grabbing assembly is located.

10. A transport robot characterized by comprising: The fork assembly comprises any one of claims 1 to 9.

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