Pallet fork and transfer robot

Abstract

The pallet fork comprises a base, a first telescopic fork, a second telescopic fork and a conveying roller assembly, the conveying roller assembly comprises a first driving mechanism and a plurality of first rollers, the first rollers are sequentially arranged on the base at intervals in the first direction, and the second rollers are arranged on the first driving mechanism. The extension direction of the rotating axis of each first roller is a second direction, the second direction is perpendicular to the first direction, and the first driving mechanism is connected with the multiple first rollers and used for driving the multiple first rollers to rotate; the first telescopic fork and the second telescopic fork are both arranged on the base and located on the two sides of the first roller in the second direction respectively, and the telescopic direction of the first telescopic fork and the telescopic direction of the second telescopic fork are parallel to the first direction. According to the scheme, the problem that the conveying efficiency is low when goods are conveyed from a pallet fork to a conveying platform or from the conveying platform to the pallet fork in the prior art can be solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of intelligent storage, especially relates to a fork and carrying robot. BACKGROUND

[0002] In the field of intelligent storage, carrying robots have been widely used for taking goods from shelves or placing goods on shelves through forks. However, the existing method has the problem of low transmission efficiency when transmitting goods from the fork to the conveying platform or from the conveying platform to the fork. SUMMARY

[0003] The utility model discloses a fork and carrying robot to solve the problem of low transmission efficiency when transmitting goods from the fork to the conveying platform or from the conveying platform to the fork in the related art.

[0004] To solve the above technical problems, the utility model is realized as follows:

[0005] In the first aspect, the application discloses a fork, and the disclosed fork comprises a base, a first telescopic fork, a second telescopic fork and a conveying roller assembly, wherein: the conveying roller assembly comprises a first driving mechanism and a plurality of first rollers, the plurality of first rollers are sequentially and spacedly arranged on the base along a first direction, the extension direction of the rotation axis of the first roller is a second direction, the second direction is perpendicular to the first direction, the first driving mechanism is connected with the plurality of first rollers and is used for driving the plurality of first rollers to rotate.

[0006] The first telescopic fork and the second telescopic fork are both arranged on the base and are respectively located on the two sides of the first roller in the second direction, and the telescopic direction of the first telescopic fork and the second telescopic fork is parallel to the first direction.

[0007] In the second aspect, the application further discloses a carrying robot, and the disclosed carrying robot comprises a robot chassis, a lifting module and the fork of the first aspect, the lifting module is arranged on the robot chassis, the base is connected with the lifting module, and the lifting module can drive the fork to lift along a third direction through the chassis, wherein the third direction is perpendicular to the second direction, and the third direction is perpendicular to the first direction.

[0008] The technical scheme adopted by the utility model can achieve the following technical effects:

[0009] The fork disclosed by the embodiment of the application is provided with the first telescopic fork, the second telescopic fork and the conveying roller assembly, so that when it is needed to place the goods from the fork on the shelf or place the goods from the shelf on the fork, the goods can be pulled from the shelf to the plurality of first rollers or pushed from the plurality of first rollers to the shelf through the telescoping of the first telescopic fork and the second telescopic fork, thereby realizing the conveying of the goods between the fork and the shelf. The conveying roller assembly is provided with the first driving mechanism and the plurality of first rollers, so that when the goods are conveyed from the fork to the conveying platform or conveyed from the conveying platform to the fork, the plurality of first rollers can be driven to rotate by the first driving mechanism, so that the plurality of first rollers move together with the conveying platform, so as to convey the goods from the plurality of first rollers to the conveying platform or from the conveying platform to the plurality of first rollers, thereby avoiding the conveying through the mechanical hand or the telescoping of the first telescopic fork and the second telescopic fork, and the conveying efficiency when the goods are conveyed from the fork to the conveying platform or conveyed from the conveying platform to the fork can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0010] Figure 1 A schematic diagram of the whole fork disclosed by the embodiment of the application is shown in the figure.

[0011] Figure 2 A bottom view of the fork disclosed by the embodiment of the application is shown in the figure.

[0012] Figure 3 A schematic diagram of the first telescopic fork and the second telescopic fork in the extended state is shown in the figure.

[0013] Figure 4 A schematic diagram of the first telescopic fork and the second telescopic fork in the retracted state is shown in the figure. Figure 3 A schematic diagram from another perspective is shown in the figure.

[0014] Figure 5 A partial enlarged schematic diagram of the fork disclosed by the embodiment of the application is shown in the figure.

[0015] Figure 6 A schematic diagram of the first telescopic fork or the second telescopic fork from the first perspective is shown in the figure.

[0016] Figure 7 A schematic diagram of the first telescopic fork or the second telescopic fork from the second perspective is shown in the figure.

[0017] Figure 8 A simplified schematic diagram of the first telescopic fork or the second telescopic fork is shown in the figure.

[0018] Figure 9 A structural schematic diagram of the carrying robot disclosed by the embodiment of the application is shown in the figure.

[0019] Explanation of reference signs:

[0020] 100 - base, 101 - first avoiding hole, 102 - second avoiding hole,

[0021] 200 - first telescopic fork, 300 - second telescopic fork, 310 - first stage plate, 320 - second stage plate, 330 - third stage plate, 340 - telescopic fork transmission assembly, 350 - third driving mechanism, 360 - shift fork, 420 - first roller, 421 - first sub-roller, 422 - second sub-roller, 430 - positioning device, 440 - detection device, 450 - second roller, 510 - driving body, 511 - second driving piece, 512 - lead screw, a - first threaded section, 512b - second threaded section, 513 - lead screw nut, 514 - bearing seat, 520 - adapter, 600 - guide rail assembly, 610 - guide rail, 620 - sliding block, 630 - connecting piece, 710 - robot chassis, 720 - lifting module, 800 - guide, 900 - reset detection assembly, 910 - reset plate, 920 - reset photoelectric sensor. DETAILED DESCRIPTION

[0022] To make the objectives, technical solutions, and advantages of the present application clearer, the following will be a clear and complete description of the technical solutions of the present application in combination with specific embodiments of the present application and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of protection of the present application.

[0023] The following will be a detailed description of the technical solutions disclosed in each embodiment of the present application in combination with the drawings.

[0024] Please refer to Figures 1 to 9 The present application discloses a pallet fork, which comprises a base 100, a first telescopic fork 200, a second telescopic fork 300, and a conveying roller assembly.

[0025] The conveying roller assembly comprises a first driving mechanism and a plurality of first rollers 420. The plurality of first rollers 420 are arranged in the first direction and spaced apart in sequence on the base 100. The extension direction of the rotation axis of the first roller 420 is the second direction, and the second direction is perpendicular to the first direction.

[0026] The first driving mechanism is connected with the plurality of first rollers 420 and is used to drive the plurality of first rollers 420 to rotate. The driving of the plurality of first rollers 420 by the first driving mechanism can transmit the goods located on the plurality of first rollers 420 to the conveying platform, or transmit the goods conveyed by the conveying platform to the plurality of first rollers 420, thereby realizing the transmission of the goods between the pallet fork and the conveying platform. The first direction is the conveying direction of the goods. During the transmission of the goods between the pallet fork and the conveying platform, the first telescopic fork 200 and the second telescopic fork 300 do not need to be telescoped.

[0027] The first telescopic fork 200 and the second telescopic fork 300 are arranged on the base 100 and are located on both sides of the first roller 420 in the second direction, and the telescopic directions of the first telescopic fork 200 and the second telescopic fork 300 are parallel to the first direction. The first telescopic fork 200 and the second telescopic fork 300 can be unidirectional telescopic forks in the first direction, or bidirectional telescopic forks, and the embodiments of the present application do not make specific limitations on the types of forks.

[0028] When it is needed to place the goods from the fork to the shelf or place the goods from the shelf to the fork, the goods can be pulled from the shelf to the plurality of first rollers 420 or pushed from the plurality of first rollers 420 to the shelf through the telescoping of the first telescopic fork 200 and the second telescopic fork 300, so as to realize the conveying of the goods between the fork and the shelf. When the goods are transmitted between the fork and the shelf, the first driving mechanism does not need to drive the plurality of first rollers 420 to rotate.

[0029] The fork can move together with the carrying robot, and the carrying robot can carry the fork to a position that is docked with the conveying platform, so as to realize the transmission of the goods from the plurality of first rollers 420 to the conveying platform or from the conveying platform to the plurality of first rollers 420. The carrying robot can carry the fork to a position corresponding to the shelf, so as to realize the placement of the goods from the fork to the shelf or the placement of the goods from the shelf to the fork.

[0030] The fork disclosed in the embodiments of the present application is provided with the first telescopic fork 200, the second telescopic fork 300 and the conveying roller assembly, so that when it is needed to place the goods from the fork to the shelf or place the goods from the shelf to the fork, the goods can be pulled from the shelf to the plurality of first rollers 420 or pushed from the plurality of first rollers 420 to the shelf through the telescoping of the first telescopic fork 200 and the second telescopic fork 300, so as to realize the conveying of the goods between the fork and the shelf. The conveying roller assembly is provided with the first driving mechanism and the plurality of first rollers 420, so that when the goods are transmitted from the fork to the conveying platform or from the conveying platform to the fork, the plurality of first rollers 420 can be driven to rotate by the first driving mechanism, so that the plurality of first rollers 420 move together with the conveying platform, so as to transmit the goods from the plurality of first rollers 420 to the conveying platform or from the conveying platform to the plurality of first rollers 420, thereby avoiding the transmission through the mechanical hand or the telescoping of the first telescopic fork 200 and the second telescopic fork 300, and improving the transmission efficiency when the goods are transmitted from the fork to the conveying platform or from the conveying platform to the fork.

[0031] Optionally, the first driving mechanism can include a first driving member and a transmission assembly, the first driving member can be arranged on the base 100, and the first driving member can be connected with one of the first rollers 420, and the other first rollers 420 can be connected with the first roller 420 connected with the first driving member through the transmission assembly.

[0032] Specifically, the transmission assembly can include a plurality of transmission belts or a plurality of transmission chains, and the other first rollers 420 can be directly or indirectly connected with the first roller 420 connected with the first driving member through the plurality of transmission belts or the plurality of transmission chains, so that the plurality of first rollers 420 can be driven to rotate by one first driving member, thereby reducing the number of first driving members.

[0033] Of course, in other embodiments, the first driving mechanism can include a plurality of first driving members, and the plurality of first driving members can correspond to the plurality of first rollers 420 one by one, so that each first roller 420 is driven by a corresponding first driving member.

[0034] In order to make the goods accurately stay at the set positions of the plurality of first rollers 420 when the goods are transmitted from the conveying platform to the forks, optionally, the conveying roller assembly can further include a positioning device 430 and a detection device 440, and the positioning device 430 and the detection device 440 can be correspondingly arranged at the outermost two first rollers 420 of the plurality of first rollers 420. The detection device 440 can be used to detect the position of the goods located on the plurality of first rollers 420, and the positioning device 430 can position the goods when the detection device 440 detects that the goods are conveyed to the preset position.

[0035] It should be noted that when the detection device 440 located on one side of the conveying platform detects the goods, it can be confirmed that the goods have reached the position of the first rollers 420, and in the process of continuously conveying the goods by the plurality of first rollers 420, if the detection device 440 away from the conveying platform side detects the goods, the first driving mechanism stops driving the plurality of first rollers 420 to rotate, at this time, the positioning device 430 can be extended to position the goods, so that the goods can accurately stay at the set positions of the plurality of first rollers 420. When the goods need to be transmitted to the goods shelf or the conveying platform, the positioning device 430 can be retracted to avoid interference with the movement of the goods.

[0036] To avoid the positioning device 430 from protruding too high on the side where the first roller 420 is located and interfering with the goods, optionally, the base 100 can be provided with a first avoiding hole 101 at a position corresponding to the positioning device 430, and at least part of the positioning device 430 can protrude into the side of the base 100 away from the first roller 420 through the first avoiding hole 101. The outermost two first rollers 420 in the plurality of first rollers 420 can each include a first sub-roller 421 and a second sub-roller 422, the first sub-roller 421 and the second sub-roller 422 are arranged in the second direction, and the positioning device 430 can be located in the gap between the first sub-roller 421 and the second sub-roller 422 in the second direction.

[0037] The fork disclosed in the embodiments of the present application avoids the positioning device 430 from protruding too high on the side where the first roller 420 is located and interfering with the goods by providing the base 100 with a first avoiding hole 101, so that at least part of the positioning device 430 protrudes into the side of the base 100 away from the first roller 420 through the first avoiding hole 101. By arranging the outermost two first rollers 420 in the plurality of first rollers 420 to each include a first sub-roller 421 and a second sub-roller 422, the positioning device 430 is located in the gap between the first sub-roller 421 and the second sub-roller 422 in the second direction, so that the overall structure of the fork is more compact.

[0038] Since the fork needs to adapt to different types of goods, and the widths of different types of goods may differ, to adapt to the widths of different types of goods, optionally, the first telescopic fork 200 and the second telescopic fork 300 can be movably arranged in the second direction on the base 100, and the fork can further include a second driving mechanism, which can be arranged on the base 100 and connected with the first telescopic fork 200 and the second telescopic fork 300, and can be used to drive the first telescopic fork 200 and the second telescopic fork 300 to move closer to or away from each other in the second direction.

[0039] The fork disclosed in the embodiments of the present application adjusts the widths of the first telescopic fork 200 and the second telescopic fork 300 in the second direction by arranging the first telescopic fork 200 and the second telescopic fork 300 to be movable in the second direction, so that the second driving mechanism can drive the first telescopic fork 200 and the second telescopic fork 300 to move closer to or away from each other in the second direction, thereby adapting to the widths of different types of goods.

[0040] In order to optimize the structure of the fork, optionally, the fork can further comprise a guide rail assembly 600, the guide rail assembly 600 can comprise a guide rail 610, a sliding block 620 and a connecting piece 630, the guide rail 610 can be arranged on the base 100 and can extend along the second direction, and the first telescopic fork 200 and the second telescopic fork 300 can be correspondingly provided with the sliding block 620 and the connecting piece 630. The sliding block 620 can be arranged on the guide rail 610, and the sliding block 620 can be connected with the corresponding first telescopic fork 200 or second telescopic fork 300 through the connecting piece 630.

[0041] The fork disclosed in the embodiment of the present application is provided with the guide rail 610, the sliding block 620 and the connecting piece 630, so that the first telescopic fork 200 and the second telescopic fork 300 are correspondingly provided with the sliding block 620 and the connecting piece 630, thereby the sliding block 620 is arranged on the guide rail 610, and the sliding block 620 is connected with the corresponding first telescopic fork 200 or second telescopic fork 300 through the connecting piece 630, so that the movement of the first telescopic fork 200 and the second telescopic fork 300 is more stable when they move towards or away from each other along the second direction under the sliding cooperation of the sliding block 620 and the guide rail 610. Moreover, in the same guide rail assembly 600, the two sliding blocks 620 corresponding to the first telescopic fork 200 and the second telescopic fork 300 share the same guide rail 610, thereby the number of guide rails 610 can be reduced.

[0042] In order to make the structure of the fork more compact, optionally, the guide rail 610 can be opposite to the area between the adjacent two first rollers 420, the sliding block 620 can be located between the adjacent two first rollers 420 and below the upper surface of the first roller 420, thereby the space between the adjacent two first rollers 420 can be fully utilized, and the compactness of the structure of the fork is facilitated. The sliding block 620 is below the upper surface of the first roller 420, thereby the sliding block 620 can avoid interfering with the goods located on the first roller 420 during the transmission.

[0043] In order to reduce the space occupation of the second driving mechanism on the side of the base 100 where the first roller 420 is arranged, optionally, the base 100 can be provided with a second avoiding hole 102, the second avoiding hole 102 can be a strip-shaped hole extending along the second direction, the second driving mechanism can comprise a driving body 510 and an adapter 520, the driving body 510 can be arranged on the side of the base 100 away from the first roller 420, one end of the adapter 520 can be connected with the driving body 510, and the other end of the adapter 520 can pass through the second avoiding hole 102 and be connected with the sliding block 620.

[0044] The fork disclosed by the embodiment of the application is provided with a second avoiding hole 102 on the base 100, so that the driving body 510 can be arranged on the side of the base 100 away from the first roller 420, one end of the adapter 520 is connected with the driving body 510, and the other end of the adapter 520 can pass through the second avoiding hole 102 and be connected with the sliding block 620, so that the connection between the driving body 510 and the sliding block 620 is realized, and then the driving body 510 can drive the sliding block 620 to move along the guide rail 610 through the adapter 520, so that the sliding block 620 drives the first telescopic fork 200 and the second telescopic fork 300 to approach or move away from each other through the connecting piece 630. Since the driving body 510 is arranged on the side of the base 100 away from the first roller 420, the space occupied by the second driving mechanism on the side of the base 100 provided with the first roller 420 can be reduced, and then more first rollers 420 can be arranged.

[0045] Specifically, the driving body 510 can include two driving motors, and the two driving motors can be connected with the corresponding sliding blocks 620 through the adapters 520 respectively.

[0046] In another embodiment, the driving body 510 can include a second driving piece 511, a lead screw 512, a lead screw nut 513 and a bearing seat 514. The lead screw 512 can be arranged to extend in a second direction. The second driving piece 511 is connected with the lead screw 512, and the second driving piece 511 can drive the lead screw 512 to rotate around the center line of the lead screw 512. Both ends of the lead screw 512 can be installed on the base 100 through the bearing seat 514. The lead screw 512 can have a first threaded segment 512a and a second threaded segment 512b with opposite screw rotation directions. The lead screw nut 513 can be arranged on the first threaded segment 512a and the second threaded segment 512b. The lead screw nut 513 located on the first threaded segment 512a can be connected with the sliding block 620 corresponding to the first telescopic fork 200 through the adapter 520, and the lead screw nut 513 located on the second threaded segment 512b can be connected with the sliding block 620 corresponding to the second telescopic fork 300 through the adapter 520.

[0047] The fork disclosed by the embodiment of the present application sets the driving body 510 as a structure comprising a second driving member 511, a lead screw 512, a lead screw nut 513 and a bearing seat 514, so that the lead screw 512 has a first threaded section 512a and a second threaded section 512b with opposite screw thread directions, and the lead screw nuts 513 are arranged on the first threaded section 512a and the second threaded section 512b, so that the lead screw nut 513 located on the first threaded section 512a is connected with the slider 620 corresponding to the first telescopic fork 200 through the adapter 520, and the lead screw nut 513 located on the second threaded section 512b is connected with the slider 620 corresponding to the second telescopic fork 300 through the adapter 520, so that the first telescopic fork 200 and the second telescopic fork 300 can be driven to move synchronously by rotating the lead screw 512 with one second driving member 511, thereby facilitating the stability of the fork as a whole when the first telescopic fork 200 and the second telescopic fork 300 move.

[0048] Further, the guide rail assembly 600 can be multiple, and the multiple guide rail assemblies 600 can be distributed along the second direction at intervals, and the second driving mechanism can be one, and the second driving mechanism can cooperate with one of the multiple guide rail assemblies 600.

[0049] The fork disclosed by the embodiment of the present application sets multiple guide rail assemblies 600, so that the first telescopic fork 200 and the second telescopic fork 300 can move under the guidance of the multiple guide rails 610 and the sliders 620 when moving closer to or away from each other, thereby making the first telescopic fork 200 and the second telescopic fork 300 move more stably when moving closer to or away from each other. Moreover, the second driving mechanism is one, and the second driving mechanism cooperates with one of the multiple guide rail assemblies 600, thereby avoiding too many second driving mechanisms.

[0050] In order to make the conveying of the goods on the multiple first rollers 420 more stable, optionally, the fork can further comprise a guide piece 800, and the two sides of the first roller 420 in the second direction can be provided with the guide piece 800, the guide piece 800 can be arranged on the connecting piece 630, and the guide piece 800 can extend along the first direction.

[0051] The fork disclosed by the embodiment of the present application sets the guide piece 800 on the two sides of the first roller 420 in the second direction, so that the goods can be conveyed stably on the first roller 420 along the first direction under the guidance of the guide piece 800 when the goods are conveyed on the multiple first rollers 420.

[0052] In order to facilitate the next use of the forks, the width of the first telescopic fork 200 and the second telescopic fork 300 in the second direction needs to be restored after the fork operation is completed. In order to restore the width of the first telescopic fork 200 and the second telescopic fork 300 in the second direction after the fork operation is completed, optionally, the fork can further include a reset detection assembly 900, which can be used to detect whether the first telescopic fork 200 and the second telescopic fork 300 are restored to the preset position in the second direction after the fork operation is completed.

[0053] The fork disclosed in the embodiments of the present application is provided with a reset detection assembly 900, so that the second driving mechanism can drive the first telescopic fork 200 and the second telescopic fork 300 to move closer to or away from each other in the second direction after the fork operation is completed, and the second driving mechanism can stop driving when the reset detection assembly 900 detects that the first telescopic fork 200 and the second telescopic fork 300 are restored to the preset position in the second direction, thereby realizing the restoration of the width of the first telescopic fork 200 and the second telescopic fork 300 in the second direction.

[0054] Specifically, the reset detection assembly 900 can include a reset plate 910 and a reset photoelectric sensor 920, and the first telescopic fork 200 and the second telescopic fork 300 can be provided with the reset plate 910 connected thereto, so that the reset plate 910 moves with the first telescopic fork 200 and the second telescopic fork 300, and the reset photoelectric sensor 920 can be fixedly arranged on the base 100, and the first telescopic fork 200 and the second telescopic fork 300 correspondingly at the preset position are provided with the reset photoelectric sensor 920. During the movement of the reset plate 910 with the first telescopic fork 200 and the second telescopic fork 300, if the reset photoelectric sensor 920 is triggered when it is blocked by the reset plate 910, it indicates that the first telescopic fork 200 and the second telescopic fork 300 have moved to the preset position, and at this time the second driving mechanism can notify the first telescopic fork 200 and the second telescopic fork 300 to move in the second direction.

[0055] Optionally, the conveying roller assembly can further include a second roller 450, and in the first direction, the outermost side of the plurality of first rollers 420 is respectively provided with the second roller 450, and the extension direction of the rotation axis of the second roller 450 can be parallel to the second direction, and the second roller 450 can be a non-powered roller.

[0056] The fork disclosed in the embodiments of the present application is provided with a non-powered roller at the outermost side of the plurality of first rollers 420, so that the plurality of first rollers 420 and the conveying platform can have a transitional part, thereby making the conveying of the goods between the plurality of first rollers 420 and the conveying platform more stable.

[0057] Optionally, the first telescopic fork 200 and the second telescopic fork 300 can each include a first plate 310, a second plate 320, a third plate 330, a telescopic fork transmission assembly 340, and a third driving mechanism 350. The second plate 320 is movably arranged on the first plate 310, and the third plate 330 is movably arranged on the second plate 320. The first plate 310, the second plate 320, and the third plate 330 are connected through the telescopic fork transmission assembly 340. The third driving mechanism 350 can be arranged on the first plate 310 and connected with the second plate 320. The third driving mechanism 350 can drive the second plate 320 to move relative to the first plate 310 in the first direction. When the second plate 320 moves relative to the first plate 310, the third plate 330 can move relative to the second plate 320 under the driving action of the telescopic fork transmission assembly 340, so as to realize the telescopic movement of the first plate 310, the second plate 320, and the third plate 330.

[0058] When the fork includes the second driving mechanism, the second driving mechanism can be connected with the first plate 310. The second driving mechanism drives the first telescopic fork 200 and the second telescopic fork 300 to move close to or away from each other through the first plate 310. The two ends of the third plate 330 in the first direction can each be provided with a yoke 360. When the goods are placed from the fork to the shelf or placed from the shelf to the fork, the yoke 360 on the side facing the shelf can be in an open state (in a state of avoiding the transmission of goods), and the yoke 360 on the side away from the shelf can be in a blocking state to avoid the goods from falling off the plurality of first rollers 420. Similarly, when the goods are transported from the fork to the conveying platform or transported from the conveying platform to the fork, the yoke 360 on the side facing the conveying platform can be in an open state (in a state of avoiding the transmission of goods), and the yoke 360 on the side away from the conveying platform can be in a blocking state to avoid the goods from falling off the plurality of first rollers 420.

[0059] The application also discloses a carrying robot, which includes a robot chassis 710, a lifting module 720, and the fork disclosed in the above embodiments. The lifting module 720 can be arranged on the robot chassis 710. The base 100 can be connected with the lifting module 720. The lifting module 720 can drive the fork to move up and down along a third direction through the base 100. The third direction is perpendicular to the second direction, and the third direction is perpendicular to the first direction.

[0060] The carrying robot disclosed in the embodiments of the present application is provided with the above-mentioned fork, so that when the goods are transferred from the fork to the conveying platform or from the conveying platform to the fork, the first driving mechanism can be used to drive the plurality of first rollers 420 to rotate, so that the plurality of first rollers 420 move together with the conveying platform, and the goods are transferred from the plurality of first rollers 420 to the conveying platform or from the conveying platform to the plurality of first rollers 420, thereby eliminating the need for transfer through the mechanical hand or the extension and retraction of the first telescopic fork 200 and the second telescopic fork 300, and the transfer efficiency when the goods are transferred from the fork to the conveying platform or from the conveying platform to the fork can be improved.

[0061] It should be noted that the carrying robot can carry the fork to a position that is docked with the conveying platform to achieve the transfer of the goods from the plurality of first rollers 420 to the conveying platform or from the conveying platform to the plurality of first rollers 420, and the carrying robot can carry the fork to a position corresponding to the goods shelf to achieve the placement of the goods from the fork to the goods shelf or the placement of the goods from the goods shelf to the fork.

[0062] The first telescopic fork 200 and the second telescopic fork 300 can be bidirectional telescopic forks, and in the case that the carrying robot is located between the goods shelf and the conveying platform, the carrying robot can perform the corresponding transfer without turning around, thereby further improving the efficiency of the carrying robot in transferring the goods.

[0063] In the above embodiments, the differences between the various embodiments are mainly described, and the different optimization features between the various embodiments can be combined to form a more optimal embodiment as long as they are not contradictory. In view of the brevity of the writing, further description is omitted here.

[0064] The embodiments of the present application are described above in combination with the drawings, but the present application is not limited to the above-mentioned specific embodiments, and the above-mentioned specific embodiments are only illustrative and not restrictive. Those skilled in the art can make many forms under the inspiration of the present application without departing from the scope of the present application and the protection scope of the claims, and all of them belong to the protection scope of the present application.

Claims

1. A fork comprising: The application relates to a conveying device, which comprises a base (100), a first telescopic fork (200), a second telescopic fork (300) and a conveying roller assembly, wherein: the conveying roller assembly comprises a first driving mechanism and a plurality of first rollers (420), the plurality of first rollers (420) are sequentially and spacedly arranged in a first direction on the base (100), the extension direction of the rotation axis of the first rollers (420) is a second direction, the second direction is perpendicular to the first direction, the first driving mechanism is connected with the plurality of first rollers (420) and is used for driving the plurality of first rollers (420) to rotate. The first telescopic fork (200) and the second telescopic fork (300) are arranged on the base (100) and are respectively located on the two sides of the first rollers (420) in the second direction, and the telescopic direction of the first telescopic fork (200) and the second telescopic fork (300) is parallel to the first direction.

2. A fork as claimed in claim 1, characterized in that The first driving mechanism comprises a first driving member and a transmission assembly, the first driving member is arranged on the base (100), the first driving member is connected with one of the first rollers (420) in the plurality of first rollers (420), and the other first rollers (420) are connected with the first roller (420) connected with the first driving member through the transmission assembly.

3. The fork according to claim 1, wherein, The conveying roller assembly further comprises a positioning device (430) and a detection device (440), two outermost first rollers (420) in the plurality of first rollers (420) are respectively provided with the positioning device (430) and the detection device (440), the detection device (440) is used for detecting the position of goods on the plurality of first rollers (420), and the positioning device (430) positions the goods when the detection device (440) detects that the goods are conveyed to a preset position.

4. A fork as claimed in claim 3, characterised in that, The base (100) is provided with a first avoiding hole (101) at the position corresponding to the positioning device (430), and at least part of the positioning device (430) extends into the side of the base (100) away from the first rollers (420) through the first avoiding hole (101); The two outermost first rollers (420) in the plurality of first rollers (420) each comprise a first sub-roller (421) and a second sub-roller (422), the first sub-roller (421) and the second sub-roller (422) are arranged in a gap in the second direction, and the positioning device (430) is located in the gap of the first sub-roller (421) and the second sub-roller (422) in the second direction.

5. The fork of claim 1, wherein, The first telescopic fork (200) and the second telescopic fork (300) are movably arranged on the base (100) along the second direction, and the fork further comprises a second driving mechanism arranged on the base (100) and connected with the first telescopic fork (200) and the second telescopic fork (300) for driving the first telescopic fork (200) and the second telescopic fork (300) to move towards or away from each other along the second direction.

6. A fork as claimed in claim 5, characterised in that, The fork further comprises a guide rail assembly (600) comprising a guide rail (610), a sliding block (620) and a connecting piece (630), the guide rail (610) is arranged on the base (100) and extends along the second direction, the first telescopic fork (200) and the second telescopic fork (300) are correspondingly provided with the sliding block (620) and the connecting piece (630), the sliding block (620) is arranged on the guide rail (610), and the sliding block (620) is connected with the corresponding first telescopic fork (200) or the second telescopic fork (300) through the connecting piece (630).

7. A fork as claimed in claim 6, characterised in that The guide rail (610) is opposite to the area between the two adjacent first rollers (420), the sliding block (620) is located between the two adjacent first rollers (420) and is lower than the upper surface of the first roller (420).

8. The fork according to claim 6, wherein, The base (100) is provided with a second avoiding hole (102), the second avoiding hole (102) is a strip-shaped hole extending along the second direction, the second driving mechanism comprises a driving body (510) and an adapter (520), the driving body (510) is arranged on the side of the base (100) away from the first roller (420), one end of the adapter (520) is connected with the driving body (510), and the other end of the adapter (520) is connected with the sliding block (620) through the second avoiding hole (102).

9. A fork as claimed in claim 8, characterised in that, The driving body (510) comprises a second driving piece (511), a lead screw (512), a lead screw nut (513) and a bearing seat (514), the lead screw (512) extends along the second direction, the second driving piece (511) is connected with the lead screw (512), both ends of the lead screw (512) are installed on the base (100) through the bearing seat (514), the lead screw (512) has a first threaded section (512a) and a second threaded section (512b) with opposite screw threads, the lead screw nut (513) is arranged on the first threaded section (512a) and the second threaded section (512b), the lead screw nut (513) located on the first threaded section (512a) is connected with the sliding block (620) corresponding to the first telescopic fork (200) through the adapter (520), and the lead screw nut (513) located on the second threaded section (512b) is connected with the sliding block (620) corresponding to the second telescopic fork (300) through the adapter (520).

10. A fork as claimed in claim 9, characterised in that, The guide rail assemblies (600) are multiple, multiple guide rail assemblies (600) are spaced along the second direction, the second drive mechanism is one, and the second drive mechanism cooperates with one of the guide rail assemblies (600) in multiple guide rail assemblies (600).

11. The fork according to claim 6, wherein, The fork further comprises a guide (800), both sides of the first roller (420) in the second direction are provided with the guide (800), the guide (800) is arranged on the connecting piece (630), and the guide (800) extends along the first direction.

12. The fork according to claim 5, wherein, The fork further comprises a reset detection assembly (900), which is used to detect whether the first telescopic fork (200) and the second telescopic fork (300) return to the preset position in the second direction after the fork operation is completed.

13. The fork of claim 1, wherein, The conveying roller assembly further comprises a second roller (450), in the first direction, multiple first rollers (420) are respectively provided with the second roller (450) on the outermost side of the whole, the extension direction of the rotation axis of the second roller (450) is parallel to the second direction, and the second roller (450) is a non-powered roller.

14. A transport robot characterized by The fork comprises a robot chassis (710), a lifting module (720) and the fork of any one of claims 1 to 13, the lifting module (720) is arranged on the robot chassis (710), the base (100) is connected with the lifting module (720), and the lifting module (720) can drive the fork to ascend and descend along a third direction through the base (100), wherein the third direction is perpendicular to the second direction, and the third direction is perpendicular to the first direction.

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