Pallet fork structure and robot

Abstract

The utility model provides a pallet fork structure and a robot, and belongs to the technical field of warehouse logistics. The pallet fork structure comprises a base; the first swing arm assembly moves in the first direction and rotates in the second direction at the same time; the second swing arm assembly moves along with the first swing arm assembly and rotates relative to the first swing arm assembly in the second direction; a connecting piece is arranged at the free end of the second swing arm assembly and used for being in butt joint with a material box. The pallet fork structure can be in butt joint with the material box in the two opposite directions with a large stroke, so that when the pallet fork structure takes and places the material box, the direction does not need to be turned frequently, and the pallet fork structure can take and place the material box more continuously, smoothly, conveniently and quickly.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of warehouse logistics, and particularly relates to a fork structure and a robot. BACKGROUND

[0002] The logistics robot can take and place the material box through the fork structure.

[0003] The fork structure of the logistics robot comprises a base, a driving assembly and a telescopic arm, the driving assembly is arranged on the base, and the telescopic arm is connected with the driving assembly. The driving assembly can drive the telescopic arm to extend or retract from one side of the base, so as to realize the taking and placing operation of the material box.

[0004] However, the existing fork structure can only take and place the material box from one side of the base, which leads to inconvenient operation when taking and placing multiple material boxes. CONTENT OF THE UTILITY MODEL

[0005] The present application provides a fork structure and a robot to solve the problem that the existing fork structure can only take and place the material box from one side of the base, and the operation is inconvenient when taking and placing multiple material boxes.

[0006] In a first aspect, the present application provides a fork structure, comprising:

[0007] a base, a first driving assembly and a linkage being arranged on the base;

[0008] a first swing arm assembly, the first swing arm assembly being arranged on the base and connected with the first driving assembly and the linkage, the first swing arm assembly being driven by the first driving assembly to move relative to the base along a first direction, and the first swing arm assembly being cooperated with the linkage to rotate around a second direction;

[0009] a second swing arm assembly, the second swing arm assembly being arranged on the first swing arm assembly to move with the first swing arm assembly, a transmission assembly being arranged between the first swing arm assembly and the second swing arm assembly, the first swing arm assembly driving the second swing arm assembly to rotate relative to the first swing arm assembly around the second direction through the transmission assembly;

[0010] a connecting piece being arranged at a free end of the second swing arm assembly, the connecting piece being configured to protrude from the base towards the moving direction of the first swing arm assembly respectively when the first swing arm assembly moves to the end of the base, so as to be connected with the material box.

[0011] In some possible implementation manners, the fork structure provided by the present application, the first driving assembly is arranged on the base, the first driving assembly comprises a first driving motor, a transmission piece and at least two rotating wheels, the at least two rotating wheels are rotationally arranged on the base, the first driving motor is connected with the rotating wheels, and the transmission piece is arranged around the at least two rotating wheels, and the transmission piece is connected with the first swing arm assembly;

[0012] The first driving motor is configured to drive the rotating wheel to rotate, so that the rotating wheel drives the first swing arm assembly to move through the transmission member.

[0013] In some possible implementation manners, the fork structure provided in the application is characterized in that the linkage member is fixedly arranged on the base, and the first swing arm assembly is arranged in engagement with the linkage member.

[0014] When the first swing arm assembly moves relative to the base, the linkage member cooperates with the first swing arm assembly to enable the first swing arm assembly to rotate relative to the base.

[0015] In some possible implementation manners, the fork structure provided in the application is characterized in that the first swing arm assembly comprises:

[0016] The rotating arm member is arranged in rotation on the first driving assembly, and the rotating arm member is connected with the second swing arm assembly.

[0017] The rotating arm member is arranged in engagement with the linkage member.

[0018] In some possible implementation manners, the fork structure provided in the application is characterized in that the linkage member is a rack arranged in the first direction, a plurality of engagement teeth are arranged in sequence and at intervals along an arc on the rotating arm member, and the engagement teeth and the rack are in engagement.

[0019] In some possible implementation manners, the fork structure provided in the application is characterized in that the transmission assembly is a planetary gear set.

[0020] In some possible implementation manners, the fork structure provided in the application is characterized in that the planetary gear set comprises:

[0021] The sun gear is fixedly arranged on the first driving assembly, the first swing arm assembly is connected with the sun gear and rotates relative to the sun gear;

[0022] The first planetary gear is arranged in rotation on the first swing arm assembly and in engagement with the sun gear;

[0023] The second planetary gear is arranged in rotation on the first swing arm assembly and in engagement with the first planetary gear, and the second planetary gear is connected with the second swing arm assembly.

[0024] The sun gear is configured to, when the first swing arm assembly moves and rotates, drive the second planetary gear to rotate through the first planetary gear, so that the second planetary gear drives the second swing arm assembly to rotate.

[0025] In some possible implementation manners, the fork structure provided in the application is characterized in that the radius of the sun gear is greater than the radius of the first planetary gear and the second planetary gear.

[0026] In some possible implementation manners, the fork structure provided in the application is characterized in that the second swing arm assembly comprises:

[0027] The rotating member is connected with the second planetary gear and rotates synchronously with the second planetary gear in the second direction;

[0028] The swing rod is arranged on the rotating member, and the connecting member is arranged on the swing rod;

[0029] The rotating member is configured to rotate relative to the first swing arm assembly under the driving of the transmission assembly to drive the swing rod to rotate and make the swing rod take and place the container through the connecting member.

[0030] In some possible implementation manners, the container fork structure provided in the present application has the distance from the rotation center of the swing rod to the center of the connecting member equal to the distance from the rotation center of the first swing arm assembly to the rotation center of the swing rod.

[0031] In some possible implementation manners, the container fork structure provided in the present application has the swing rod and the rotating member connected in the third direction to make the swing rod drive the connecting member to move in the second direction.

[0032] In some possible implementation manners, the container fork structure provided in the present application further includes:

[0033] The second driving assembly is connected with the swing rod, and the second driving assembly drives the swing rod to rotate relative to the rotating member in the third direction.

[0034] In some possible implementation manners, the container fork structure provided in the present application further includes a guide assembly, and the guide assembly is arranged on the base and is in sliding connection with the first swing arm assembly.

[0035] In some possible implementation manners, the container fork structure provided in the present application has the guide assembly including:

[0036] The slide rail is arranged along the moving direction of the first swing arm assembly;

[0037] The slide block is in sliding connection with the slide rail, the first swing arm assembly is arranged on the slide block, and the slide block is connected with the first driving assembly.

[0038] In another aspect, the present application also provides a robot including a robot body and any of the container fork structures described above, and the container fork structure is connected with the robot body.

[0039] The fork structure and the robot are provided, the base of the fork structure is provided with a first driving assembly and a linkage, and the base is provided with a first swing arm assembly connected with the first driving assembly and the linkage, the first swing arm assembly is provided with a second swing arm assembly, and the first swing arm assembly and the second swing arm assembly are drivingly connected through a transmission assembly, and the second swing arm assembly is further provided with a connecting piece to be butted against a material box through the connecting piece. In this way, the first swing arm assembly can be moved along the first direction relative to the base under the driving of the first driving assembly, and the first swing arm assembly can be rotated relative to the base around the second direction under the cooperation of the first swing arm assembly and the linkage, so that the synchronous movement and rotation of the first swing arm assembly relative to the base are realized. The second swing arm assembly is arranged on the first swing arm assembly, so that the position of the second swing arm assembly relative to the base can be changed synchronously with the movement of the first swing arm assembly, and the second swing arm assembly can be further rotated relative to the first swing arm assembly around the second direction under the driving of the transmission assembly, so that the connecting piece on the second swing arm assembly moves along with the second swing arm assembly and protrudes from the base along the moving direction, so as to butt against the material box, thereby taking and placing the material box. Since the first swing arm assembly can move forward or reversely along the first direction and rotate forward or reversely around the second direction, the first swing arm assembly can drive the connecting piece to move forward and reversely through the second swing arm assembly, so that the connecting piece can butt against the material box in two opposite directions with a larger stroke, thereby avoiding frequent turning of the orientation when the fork structure takes and places the material box, and making the fork structure take and place the material box more continuously and smoothly. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0041] Figure 1 The structural schematic diagram of the fork structure provided in the embodiments of the present application is shown in the figure.

[0042] Figure 2 The structural schematic diagram of the fork structure provided in the embodiments of the present application is shown in the figure. Figure 1 The structural schematic diagram of the fork structure provided in the embodiments of the present application is shown in the figure.

[0043] Figure 3 The structural schematic diagram of the fork structure provided in the embodiments of the present application is shown in the figure. Figure 1 The structural schematic diagram of the fork structure provided in the embodiments of the present application is shown in the figure.

[0044] Figure 4 The structural schematic diagram of the fork structure provided in the embodiments of the present application is shown in the figure. Figure 1 The structural schematic diagram of the fork structure provided in the embodiments of the present application is shown in the figure.

[0045] Figure 5 Fig. 1 is a structural schematic diagram of a first swing arm assembly and a second swing arm assembly in a first embodiment of the present application; Figure 1 Fig. 2 is a structural schematic diagram of the first swing arm assembly, the second swing arm assembly and a linkage in the first embodiment of the present application;

[0046] Figure 6 Fig. 3 is a structural schematic diagram of the first swing arm assembly and the second swing arm assembly in a second embodiment of the present application; Figure 5 Fig. 4 is a structural schematic diagram of the first swing arm assembly and the second swing arm assembly in a partially unfolded state in the second embodiment of the present application;

[0047] Figure 7 Fig. 5 is a structural schematic diagram of the first swing arm assembly and the second swing arm assembly in a fully unfolded state in the second embodiment of the present application; Figure 1 Fig. 6 is a structural schematic diagram of the first swing arm assembly and the second swing arm assembly in a fully unfolded state in the second embodiment of the present application;

[0048] Figure 8 Fig. 7 is a sectional view along A-A in the second embodiment of the present application; Figure 5

[0049] Figure 9 Fig. 8 is a structural schematic diagram of the first swing arm assembly and the second swing arm assembly in a fully unfolded state in the second embodiment of the present application; Figure 8

[0050] Figure 10 Fig. 9 is a structural schematic diagram of the first swing arm assembly and the second swing arm assembly in an unfolding process in the second embodiment of the present application; Figure 5

[0051] Figure 11 Fig. 10 is a use state diagram of a shelf structure provided by an embodiment of the present application;

[0052] Figure 12 Fig. 11 is a structural schematic diagram of the shelf structure provided by the embodiment of the present application in another view; Figure 11 Fig. 12 is a structural schematic diagram of a bin in another view in the second embodiment of the present application.

[0053] Explanation of reference signs:

[0054] 100 - base;

[0055] 200 - first swing arm assembly; 210 - rotating arm; 211 - engaging tooth;

[0056] 300 - second swing arm assembly; 310 - rotating member; 320 - swing rod; 330 - connecting member;

[0057] 400 - first driving assembly; 410 - first driving motor; 420 - rotating wheel; 430 - transmission member;

[0058] 500 - linkage;

[0059] 600 - transmission assembly; 610 - sun gear; 620 - first planetary gear; 630 - second planetary gear;

[0060] 700 - second driving assembly; 710 - second driving motor; 720 - eccentric shaft; 730 - connecting rod;

[0061] ​​​800 - guide assembly; 810 - slide rail; 820 - slide block;

[0062] 900 - material box; 910 - connecting groove. DETAILED DESCRIPTION

[0063] For the purpose of making the purpose, technical scheme and advantages of the present application more clear, the technical scheme in the embodiments of the present application will be described in more detail below in combination with the drawings in the preferred embodiments of the present application. In the drawings, the same or similar notations represent the same or similar parts or parts having the same or similar functions throughout. The described embodiments are part of the embodiments of the present application, not all the embodiments. The embodiments described below by referring to the drawings are exemplary, and are intended to explain the present application, and cannot be understood as a limitation of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative efforts fall within the scope of protection of the present application. The embodiments of the present application will be described in detail below in combination with the drawings.

[0064] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood in a broad sense, and can be used interchangeably. For example, "connection" can be direct connection or indirect connection through intermediate medium; can be fixed connection or sliding connection. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0065] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship described based on the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0066] The terms "first", "second", "third" in the specification and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily describe a particular order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0067] Furthermore, the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion, such as a process, method, system, product, or display that includes a series of steps or modules, not necessarily limited to those steps or modules that are explicitly listed, but may include other steps or modules that are not explicitly listed or that are inherent to such processes, methods, products, or displays.

[0068] The fork structure of the logistics robot includes a base, a drive assembly, and a telescopic arm. The drive assembly is mounted on the base, and the telescopic arm is connected to the drive assembly. The drive assembly can drive the telescopic arm to extend or retract from one side of the base, realizing the picking and placing of the hopper.

[0069] However, the existing fork structure can only pick up and put down the bins from one side of the base, which makes it inconvenient to pick up and put down multiple bins.

[0070] To overcome the deficiencies in the prior art, the fork structure and robot provided in this application include a first drive assembly and a linkage on the base of the fork structure, and a first swing arm assembly connected to the first drive assembly and the linkage on the base. A second swing arm assembly is mounted on the first swing arm assembly, and the first and second swing arm assemblies are connected by a transmission assembly. A connecting member is also provided on the second swing arm assembly for docking with a material box. This configuration allows the first swing arm assembly to move relative to the base in a first direction under the drive of the first drive assembly, and simultaneously rotates relative to the base in a second direction with the cooperation of the first swing arm assembly and the linkage, achieving synchronous movement and rotation of the first swing arm assembly relative to the base. The second swing arm assembly is mounted on the first swing arm assembly. Therefore, the position of the second swing arm assembly relative to the base can change synchronously with the movement of the first swing arm assembly. Furthermore, the second swing arm assembly can rotate further around a second direction relative to the first swing arm assembly under the drive of the transmission assembly. This allows the connecting piece on the second swing arm assembly to move with the second swing arm assembly and protrude from the base along the direction of movement, facilitating docking between the connecting piece and the hopper for loading and unloading. Since the first swing arm assembly can move forward or backward along a first direction and rotate forward or backward around a second direction, it can drive the connecting piece to move forward and backward via the second swing arm assembly. This allows the connecting piece to dock with the hopper in two opposite directions with a larger stroke. Consequently, when the forklift structure loads and unloads the hopper, frequent reversals are unnecessary, resulting in a smoother, more convenient, and faster loading and unloading process.

[0071] The present invention will now be described in detail with reference to the accompanying drawings, so that those skilled in the art can have a clearer and more detailed understanding of the present invention.

[0072] In some embodiments, refer to Figures 1 to 3 ,and Figure 7As shown, the embodiment of the present application provides a fork structure, comprising:

[0073] a base 100, the base 100 is provided with a first driving assembly 400 and a linkage 500;

[0074] a first swing arm assembly 200, the first swing arm assembly 200 is arranged on the base 100 and connected with the first driving assembly 400 and the linkage 500, the first swing arm assembly 200 is driven by the first driving assembly 400 to move along a first direction relative to the base 100, at the same time, the first swing arm assembly 200 cooperates with the linkage 500 to rotate around a second direction;

[0075] a second swing arm assembly 300, the second swing arm assembly 300 is arranged on the first swing arm assembly 200 to move with the first swing arm assembly 200, a transmission assembly 600 is arranged between the first swing arm assembly 200 and the second swing arm assembly 300, the first swing arm assembly 200 drives the second swing arm assembly 300 to rotate around the second direction relative to the first swing arm assembly 200 through the transmission assembly 600;

[0076] a connecting piece 330 is arranged at the free end of the second swing arm assembly 300, the connecting piece 330 is configured to protrude from the base 100 towards the moving direction of the first swing arm assembly 200 respectively when the first swing arm assembly 200 moves to the end of the base 100, so as to be connected with the material box 900.

[0077] wherein, the first direction and the second direction have an angle, preferably, the first direction and the second direction are perpendicular to each other.

[0078] It should be noted that, Figures 1 to 12 the X, Y, Z directions shown in the figure are perpendicular to each other in three-dimensional space, the X direction shows the first direction, and the Z direction shows the second direction.

[0079] It can be understood that the base 100 is used to be arranged on a robot or other handling equipment, the base 100 is provided with the first swing arm assembly 200, the first driving assembly 400 and the linkage 500, and the first swing arm assembly 200 is connected with the first driving assembly 400 and the linkage 500 respectively, the first driving assembly 400 can drive the first swing arm assembly 200 to move along the first direction (X direction), the linkage 500 cooperates with the first swing arm assembly 200, so that the first swing arm assembly 200 rotates around the second direction (Z direction) under the cooperation of the linkage 500 when the first swing arm assembly 200 moves with the first driving assembly 400, and the movement and rotation of the first swing arm assembly 200 are synchronous. Figure 1 Figure 1

[0080] ​​Specifically, in order to ensure that the first swing arm assembly 200 can move and rotate smoothly in sync, the rotation center position of the first swing arm assembly 200 can be set to be rotatably connected to the first drive assembly 400.

[0081] The second swing arm assembly 300 is rotatably mounted on the first swing arm assembly 200. Specifically, the connecting end of the second swing arm assembly 300 is connected to the side of the first swing arm assembly 200 that is relatively far away from the linkage 500 from the rotation center. A transmission assembly 600 is also provided between the first swing arm assembly 200 and the second swing arm assembly 300. Thus, when the first swing arm assembly 200 moves, the second swing arm assembly 300 mounted on the first swing arm assembly 200 will also move accordingly. When the first swing arm assembly 200 rotates, the first swing arm assembly 200 can also drive the second swing arm assembly 300 to rotate through the transmission assembly 600.

[0082] For example, the first swing arm assembly 200 and the second swing arm assembly 300 rotate in opposite directions, such as... Figure 1 , Figure 2 As shown, when the first swing arm assembly 200 rotates around the second direction (Z direction), the side of the first swing arm assembly 200 away from the linkage 500 can swing in the positive X direction. The second swing arm assembly 300, located on this side, will also move synchronously. Under the action of the transmission assembly 600, the second swing arm assembly 300 rotates counterclockwise relative to the first swing arm assembly 200 around the second direction, so that the free end of the second swing arm assembly 300 not connected to the first swing arm assembly 200 also swings in the positive X direction, thereby amplifying the displacement of the free end of the second swing arm assembly 300. The displacement of the free end of the second swing arm assembly 300 is equal to the resultant displacement of the first and second swing arm assemblies 200 together in the positive X direction. Similarly, when the first swing arm assembly 200 moves in the opposite direction of the X direction, the rotation directions of the first swing arm assembly 200 and the second swing arm assembly 300 are also opposite, so that the free end of the second swing arm assembly 300 can move in both the positive and negative X directions.

[0083] Furthermore, a connector 330 is provided on the free end of the second swing arm assembly 300. The connector 330 is used to dock with the material box 900. Thus, when the connector 330 and the material box 900 are connected to each other, the bidirectional movement of the connector 330 enables the fork structure to pick up and put down the material box 900 in both the forward and reverse directions in the X direction.

[0084] Therefore, the base 100 of the fork structure provided in this application is provided with a first drive assembly 400 and a linkage 500, and a first swing arm assembly 200 connected to the first drive assembly 400 and the linkage 500 is provided on the base 100. A second swing arm assembly 300 is provided on the first swing arm assembly 200, and the first swing arm assembly 200 and the second swing arm assembly 300 are connected by a transmission assembly 600. A connector 330 is also provided on the second swing arm assembly 300 to dock with the material box 900 through the connector 330.

[0085] This configuration allows the first swing arm assembly 200 to move relative to the base 100 along a first direction under the drive of the first drive assembly 400. Simultaneously, with the cooperation of the first swing arm assembly 200 and the linkage 500, the first swing arm assembly 200 can rotate relative to the base 100 around a second direction, achieving synchronous movement and rotation of the first swing arm assembly 200 relative to the base 100. The second swing arm assembly 300 is mounted on the first swing arm assembly 200. Therefore, the position of the second swing arm assembly 300 relative to the base 100 can change synchronously with the movement of the first swing arm assembly 200. Furthermore, the second swing arm assembly 300 can further rotate relative to the first swing arm assembly 200 around a second direction under the drive of the transmission assembly 600, causing the connecting member 330 on the second swing arm assembly 300 to move with the second swing arm assembly 300 and protrude from the base 100 along the direction of movement. This facilitates docking of the connecting member 330 with the material box 900, thereby allowing the material box 900 to be picked up or placed.

[0086] Since the first swing arm assembly 200 can move forward or backward along the first direction and rotate forward or backward around the second direction, the first swing arm assembly 200 can drive the connecting member 330 to move forward and backward through the second swing arm assembly 300. This allows the connecting member 330 to dock with the material box 900 in two opposite directions with a large stroke. As a result, when the fork structure picks up and puts down the material box 900, there is no need to frequently change the orientation, making the picking up and putting down of the material box 900 by the fork structure more smooth, convenient and quick.

[0087] In some embodiments, refer to Figure 1 and Figure 4 As shown, the first drive assembly 400 is disposed on the base 100. The first drive assembly 400 includes a first drive motor 410, a transmission member 430 and at least two rotating wheels 420. The at least two rotating wheels 420 are rotatably disposed on the base 100. The first drive motor 410 is connected to the rotating wheels 420. The transmission member 430 is wound around the at least two rotating wheels 420 and is connected to the first swing arm assembly 200.

[0088] The first drive motor 410 is configured to drive the rotating wheel 420 to rotate, so that the rotating wheel 420 drives the first swing arm assembly 200 to move through the transmission member 430.

[0089] It can be understood that in this way, the structure of the first driving assembly 400 is relatively simple, the transmission is stable and reliable, and by controlling the forward rotation or reverse rotation of the first driving motor 410, the first swing arm assembly 200 can be driven to move in the positive direction and the reverse direction along the X direction by the rotating wheel 420 and the transmission member 430, which is relatively simple to operate.

[0090] In specific implementation, the first driving motor 410 can be fixedly arranged on the base 100 to ensure stable output torque. The rotating wheel 420 can be arranged in two, and the two rotating wheels 420 are arranged at opposite ends of the base 100 along the X direction and are arranged to rotate relative to the base 100. One of the rotating wheels 420 is connected with the output end of the first driving motor 410. The transmission member 430 is arranged around the two rotating wheels 420, so that the rotating wheel 420 can drive the transmission member 430 to rotate when the rotating wheel 420 rotates. The first driving assembly 400 is connected with the transmission member 430, so that the rotating wheel 420 can be driven to rotate by the first driving motor 410, and the first swing arm assembly 200 can be driven to move by the rotating wheel 420 through the transmission member 430.

[0091] For example, the transmission member 430 can be a transmission belt, and the rotating wheel 420 can be a transmission wheel matched with the transmission belt. The transmission member 430 can also be a transmission chain, and the rotating wheel 420 can be a sprocket matched with the transmission chain. The present application does not limit this.

[0092] In some embodiments, referring to Figures 1 to 3 , and Figure 5 and Figure 6 , the linkage member 500 is fixedly arranged on the base 100, and the first swing arm assembly 200 is arranged in engagement with the linkage member 500.

[0093] When the first swing arm assembly 200 moves relative to the base 100, the linkage member 500 cooperates with the first swing arm assembly 200 to rotate the first swing arm assembly 200 relative to the base 100.

[0094] The linkage member 500 is fixedly arranged on the base 100 and cooperates with the first swing arm assembly 200 in engagement, which can stabilize the installation of the linkage member 500, and further stabilize the engagement transmission between the engagement member and the first swing arm assembly 200, thereby ensuring stable rotation of the first swing arm assembly 200.

[0095] Referring to Figures 1 to 3 , and Figure 5 and Figure 6 , the first swing arm assembly 200 comprises:

[0096] The rotating arm member 210 is arranged to rotate on the first driving assembly 400, and the rotating arm member 210 is connected with the second swing arm assembly 300.

[0097] The rotating arm member 210 is engaged with the linkage member 500.

[0098] The rotating arm member 210 is connected with the first driving assembly 400 and the second swing arm assembly 300 and engaged with the linkage member 500, so that the structure of the first swing arm assembly 200 is simple and compact, and the structure of the forks is simplified and the space occupied by the forks is reduced.

[0099] In specific implementation, referring to Figures 1 to 3 , and Figure 5 and Figure 6 , the linkage member 500 is a rack arranged along the first direction, and a plurality of engagement teeth 211 are arranged along an arc on the rotating arm member 210 in sequence and at intervals, and the engagement teeth 211 are engaged with the rack.

[0100] A plurality of engagement teeth 211 are arranged along an arc on the rotating arm member 210 in sequence, so that a structure similar to a sector gear is formed on the rotating arm member 210, and the linkage member 500 is a rack arranged along the X direction, so that the rack is engaged with the engagement teeth 211 on the rotating arm member 210. When the first swing arm assembly 200 moves with the first driving member, the first swing arm assembly 200 also moves relative to the connecting member 330, so that the engagement teeth 211 on the rotating arm member 210 are engaged with the engagement teeth 211 on the rack in sequence, and the rotating arm member 210 is driven to rotate relative to the base 100 through engagement and cooperation.

[0101] In some embodiments, referring to Figure 5 , Figure 6 , Figure 8 and Figure 9 , the transmission assembly 600 is a planetary gear set.

[0102] It can be understood that the transmission assembly 600 is arranged as a planetary gear set, so that the transmission efficiency of the transmission assembly 600 is high and the transmission is stable, in addition, the movement stroke of the connecting member 330 can be effectively enlarged, the occupied space of the transmission assembly 600 is small, the rotating assembly can be arranged between the first swing arm assembly 200 and the second swing arm assembly 300, and the steering control of the first swing arm assembly 200 and the second swing arm assembly 300 can be realized.

[0103] In specific implementation, referring to Figure 5 , Figure 6 , Figure 8 and Figure 9 , the planetary gear set comprises:

[0104] A sun gear 610 is fixedly arranged on the first driving assembly 400, the first swing arm assembly 200 is connected with the sun gear 610 and rotates relative to the sun gear 610;

[0105] The first planetary gear 620 is rotatably arranged on the first swing arm assembly 200 and engaged with the sun gear 610.

[0106] The second planetary gear 630 is rotatably arranged on the first swing arm assembly 200 and engaged with the first planetary gear 620, and the second planetary gear 630 is connected with the second swing arm assembly 300.

[0107] The sun gear 610 is configured to drive the second planetary gear 630 to rotate through the first planetary gear 620 when the first swing arm assembly 200 moves and rotates, so as to drive the second swing arm assembly 300 to rotate.

[0108] In the embodiment, two planetary gears are arranged. The sun gear 610 is arranged on the first driving assembly 400 and fixedly connected with the first driving assembly 400, and the swing arm 210 is rotatably arranged on the first driving assembly 400, so that the sun gear 610 and the swing arm 210 can relatively rotate, and the sun gear 610 does not relatively rotate with the linkage 500 when the swing arm 210 moves along the linkage 500, so that the swing arm 210 can be smoothly rotated relative to the sun gear 610 under the action of the first driving assembly 400 and the linkage 500.

[0109] The first planetary gear 620 is rotatably arranged on the swing arm 210 and engaged with the sun gear 610, so that when the swing arm 210 rotates relative to the sun gear 610, the swing arm 210 can drive the first planetary gear 620 to rotate around the center of the first planetary gear 620 while rotating around the center of the sun gear 610, and the rotation direction of the first planetary gear 620 is consistent with the rotation direction of the swing arm 210.

[0110] The second planetary gear 630 is also rotatably arranged on the swing arm 210 and engaged with the first planetary gear 620, so that when the swing arm 210 rotates relative to the sun gear 610, the second planetary gear 630 can also be driven by the first planetary gear 620 to rotate around the center of the second planetary gear 630 while rotating around the center of the sun gear 610, and the rotation direction of the second planetary gear 630 is opposite to the rotation direction of the first planetary gear 620, so that the second swing arm assembly 300 and the rotation center of the second planetary gear 630 are connected, that is, the second swing arm assembly 300 can be driven to rotate through the planetary gear set.

[0111] In some embodiments, the radius of the sun gear 610 is greater than the radius of the first planetary gear 620 and the second planetary gear 630.

[0112] It can be understood that, since the rotation range of the first swing arm assembly 200 is smaller than the rotation range of the second swing arm assembly 300, the rotation of the first swing arm assembly 200 and the second swing arm assembly 300 is more coordinated, and when the first swing arm assembly 200 rotates to the position, the second swing arm assembly 300 can also rotate to the position.

[0113] For example, the radius of the sun gear 610 can be twice the radius of the first planetary gear 620 and the second planetary gear 630, and the radius of the first planetary gear 620 and the second planetary gear 630 is the same, and the number of teeth of the sun gear 610 and the planetary gear is adjusted so that the transmission efficiency between the linkage 500 and the swing arm is twice the transmission efficiency of the transmission assembly 600. In this way, as shown in Figure 10 As shown in , and

[0114] and Figures 1 to 3 , the second swing arm assembly 300 includes: Figure 8 Figure 9 The rotating member 310 is rotationally connected with the second planetary gear 630, and the rotating member 310 rotates synchronously with the second planetary gear 630 around the second direction;

[0115] The swing rod 320 is arranged on the rotating member 310, and the connecting member 330 is arranged on the swing rod 320;

[0116] The rotating member 310 is configured to rotate relative to the first swing arm assembly 200 under the drive of the transmission assembly 600 to drive the swing rod 320 to rotate and make the swing rod 320 take and place the material box 900 through the connecting member 330.

[0117] The rotating member 310 is rotationally connected with the rotating arm member 210, and the rotating member 310 is coaxially connected with the rotation center of the second planetary gear 630 in the transmission assembly 600, so as to drive the rotating member 310 to rotate relative to the rotating arm member 210 through the transmission assembly 600.

[0118] The rotating member 310 is rotationally connected with the rotating arm member 210, and the rotating member 310 is coaxially connected with the rotation center of the second planetary gear 630 in the transmission assembly 600, so as to drive the rotating member 310 to rotate relative to the rotating arm member 210 through the transmission assembly 600.

[0119] The swing rod 320 is connected with the rotating member 310, and the swing rod 320 extends along the radial direction of the rotating member 310, so that when the rotating member 310 rotates, the swing rod 320 swings around the center of the rotating member 310. The connecting member 330 is arranged on the swing rod 320 and located at the end of the swing rod 320 away from the rotating member 310, that is, the free end of the swing rod 320. In this way, when the rotating arm member 210 rotates, the rotating member 310 can be driven to rotate through the transmission assembly 600, and the rotating member 310 drives the connecting member 330 to move through the swing rod 320, so as to finally realize that the connecting member 330 drives the material box 900 to move.

[0120] As shown in Figure 11 and Figure 12 , in order to enable the connecting member 330 to be smoothly connected with the material box 900, a connecting groove 910 adapted to the connecting member 330 needs to be arranged at the bottom of the material box 900. In order to prevent the material box 900 from being deflected during movement driven by the connecting member 330, the connecting member 330 can be rotationally connected with the connecting groove 910, or the connecting member 330 can be rotationally connected with the swing rod 320, or a bearing member can be arranged on the connecting member 330 to enable two parts of the connecting member 330 to relatively rotate.

[0121] In some embodiments, as shown in Figure 10 , the distance from the rotation center of the swing rod 320 to the center of the connecting member 330 is equal to the distance from the rotation center of the first swing arm assembly 200 to the rotation center of the swing rod 320.

[0122] It can be understood that in this way, the rotation center of the first swing arm assembly 200 is on the movement track of the connecting member 330, and the movement track of the connecting member 330 is consistent with the X direction, so that the movement of the connecting member 330 is more stable, and the space occupied by the movement of the connecting member 330 is reduced, so as to ensure that the connecting member 330 can move smoothly.

[0123] In some embodiments, as shown in Figure 8 and Figure 9 , the swing rod 320 is rotationally connected with the rotating member 310 in the third direction, so that the swing rod 320 drives the connecting member 330 to move in the second direction.

[0124] It can be understood that the swing rod 320 is rotationally connected with the rotating member 310, and the rotation axis of the swing rod 320 relative to the rotating member 310 is perpendicular to the second direction (X direction), that is, the rotation axis of the swing rod 320 is in the X-Y plane and changes with the rotation of the rotating member 310 relative to the first swing arm assembly 200. In this way, the swing rod 320 drives the connecting member 330 to swing up and down relative to the rotating arm member 210 in the second direction, so as to relatively approach or move away from the material box 900, and the swing rod 320 and the material box 900 are connected or disconnected with each other.

[0125] In some embodiments, referring to Figure 7 and Figure 8 , the fork structure provided by the embodiments of the present application further comprises:

[0126] The second driving assembly 700 is connected with the swing rod 320, and the second driving assembly 700 drives the swing rod 320 to rotate relative to the rotating member 310 in the third direction.

[0127] It can be understood that the second driving assembly 700 is arranged to be connected with the swing rod 320 to drive the swing rod 320 to rotate relative to the rotating member 310.

[0128] For example, the rotating member 310 is a rotating cylinder, the swing rod 320 is partially bent and located in the rotating cylinder and hinged with the rotating cylinder. The second driving assembly 700 comprises a second driving motor 710, and an eccentric shaft 720 is arranged at the output end of the second driving motor 710. The eccentric shaft 720 is connected with the bent part of the swing rod 320 through a connecting rod 730, so that the second driving motor 710 can drive the eccentric shaft 720 to rotate, and the eccentric shaft 720 drives the swing rod 320 to rotate up and down through the connecting rod 730, so that the connecting member 330 moves up and down relative to the base 100 along the Z axis.

[0129] In some embodiments, referring to Figure 1 and Figure 4 , the fork structure provided by the embodiments of the present application further comprises a guide assembly 800, which is arranged on the base 100, and the first swing arm assembly 200 is slidingly connected with the guide assembly 800.

[0130] The guide assembly 800 is arranged to slidingly connect the first swing arm assembly 200 with the base 100 through the guide assembly 800, so as to facilitate the stability and smoothness of the sliding of the first swing arm assembly 200.

[0131] In some embodiments, the guide assembly 800 comprises:

[0132] The slide rails 810 are arranged along the moving direction of the first swing arm assembly 200.

[0133] The slide block 820 is slidingly connected with the slide rails 810, the first swing arm assembly 200 is arranged on the slide block 820, and the slide block 820 is connected with the first driving assembly 400.

[0134] Two slide rails 810 are arranged, and the two slide rails 810 are respectively located at opposite sides of the first swing arm assembly 200 to provide more stable support and guidance for the first swing arm assembly 200.

[0135] The sliding block 820 is arranged on the sliding rail 810 and connected with the first driving assembly 400, and the first swing arm assembly 200 is arranged on the sliding block 820, so that the movement of the first swing arm assembly 200 is more stable, and the fork structure is more compact.

[0136] For example, the specific picking and placing of the box 900 by the fork structure is as follows:

[0137] Please refer to Figure 10 In the initial state (see Figure 10 The intermediate position of the fork state), the first swing arm assembly 200, the second swing arm assembly 300 and the connecting piece 330 are all in the intermediate position of the linkage 500. When the box 900 is picked, the first swing arm assembly 200 drives the second swing arm and the connecting piece 330 to move towards the side where the box 900 is located under the drive of the first driving assembly 400, and the second swing arm assembly 300 drives the connecting piece 330 to be close to the connecting groove 910 of the fork structure opposite to the box 900 under the drive of the second driving assembly 700, and then the first swing arm assembly 200, the second swing arm assembly 300 and the connecting piece 330 bring the box 900 into the fork structure under the drive of the first driving assembly 400.

[0138] When the box 900 needs to be placed, according to the position of the box 900, if the box 900 is picked and placed on the same side of the fork structure, the box 900 can be placed according to the above operation in reverse, if the picking and placing positions of the box 900 are respectively located on the opposite sides of the fork structure, the connecting piece 330 needs to be disconnected from the original connecting groove 910 and switched to the other connecting groove 910 opposite to the same box 900 during the process of placing the box 900 in the fork structure, so that the fork structure can smoothly place the box 900.

[0139] The fork structure is arranged in this way, so that the first swing arm assembly 200, the second swing arm assembly 300 and the connecting piece 330 are all arranged in the Z direction and can move in the X-Y plane respectively, only the connecting piece 330 and the swing rod 320 need to be connected to the bottom of the box 900 and the connecting groove 910, so that the fork structure can pick and place the box 900, the fork structure is more compact, the operation occupies less space, and the reserved space at the bottom of the box 900 can be reduced, and the storage density of the box 900 is improved.

[0140] On the other hand, the embodiment of the application also provides a robot, which comprises a robot body and the fork structure in any of the above embodiments, and the fork structure is connected with the robot body.

[0141] The fork structure has been described in detail in the above embodiments, and will not be described here.

[0142] The robot provided in the application is provided with a fork structure, a first driving assembly 400 and a linkage 500 are arranged on a base 100 of the fork structure, and a first swing arm assembly 200 connected with the first driving assembly 400 and the linkage 500 is arranged on the base 100, a second swing arm assembly 300 is arranged on the first swing arm assembly 200, and the first swing arm assembly 200 and the second swing arm assembly 300 are drivingly connected through a transmission assembly 600, and a connecting piece 330 is further arranged on the second swing arm assembly 300 to be butted against a material box 900 through the connecting piece 330.

[0143] In this way, the first swing arm assembly 200 can be moved along the first direction relative to the base 100 under the driving of the first driving assembly 400, and at the same time, the first swing arm assembly 200 can be rotated relative to the base 100 around the second direction under the cooperation of the first swing arm assembly 200 and the linkage 500, so as to realize the synchronous movement and rotation of the first swing arm assembly 200 relative to the base 100. The second swing arm assembly 300 is arranged on the first swing arm assembly 200, so that the position of the second swing arm assembly 300 relative to the base 100 can be changed synchronously with the movement of the first swing arm assembly 200, and the second swing arm assembly 300 can be further rotated relative to the first swing arm assembly 200 around the second direction under the driving of the transmission assembly 600, so that the connecting piece 330 on the second swing arm assembly 300 moves along with the second swing arm assembly 300 and protrudes from the base 100 along the moving direction, so as to facilitate the butt joint of the connecting piece 330 and the material box 900, thereby taking and placing the material box 900.

[0144] The first swing arm assembly 200 can move forward or reversely along the first direction and rotate forward or reversely around the second direction, so that the first swing arm assembly 200 can drive the connecting piece 330 to move forward and reversely through the second swing arm assembly 300, so that the connecting piece 330 can be butted against the material box 900 in two opposite directions with a larger stroke, thereby avoiding frequent turning of the orientation when the fork structure takes and places the material box 900, so that the fork structure takes and places the material box 900 more continuously and smoothly.

[0145] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the application, but not to limit them; although the application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the application.

Claims

1. A fork structure, characterized by, The utility model relates to a material box conveying device, including: a base, a first drive assembly and a linkage are arranged on the base; a first swing arm assembly is arranged on the base and is connected with the first drive assembly and the linkage, the first swing arm assembly is driven by the first drive assembly to move relative to the base along a first direction, and the first swing arm assembly is matched with the linkage to rotate relative to the base along a second direction; a second swing arm assembly is arranged on the first swing arm assembly to move with the first swing arm assembly, a transmission assembly is arranged between the first swing arm assembly and the second swing arm assembly, and the first swing arm assembly drives the second swing arm assembly to rotate relative to the first swing arm assembly along the second direction through the transmission assembly; a connecting piece is arranged on the free end of the second swing arm assembly, and the connecting piece is configured to protrude from the base towards the moving direction of the first swing arm assembly when the first swing arm assembly moves to the end of the base to be connected with the material box.

2. The fork structure according to claim 1, characterized in that The first drive assembly is arranged on the base, and the first drive assembly comprises a first drive motor, a transmission member and at least two rotating wheels, the rotating wheels are rotatably arranged on the base, the first drive motor is connected with the rotating wheels, and the transmission member is arranged around the rotating wheels, and the transmission member is connected with the first swing arm assembly; The first drive motor is configured to drive the rotating wheels to rotate so that the rotating wheels drive the first swing arm assembly to move through the transmission member.

3. The fork structure of claim 1, wherein, The linkage is fixedly arranged on the base, and the first swing arm assembly is arranged in mesh with the linkage; When the first swing arm assembly moves relative to the base, the linkage is matched with the first swing arm assembly to make the first swing arm assembly rotate relative to the base.

4. The fork structure according to claim 3, characterized in that The first swing arm assembly comprises: an arm member rotatably arranged on the first drive assembly, and the arm member is connected with the second swing arm assembly; The arm member is arranged in mesh with the linkage.

5. The fork structure according to claim 4, characterized in that The linkage is a rack arranged along the first direction, a plurality of meshing teeth are arranged on the arm member along an arc in sequence and at intervals, and the meshing teeth are in mesh with the rack.

6. The fork structure of claim 1, wherein The transmission assembly is a planetary gear set.

7. The fork structure according to claim 6, characterized in that The planetary gear set comprises: a sun gear fixedly arranged on the first drive assembly, the first swing arm assembly is connected with the sun gear and rotates relative to the sun gear; a first planetary gear rotatably arranged on the first swing arm assembly and in mesh with the sun gear; a second planetary gear rotatably arranged on the first swing arm assembly and in mesh with the first planetary gear, and the second planetary gear is connected with the second swing arm assembly; The sun gear is configured to drive the second planetary gear to rotate through the first planetary gear when the first swing arm assembly moves and rotates, so that the second planetary gear drives the second swing arm assembly to rotate.

8. The fork structure according to claim 7, characterized in that The radius of the sun gear is greater than the radius of the first planetary gear and the second planetary gear.

9. The fork structure of claim 7, wherein, The second swing arm assembly comprises: A rotating member is connected with the second planetary gear, and the rotating member rotates synchronously with the second planetary gear around the second direction; A swing rod is arranged on the rotating member, and the connecting member is arranged on the swing rod; the rotating member is configured to rotate relative to the first swing arm assembly under the drive of the transmission assembly to drive the swing rod to rotate and make the swing rod take and place the container through the connecting member.

10. The fork structure according to claim 9, characterized in that The distance from the rotating center of the swing rod to the center of the connecting member is equal to the distance from the rotating center of the first swing arm assembly to the rotating center of the swing rod.

11. The fork structure of claim 9, wherein, The swing rod and the rotating member are connected in rotation in a third direction to make the swing rod drive the connecting member to move along the second direction.

12. The fork structure of claim 11, wherein, Further comprising: A second drive assembly is connected with the swing rod, and the second drive assembly drives the swing rod to rotate relative to the rotating member around the third direction.

13. A fork structure according to any one of claims 1-8, characterized in that Further comprising a guide assembly arranged on the base, and the first swing arm assembly is in sliding connection with the guide assembly.

14. The fork structure of claim 13, wherein, The guide assembly comprises: A slide rail is arranged along the moving direction of the first swing arm assembly; A sliding block is in sliding connection with the slide rail, and the first swing arm assembly is arranged on the sliding block, and the sliding block is connected with the first drive assembly.

15. A robot, characterized in that A robot body and the fork structure according to any one of claims 1-14 are connected.

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