Pallet fork structure, robot and warehousing system

Abstract

The utility model provides a pallet fork structure, a robot and a warehousing system, and belongs to the technical field of warehouse logistics. The pallet fork structure comprises a supporting piece; the telescopic mechanism is arranged on the supporting piece, and the telescopic mechanism stretches out and draws back relative to the supporting piece; the push-and-pull assembly is rotationally arranged at one end of the telescopic mechanism, when the push-and-pull assembly rotates to a first position, the push-and-pull assembly can abut against the material box so that the telescopic mechanism can push or pull the material box through the push-and-pull assembly, and when the push-and-pull assembly rotates to a second position, the push-and-pull assembly is disengaged from abutting against the material box so that the telescopic mechanism can stretch out and draw back along the bottom of the material box; and the auxiliary supporting assembly is arranged on the telescopic mechanism, and the auxiliary supporting assembly is used for making contact with the goods shelf to support the telescopic mechanism when the telescopic mechanism stretches out and draws back. And it is guaranteed that the pallet fork structure can smoothly push and pull material boxes of different specifications under the working condition of the deep storage location, and the pallet fork structure is more convenient and reliable to use.

Description

Technical Field

[0001] This application relates to the field of warehousing and logistics technology, and in particular to a forklift structure, a robot, and a warehousing system. Background Technology

[0002] The storage system is equipped with shelves for storing bins. Robots can move relative to the shelves and pick up and place bins relative to the shelves, thus transporting bins.

[0003] In the prior art, a robot includes a robot body and forks mounted on the robot body. After the robot body docks with the shelf, the forks can extend and retract relative to the robot body to pick up and place material boxes on the shelf.

[0004] However, the forks of existing robots are not convenient for picking up and placing bins stored deep in the storage location, and there are requirements for the size and shape of the bins. Utility Model Content

[0005] This application provides a fork structure, a robot, and a warehousing system to at least partially solve the problems of existing robots' forks being inconvenient to pick up and place hoppers stored deep in the storage location, and the requirements on the size and shape of the hoppers.

[0006] In a first aspect, this application provides a forklift structure, including:

[0007] Support components;

[0008] The telescopic mechanism is mounted on the support member and extends or retracts relative to the support member.

[0009] The push-pull assembly is rotatably mounted at one end of the telescopic mechanism. When the push-pull assembly rotates to the first position, it can abut against the material box, so that the telescopic mechanism can push or pull the material box through the push-pull assembly. When the push-pull assembly rotates to the second position, it disengages from the material box, so that the telescopic mechanism can extend and retract along the bottom of the material box.

[0010] An auxiliary support assembly is installed on the telescopic mechanism. The auxiliary support assembly is used to contact the shelf to support the telescopic mechanism when it extends or retracts.

[0011] In one possible implementation, the fork structure provided in this application includes a telescopic mechanism comprising:

[0012] Telescopic boom assembly, which is mounted on the support member;

[0013] A drive component is mounted on the support and connected to the telescopic arm assembly. The drive component drives the telescopic arm assembly to extend and retract relative to the support.

[0014] In one possible implementation, the fork structure provided in this application includes a telescopic mechanism comprising:

[0015] A rigid chain assembly is mounted on a support and is configured to bend only toward one side of the rigid chain assembly.

[0016] A drive assembly is mounted on a support and engages with a rigid chain assembly to drive the rigid chain assembly to rigidly extend or bend and retract.

[0017] In one possible implementation, the fork structure provided in this application has the auxiliary support assembly and the push-pull assembly located at the same end of the telescopic mechanism.

[0018] In one possible implementation, the fork structure provided in this application includes an auxiliary support component comprising a support wheel, which is rotatably mounted on the side wall at the end of the telescopic mechanism.

[0019] In one possible implementation, the fork structure provided in this application has the support wheel located outside the telescopic mechanism.

[0020] In one possible implementation, the fork structure provided in this application has two telescopic mechanisms spaced apart along the width direction of the support member, and each telescopic mechanism is provided with a push-pull component and an auxiliary support component.

[0021] In one possible implementation, the fork structure provided in this application further includes a push plate, two telescopic mechanisms are connected by the push plate, and the push plate and the push-pull assembly are spaced apart along the telescopic direction of the telescopic mechanism.

[0022] In one possible implementation, the fork structure provided in this application includes a telescopic boom assembly comprising at least one fixed boom and at least one movable boom. The fixed boom is disposed on a support member, and the movable boom is throttle-connected to the fixed boom. Both ends of the movable boom are provided with push-pull assemblies.

[0023] In one possible implementation, the fork structure provided in this application includes a telescopic boom assembly comprising at least three boom segments, with the at least three boom segments being drive-connected.

[0024] In one possible implementation, the fork structure provided in this application has each arm segment arranged sequentially and connected in a transmission manner along the width direction of the support member.

[0025] In one possible implementation, the fork structure provided in this application includes a push-pull component comprising:

[0026] The second driving component is mounted on the telescopic mechanism;

[0027] A push-pull rod is rotatably mounted at the end of the telescopic mechanism and connected to the second drive component;

[0028] The second driving element drives the push-pull rod to rotate relative to the telescopic mechanism, so that the push-pull assembly switches between a first position and a second position.

[0029] Secondly, this application also provides a robot, including a robot body and any of the above-mentioned fork structures, wherein the fork structures are disposed on the robot body;

[0030] The robot has a support surface for carrying the hopper. When the push-pull assembly is in the first position, the highest point of the push-pull assembly is higher than the support surface. When the push-pull assembly is in the second position, the highest point of the push-pull assembly is lower than the support surface or flush with the support surface.

[0031] In one possible implementation, the robot provided in this application further includes a climbing component for docking with a track on a shelf to enable the robot to move up and down along the shelf.

[0032] Thirdly, this application also provides a warehousing system, including shelves and the aforementioned robot, wherein the shelves include:

[0033] Shelf body;

[0034] A crossbeam is installed on the rack body. A first support position and a second support position are arranged parallel to each other on the crossbeam. The second support position is located below the first support position. The first support position is used to support the material box. The second support position is used to support the auxiliary support components on the telescopic mechanism when the robot's telescopic mechanism extends to the second support position.

[0035] The fork structure, robot, and warehousing system provided in this application include a fork structure comprising a support member, a telescopic mechanism, a push-pull assembly, and an auxiliary support assembly. The telescopic mechanism is telescopically mounted on the support member, and the push-pull assembly is rotatably mounted at the end of the telescopic mechanism to push or pull the material box. The auxiliary support assembly is mounted on the telescopic mechanism to support it on the rack. By providing a telescopic mechanism on the support member of the fork structure, and by providing a push-pull assembly and an auxiliary support assembly on the telescopic mechanism, in deep storage conditions, the telescopic mechanism, supported by the auxiliary support assembly, extends and retracts along the storage depth direction of the rack to extend from the bottom of the material box to the corresponding storage location. Furthermore, the push-pull assembly rotates from a second position to a first position, abutting against the material box, and is then pulled back by the telescopic mechanism. The telescopic mechanism extends and retracts from the bottom of the bin and uses push-pull components to push or pull goods, making the fork structure suitable for bins of various sizes or with large storage depths. It eliminates the need for bin customization and can also be used for cardboard boxes, thus expanding the applicability of the fork structure. During the extension and retraction process, the auxiliary support components maintain support and prevent the telescopic mechanism from deforming and sagging due to excessive extension length. This ensures that the fork structure can smoothly push and pull bins of different sizes in deep storage conditions, making the fork structure more convenient and reliable to use. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 Usage status of the warehousing system provided in the embodiments of this application Figure 1 ;

[0038] Figure 2 Usage status of the warehousing system provided in the embodiments of this application Figure 2 ;

[0039] Figure 3 Usage status of the warehousing system provided in the embodiments of this application Figure 3 ;

[0040] Figure 4 for Figure 1 A schematic diagram of the robot's structure;

[0041] Figure 5 for Figure 4 A schematic diagram of the middle fork structure;

[0042] Figure 6 for Figure 4 A structural diagram of the forklift structure from another perspective;

[0043] Figure 7 for Figure 4 Another structural diagram of the forklift structure;

[0044] Figure 8 for Figure 5 A partial structural diagram of the telescopic boom assembly of the fork structure is shown in the image.

[0045] Figure 9 for Figure 5 A partial structural diagram of the drive assembly of the forklift structure is shown in the image.

[0046] Figure 10 for Figure 5 A partial structural diagram of the sliding guide assembly of the fork structure is shown in the image.

[0047] Figure 11 A schematic diagram of the connection between the forklift structure and the rack. Figure 1 ;

[0048] Figure 12 A schematic diagram of the connection between the forklift structure and the rack. Figure 2 ;

[0049] Figure 13 This is a schematic diagram of the robot's picking process provided in an embodiment of this application.

[0050] Explanation of reference numerals in the attached figures:

[0051] 10-Robot;

[0052] 100-Forklift Structure;

[0053] 110 - Support component; 111 - Fixing bracket;

[0054] 120 - Telescopic mechanism; 121 - Telescopic arm assembly; 1211 - Fixed segment arm; 1212 - Movable segment arm; 1212a - First sub-movable segment arm; 1212b - Second sub-movable segment arm; 1213 - Arm cover plate; 1214 - Arm plate connecting block; 122 - Drive assembly; 1221 - Second transmission wheel; 1222 - Second transmission component; 1223 - First drive component; 123 - Transmission assembly; 1231 - First transmission wheel; 1232 - First transmission component; 124 - Sliding guide assembly; 1241 - Guide component; 1242 - Sliding component; 125 - Fixed plate; 126 - Push plate;

[0055] 130 - Push-pull assembly; 131 - Second drive component; 132 - Push-pull rod;

[0056] 140 - Auxiliary support component; 141 - Support wheel;

[0057] 200 - Robot body; 210 - Climbing assembly; 220 - Load-bearing surface;

[0058] 30 - Shelf; 300 - Shelf body; 310 - Crossbeam; 311 - First support position; 312 - Second support position; 320 - Rail;

[0059] 400-material bin. Detailed Implementation

[0060] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below with reference to the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of this application. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0061] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly and used interchangeably. For example, "linking" can mean a direct connection or an indirect connection through an intermediate medium; it can mean a fixed connection or a sliding connection. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0062] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0063] The terms "first," "second," and "third" in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein.

[0064] 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.

[0065] In the prior art, a robot includes a robot body and forks mounted on the robot body. After the robot body docks with the shelf, the forks can extend and retract relative to the robot body. The extension length of the forks is consistent with the depth of the target storage location on the shelf, so that the forks can push or pull the material box on the shelf.

[0066] However, since the extension length of the forks needs to match the depth of the target storage location, when the target storage location of the material box is deep, the extension length of the forks is also large, which can easily cause the forks to bend and droop, making the stability of the forks pushing or pulling the material box poor. This makes it difficult for existing robots to pick up and put down the material box when the storage location is deep.

[0067] Furthermore, when the bins come in various sizes, the forks are difficult to fully adapt to the bins, making it inconvenient for the robot to pick up and place bins of various sizes.

[0068] To overcome the deficiencies in the prior art, this application provides a fork structure, robot, and warehousing system. The fork structure includes a support member, a telescopic mechanism, a push-pull assembly, and an auxiliary support assembly. The telescopic mechanism is telescopically mounted on the support member. The push-pull assembly is rotatably mounted at the end of the telescopic mechanism to push or pull the material box. The auxiliary support assembly is mounted on the telescopic mechanism to support it on the rack. By providing a telescopic mechanism on the support member of the fork structure, and by providing a push-pull assembly and an auxiliary support assembly on the telescopic mechanism, in deep storage conditions, the telescopic mechanism, supported by the auxiliary support assembly, extends and retracts along the storage depth direction of the rack to extend from the bottom of the material box to the corresponding storage location. Furthermore, by rotating the push-pull assembly, it rotates from a second position to a first position, abutting against the material box, and is then pulled back by the telescopic mechanism. The telescopic mechanism extends and retracts from the bottom of the bin and uses push-pull components to push or pull goods, making the fork structure suitable for bins of various sizes or with large storage depths. It eliminates the need for bin customization and allows for the placement and removal of cartons, thus expanding the applicability of the fork structure. During the extension and retraction process, the auxiliary support components maintain support and prevent the telescopic mechanism from deforming and sagging due to excessive extension length. This ensures that the fork structure can smoothly push and pull bins of different sizes in deep storage conditions, making the fork structure more convenient and reliable to use.

[0069] 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.

[0070] Reference Figures 1 to 4 As shown, this application embodiment provides a fork structure 100, including:

[0071] Support component 110;

[0072] Telescopic mechanism 120 is mounted on support member 110 and telescopic relative to support member 110;

[0073] The push-pull assembly 130 is rotatably disposed at one end of the telescopic mechanism 120. When the push-pull assembly 130 rotates to the first position, it can abut against the material box 400, so that the telescopic mechanism 120 can push or pull the material box 400 through the push-pull assembly 130. When the push-pull assembly 130 rotates to the second position, it disengages from the material box 400, so that the telescopic mechanism 120 can extend and retract along the bottom of the material box 400.

[0074] An auxiliary support assembly 140 is disposed on the telescopic mechanism 120. The auxiliary support assembly 140 is used to contact the shelf 30 to support the telescopic mechanism 120 when the telescopic mechanism 120 is extended or retracted.

[0075] It is understandable that the support 110 is mounted on the robot 10 to provide stable mounting support for other components of the fork structure 100.

[0076] The telescopic mechanism 120 is telescopically mounted on the support member 110 and can extend and retract relative to the support member 110. When the telescopic mechanism 120 extends or retracts, it can drive the push-pull component 130 and the auxiliary support component 140 mounted on the telescopic mechanism 120 to move together relative to the support member 110 from the bottom of the material box 400, so that the push-pull component 130 and the auxiliary support component 140 cooperate to complete the pushing or pulling operation of the material box 400 at the bottom of the material box 400. Since all bins 400, regardless of their width or height, are placed on the shelf 30, their bottoms are in contact with the shelf 30 and at the same height. Therefore, compared to the telescopic mechanism 120, which extends and pushes / pulls the bins 400 from opposite sides, the telescopic mechanism 120 extends and pushes / pulls the bins 400 from the bottom. This ensures that the telescopic mechanism 120 can maintain stable and reliable contact with the bins 400, enabling the push-pull operation of the bins 400. Thus, when dealing with bins 400 of various sizes, there is no need to consider whether the size of the telescopic mechanism 120 is compatible with the width or height of the bins 400, making the fork structure 100 more convenient to use.

[0077] The push-pull assembly 130 is rotatably disposed at the end of the telescopic mechanism 120, and can switch between a first position and a second position by rotating the push-pull assembly 130 relative to the telescopic mechanism 120. When the push-pull assembly 130 is rotated to the first position, the projection of the push-pull assembly 130 along the telescopic direction of the telescopic mechanism 120 coincides with the material box 400, so that the push-pull assembly 130 can abut against the side of the material box 400 facing the support member 110, or the push-pull assembly 130 can abut against the side of the material box 400 away from the support member 110.

[0078] When the push-pull assembly 130 is in the first position and abuts against the side of the hopper 400 facing the support member 110, the push-pull assembly 130 can push the hopper 400 to the target storage position at a preset depth under the extension action of the telescopic mechanism 120; and when the push-pull assembly 130 is in the first position and abuts against the side of the hopper 400 away from the support member 110, the push-pull assembly 130 can pull the hopper 400 from the target storage position onto the support member 110 under the retraction action of the telescopic structure, so that the robot 10 can transport the hopper 400.

[0079] An auxiliary support assembly 140 is disposed on the telescopic mechanism 120. When the fork structure 100 is connected to the rack 30, and the telescopic mechanism 120 extends or retracts relative to the rack 30, the auxiliary support assembly 140 can maintain contact with the rack 30 throughout the process, thereby forming a stable support between the rack 30 and the telescopic mechanism 120. Through the support provided by the auxiliary support assembly 140 to the telescopic mechanism 120, sagging deformation caused by excessive extension length of the telescopic mechanism 120 can be avoided, ensuring stable extension and retraction of the telescopic mechanism 120 and accurate loading and unloading, and reducing the interlayer spacing of the rack 30.

[0080] Therefore, the fork structure 100 provided in this application embodiment includes a support member 110, a telescopic mechanism 120, a push-pull assembly 130, and an auxiliary support assembly 140. The telescopic mechanism 120 is telescopically mounted on the support member 110. The push-pull assembly 130 is rotatably mounted on the end of the telescopic mechanism 120 to push or pull the material box 400. The auxiliary support assembly 140 is mounted on the telescopic mechanism 120 to support the telescopic mechanism 120 on the shelf 30. By providing a telescopic mechanism 120 on the support member 110 of the fork structure 100, and by providing a push-pull assembly 130 and an auxiliary support assembly 140 on the telescopic mechanism 120, in the case of deep storage location, the telescopic mechanism 120 extends and retracts along the storage location depth direction of the rack 30 under the support of the auxiliary support assembly 140, so as to extend and retract from the bottom of the material box 400 to the corresponding storage location. And by rotating the push-pull assembly 130, the push-pull assembly 130 is rotated from the second position to the first position, abutting against the material box 400, and then pulled back by the telescopic mechanism 120.

[0081] The telescopic mechanism 120 extends and retracts from the bottom of the bin 400 and pushes or pulls goods using the push-pull assembly 130. This allows the fork structure 100 to be used with bins 400 of various sizes or with large storage depths without the need for customization of the bin 400, thus expanding the applicability of the fork structure 100. During the extension and retraction process, the auxiliary support assembly 140 maintains support to prevent the telescopic mechanism 120 from deforming and sagging due to excessive extension length. This ensures that the fork structure 100 can smoothly retrieve goods in deep storage conditions, making the fork structure 100 more convenient and reliable to use.

[0082] In some embodiments, refer to Figures 5 to 7 As shown, the fork structure 100 and telescopic mechanism 120 provided in this application include:

[0083] Telescopic arm assembly 121 is mounted on support member 110;

[0084] A drive assembly 122 is disposed on the support 110 and connected to the telescopic arm assembly 121. The drive assembly 122 drives the telescopic arm assembly 121 to extend and retract relative to the support 110.

[0085] Understandably, by setting up the telescopic arm assembly 121 and driving it with the drive assembly 122, the structure of the telescopic mechanism 120 can be made simpler and more compact, and the telescopic length can be adjusted more quickly, thereby improving the pushing and pulling efficiency of the material box 400.

[0086] Alternatively, in other embodiments, the telescopic mechanism 120 includes:

[0087] A rigid chain assembly is disposed on the support 110 and is configured to bend only toward one side of the rigid chain assembly.

[0088] A drive assembly 122 is disposed on the support 110 and engages with the rigid chain assembly to drive the rigid chain assembly to rigidly extend or bend and retract.

[0089] It is understood that the structure of the rigid chain assembly can refer to existing rigid chain structures, which include multiple segments hinged in sequence. Two adjacent segments can swing toward the same side, and when two segments swing toward the other side, they will abut and stop each other. In this way, the drive assembly 122 can be engaged with the rigid chain assembly, and the drive assembly 122 can drive each segment to move toward the support member 110 and bend toward the same side of the rigid chain assembly in sequence, so that the rigid chain assembly is spirally wound in the plane, realizing the retraction of the telescopic mechanism 120. Alternatively, the drive assembly 122 can drive each segment to move away from the support member 110 and abut toward the other side of the rigid chain assembly in sequence, so that the rigid chain assembly extends in a straight shape, realizing the extension of the telescopic mechanism 120.

[0090] By using rigid chain components, when dealing with situations with large storage depths, it is only necessary to increase the number of segments to extend the rigid chain components, thereby increasing the extension length of the telescopic mechanism 120 and making the fork structure 100 more compact and occupying less space.

[0091] In some embodiments, refer to Figure 4 and Figure 5 As shown, the auxiliary support assembly 140 and the push-pull assembly 130 are located at the same end of the telescopic mechanism 120.

[0092] It is understandable that the auxiliary support component 140 and the push-pull component 130 are located at the same end of the telescopic mechanism 120, specifically at the end of the telescopic mechanism 120 that can telescopically move relative to the support member 110. This facilitates the auxiliary support component 140 to push or pull the material box 400 as the telescopic mechanism 120 telescopically extends and retracts. It also facilitates the auxiliary support component 140 to provide support to the telescopic mechanism 120 throughout the telescopic process, ensuring the stability and reliability of the telescopic movement of the telescopic mechanism 120 and the push-pull movement of the push-pull component 130.

[0093] Furthermore, this arrangement also allows the auxiliary support assembly 140 and the push-pull assembly 130 to be positioned more compactly, reducing their overall space occupation, so that the telescopic mechanism 120 can smoothly extend and retract from the bottom of the hopper 400.

[0094] Among them, reference Figure 4 and Figure 5 As shown, the auxiliary support assembly 140 includes a support wheel 141, which is rotatably mounted on the side wall at the end of the telescopic mechanism 120.

[0095] Understandably, the auxiliary support assembly 140 includes a support wheel 141, which simplifies its structure and reduces friction between the auxiliary support assembly 140 and the shelf 30, facilitating the smooth extension and retraction of the telescopic mechanism 120. Specifically, the lower edge of the support wheel 141 is lower than the lower edge of the telescopic mechanism 120, allowing the support wheel 141 to roll in contact with the shelf 30 and provide support for the telescopic mechanism 120.

[0096] Compared to setting the auxiliary support component 140 on the lower side of the end of the telescopic mechanism 120, this embodiment sets the auxiliary support component 140 on the side wall of the end of the telescopic mechanism 120, which can reduce the vertical dimensions of the telescopic mechanism 120 and the auxiliary support component 140, so that the telescopic mechanism 120 can extend and retract more smoothly at the bottom of the hopper 400.

[0097] In practice, the support wheel 141 is located on the outside of the telescopic mechanism 120 shelf 30.

[0098] This design allows for a smoother and more reliable rolling contact between the support wheel 141 and the shelf 30, and to a certain extent prevents the telescopic mechanism 120 from rubbing against the shelf 30 during telescopic movement, ensuring that the telescopic mechanism 120 can extend and retract smoothly.

[0099] Furthermore, when setting the support wheel 141, only one support wheel 141 may be set on the side wall at the end of the telescopic mechanism 120, or two or more support wheels 141 may be set sequentially at intervals along the extension direction of the telescopic mechanism 120 to improve its support effect. This application does not impose any restrictions on this.

[0100] In addition, refer to Figure 4 , Figure 5 and Figure 8 As shown, two telescopic mechanisms 120 are arranged at intervals along the width direction of the support member 110, and each telescopic mechanism 120 is provided with a push-pull component 130 and an auxiliary support component 140.

[0101] It is easy to understand that by setting two telescopic mechanisms 120 along the width direction of the support member 110, and correspondingly assembling the push-pull assembly 130 and the auxiliary support assembly 140, the telescopic mechanism 120 and the push-pull assembly 130 can form two force points on the material box 400 when pushing or pulling the material box 400, so that the material box 400 is subjected to more balanced force, and the material box 400 is prevented from shifting or even separating from the push-pull assembly 130 during the pushing or pulling process, thereby improving the smoothness and reliability of the operation of the telescopic mechanism 120 and the push-pull assembly 130.

[0102] To ensure that the telescopic movements of the two telescopic mechanisms 120 are synchronized and to guarantee the stability of their telescopic movements, a fixing plate 125 can be provided. The fixing plate 125 connects the two telescopic mechanisms 120 and is not higher than the telescopic mechanism 120 to prevent the fixing plate 125 from interfering with the telescopic mechanism 120's telescopic movement along the bottom of the material box 400.

[0103] Furthermore, in some embodiments, reference is made to Figure 4 and Figure 5 As shown, the fork structure 100 also includes a push plate 126, two telescopic mechanisms 120 are connected by the push plate 126, and the push plate 126 and the push-pull assembly 130 are spaced apart along the telescopic direction of the telescopic mechanism 120.

[0104] It is understandable that a push plate 126 is provided between the two telescopic mechanisms 120, so that the push plate 126 and the push-pull assembly 130 are spaced apart along the telescopic direction of the telescopic mechanism 120, so that when the material box 400 is on the fork structure 100, the push-pull assembly 130 and the push plate 126 can be located on opposite sides of the material box 400 respectively. Thus, when it is necessary to move the bin 400 from the fork structure 100 to the shelf 30, the telescopic mechanism 120 can be extended normally and drive the push plate 126 to move, so that the bin 400 can be pushed into the shelf 30 through the push plate 126. If the target storage location of the bin 400 is deep, the telescopic mechanism 120 can be retracted after the bin 400 is placed into the shelf 30, until the push-pull component 130 moves from the original side to the opposite side of the bin 400. Then the telescopic mechanism 120 extends again so that the push-pull component 130 abuts against the opposite side of the bin 400, and the bin 400 is pushed to the target storage location through the push-pull component 130. This makes the structure of the fork structure 100 simpler and more compact, and the pushing operation more convenient and efficient.

[0105] In some embodiments, the telescopic arm assembly 121 includes at least one fixed arm 1211 and at least one movable arm 1212. The fixed arm 1211 is disposed on the support member 110, and the movable arm 1212 is throttle-connected to the fixed arm 1211. Both ends of the movable arm 1212 are provided with push-pull assemblies 130.

[0106] It is understandable that by setting at least one fixed arm 1211, and each fixed arm 1211 being connected to at least one movable arm 1212 via a transmission, the movable arms 1212 can extend and retract along the fixed arm 1211, ensuring stable and smooth extension and retraction of the telescopic arm assembly 121. Push-pull components 130 are provided at both ends of the movable arm 1212, allowing one of the push-pull components 130 to function as a push plate 126. When this push-pull component 130 is in the first position, it can abut against the material box 400 to push the material box 400, thus eliminating the need for a push plate 126.

[0107] Furthermore, when the movable arm 1212 can move bidirectionally relative to the fixed arm 1211, the two push-pull components 130 can be used alternately to realize bidirectional picking up of goods by the telescopic arm assembly 121.

[0108] In addition, in specific implementation, refer to Figures 5 to 10 As shown, the telescopic boom assembly 121 includes at least three boom segments, and the at least three boom segments are driven together.

[0109] For example, the telescopic boom assembly 121 includes a fixed boom 1211 and two movable booms 1212, wherein the two movable booms 1212 are a first sub-movable boom 1212a and a second sub-movable boom 1212b, respectively. A fixing frame 111 is provided on the support member 110, and the fixed boom 1211 is fixedly mounted on the fixing frame 111. The first sub-movable boom 1212a is slidably mounted on the fixed boom 1211, and the second sub-movable boom 1212b is slidably mounted on the first sub-movable boom 1212a, thereby allowing the three booms to slide relative to each other. Each boom includes two boom cover plates 1213, and the two boom cover plates 1213 are connected by a plurality of boom plate connecting blocks 1214 arranged at intervals in sequence. The two arm cover plates 1213 or the connecting blocks 1214 of each arm plate of the first sub-movable arm 1212a are provided with sliding grooves. The groove openings are arranged opposite to each other or back to back. The arm cover plates 1213 of the fixed arm 1211 and the second sub-movable arm 1212b are respectively provided with flanges corresponding to the sliding grooves. The flanges are slidably embedded in the sliding grooves so that the first sub-movable arm 1212a can slide relative to the fixed arm 1211, and the second sub-movable arm 1212b can slide relative to the first sub-movable arm 1212a.

[0110] Furthermore, each arm segment is arranged sequentially along the width direction of the support member 110 and is connected by transmission.

[0111] The arms are arranged sequentially along the width direction, which can reduce the size of the telescopic mechanism 120 along the thickness direction of the support member 110, and facilitate the telescopic mechanism 120 to extend and retract at the bottom of the material box 400.

[0112] A transmission assembly 123 is provided on the first sub-movable arm 1212a. The transmission assembly 123 includes a first transmission wheel 1231 and a first transmission member 1232. The two first transmission wheels 1231 are respectively disposed between the two arm cover plates 1213 of the first sub-movable arm 1212a and located at the ends of the arm cover plates 1213. The first transmission member 1232 is wound around the two first transmission wheels 1231. The fixed arm 1211 and the second sub-movable arm 1212b are respectively fixedly connected to the first transmission member 1232. Since the fixed segment arm 1211 is fixed to the support member 110 and connected to the first transmission member 1232, the portion of the first transmission member 1232 connected to the fixed segment arm 1211 is fixed relative to the support member 110. Thus, when the first sub-movable segment arm 1212a slides relative to the fixed segment arm 1211, the first transmission member 1232 can rotate around the first transmission wheel 1231, thereby driving the second sub-movable segment arm 1212b connected to the first transmission member 1232 to slide relative to the first sub-movable segment arm 1212a, realizing the telescopic arm assembly 121's telescopic movement. In specific implementations, the first transmission member 1232 can be set as a synchronous belt, which has lower noise and lighter weight, or the first transmission member 1232 can be set as a transmission chain.

[0113] A drive assembly 122 is also provided, which includes a first drive member 1223, a second transmission wheel 1221, and a second transmission member 1222. The first drive member 1223 is disposed on the side of the support member 110 opposite to the telescopic mechanism 120, and multiple second transmission wheels 1221 are rotatably disposed on the support member 110. The second transmission members 1222 are sequentially wound around the second transmission wheels 1221, and the output end of the first drive member 1223 is connected to one of the second transmission wheels 1221. The second transmission member 1222 can be a transmission belt or a transmission chain, and the second transmission wheel 1221 is a pulley adapted to a transmission belt or a sprocket adapted to a transmission chain.

[0114] A sliding guide assembly 124 is also provided, including a guide member 1241 and a sliding member 1242. The guide member 1241 is disposed on the support member 110 along the extension direction of the telescopic mechanism 120. The sliding member 1242 cooperates with the guide member 1241 and is slidably connected. The first sub-movable segment arm 1212a and the second transmission member 1222 are respectively fixedly connected to the sliding member 1242.

[0115] Thus, when the first driving member 1223 is running, the second transmission wheel 1221 can drive the second transmission member 1222 to move. The second transmission member 1222 can further drive the sliding member 1242 to slide along the guide member 1241, and the sliding member 1242 can drive the first sub-movable segment arm 1212a to slide relative to the fixed segment arm 1211, so that the first sub-movable segment arm 1212a drives the second sub-movable segment arm 1212b to slide through the transmission assembly 123, thereby realizing the double-range extension of the telescopic arm assembly 121.

[0116] In other embodiments, two or more first sub-movable arms 1212a may be provided, with adjacent first sub-movable arms 1212a slidably connected, and each first sub-movable arm 1212a is provided with a transmission component 123. Thus, when the first sub-movable arm 1212a adjacent to the fixed arm 1211 slides relative to the fixed arm 1211 under the drive of the drive component 122, each first sub-movable arm 1212a can sequentially slide out under the drive of the transmission component 123, so that the first sub-movable arm 1212a adjacent to the second sub-movable arm 1212b drives the second sub-movable arm 1212b to slide, realizing multi-stage extension and retraction of the telescopic arm assembly 121, suitable for pushing and pulling the material box 400 in working conditions with large storage depths.

[0117] Furthermore, in some embodiments, reference is made to Figure 5 and Figure 8 As shown, the push-pull assembly 130 includes:

[0118] The second driving component 131 is disposed on the telescopic mechanism 120;

[0119] Push-pull rod 132 is rotatably mounted at the end of telescopic mechanism 120 and connected to second drive member 131;

[0120] The second driving member 131 drives the push-pull rod 132 to rotate relative to the telescopic mechanism 120, so that the push-pull assembly 130 switches between a first position and a second position.

[0121] The second driving component 131 is mounted on the telescopic mechanism 120 to ensure stable installation of the second driving component 131.

[0122] The push-pull rod 132 is rotatably disposed at the end of the telescopic mechanism 120 and extends toward the side of the telescopic mechanism 120 in the telescopic direction, and is connected to the second drive member 131, so that the second drive member 131 can drive the push-pull rod 132 to rotate around the telescopic direction of the telescopic mechanism 120.

[0123] For example, when the push-pull rod 132 is rotated to the horizontal direction, the push-pull assembly 130 is in the second position, and when the push-pull rod 132 is rotated to the vertical direction, the push-pull assembly 130 is in the first position.

[0124] Reference Figures 2 to 4 As shown, this application embodiment also provides a robot 10, including a robot body 200 and a fork structure 100 in any of the above embodiments, wherein the fork structure 100 is disposed on the robot body 200.

[0125] The robot 10 has a bearing surface 220 for carrying the material box 400. When the push-pull assembly 130 is in the first position, the highest point of the push-pull assembly 130 is higher than the bearing surface 220. When the push-pull assembly 130 is in the second position, the highest point of the push-pull assembly 130 is lower than the bearing surface 220 or flush with the bearing surface 220.

[0126] The fork structure 100 has been described in detail in the above embodiments and will not be repeated here.

[0127] A support surface 220 is disposed on the robot 10 to support the bin 400 when it is on the robot 10. When the push-pull assembly 130 is in a first position, its highest point is higher than the support surface 220, allowing it to be positioned above the bottom surface of the bin 400 to push it from the support surface 220 to the shelf 30. When the push-pull assembly 130 is in a second position, its highest point is lower than or flush with the support surface 220, allowing it to move along the bottom of the bin 400 without contacting it.

[0128] Furthermore, refer to Figures 2 to 4 As shown, robot 10 also includes a climbing assembly 210 for docking with rails 320 on shelf 30 to allow robot 10 to move up and down along shelf 30.

[0129] By setting up the climbing component 210, the docking between the robot 10 and the shelf 30 is made reliable and stable, which facilitates the robot 10 to lift and lower along the vertical direction of the shelf 30.

[0130] Reference Figure 1 , Figure 11 and Figure 12 As shown, this application embodiment also provides a warehousing system, including a shelf 30 and the robot 10 in the above embodiment. The shelf 30 includes:

[0131] Shelf body 300;

[0132] A span beam 310 is installed on the rack body 300. A first support position 311 and a second support position 312 are arranged parallel to each other on the span beam 310. The second support position 312 is located below the first support position 311. The first support position 311 is used to support the material box 400. The second support position 312 is used to support the auxiliary support component 140 on the telescopic mechanism 120 of the robot 10 when the telescopic mechanism 120 extends to the second support position 312.

[0133] This arrangement allows the material box 400 to be placed on the first support position 311 of the upper beam 310 of the shelf 30, while the second support position 312 is located below the first support position 311. This provides sufficient space for the telescopic mechanism 120, the push-pull assembly 130, and the auxiliary support assembly 140 to move within the second support position 312, and the auxiliary support assembly 140 can roll in contact with the second support position 312 to ensure the support effect of the auxiliary support assembly 140.

[0134] In addition, refer to Figures 1 to 5 ,and Figures 11 to 13 As shown in the embodiment of this application, the robot 10's order retrieval process is as follows:

[0135] Step S101: The robot 10 moves to align with the target storage location on the shelf 30;

[0136] Specifically, robot 10 climbs relative to shelf 30 to the target storage location height to align with it for smooth retrieval of goods.

[0137] Step S102: Control the push-pull assembly 130 to remain in the second position.

[0138] Specifically, by controlling the push-pull assembly 130 to remain in the second position, it can be ensured that the push-pull assembly 130 is in the appropriate position before subsequent actions are performed, preventing the push-pull assembly 130 from scraping against the bottom of the hopper 400 when the telescopic mechanism 120 extends.

[0139] In step S103, the telescopic mechanism 120 is controlled to drive the push-pull assembly 130 from the first side of the material box 400, along the bottom of the material box 400 to the second side of the material box 400, and the auxiliary support assembly 140 contacts the shelf 30 to support the telescopic mechanism 120.

[0140] Specifically, the telescopic mechanism 120 drives the push-pull assembly 130, which is held in the second position, to extend from the first side of the material box 400 (the side of the material box 400 facing the support member 110) along the bottom of the material box 400 to the second side (the side of the material box 400 away from the support member 110). This also causes the auxiliary support assembly 140 to contact the shelf 30 to support the telescopic mechanism 120, ensuring the stability and reliability of the telescopic mechanism 120 and preventing swaying or sagging from affecting the accuracy and safety of picking up goods.

[0141] Step S104: Control the push-pull assembly 130 to rotate to the first position and hold it.

[0142] Specifically, the push-pull assembly 130 is controlled to rotate from the second position to the first position and remain there, so that the push-pull assembly 130 can better engage with the material box 400, so that the telescopic mechanism 120 can stably pull the material box 400 through the push-pull assembly 130.

[0143] Step S105: Control the telescopic mechanism 120 to drive the push-pull assembly 130 to retract onto the fork structure 100, so that the material box 400 moves to the fork structure 100 under the drive of the push-pull assembly 130, and the auxiliary support assembly 140 disengages from the shelf 30.

[0144] Specifically, the telescopic mechanism 120 retracts to drive the push-pull assembly 130 to pull the material box 400 from the shelf 30 onto the fork structure 100, while the auxiliary support assembly 140 disengages from the shelf 30. After the push-pull assembly 130 completes the pulling action, it can rotate from the first position to the second position for the next picking action. This improves the efficiency and stability of picking and reduces the risk of damage to the material box 400 due to improper operation.

[0145] In summary, the robot 10 and warehousing system provided in this application embodiment, by setting a fork structure 100, the fork structure 100 includes a support member 110, a telescopic mechanism 120, a push-pull assembly 130 and an auxiliary support assembly 140. The telescopic mechanism 120 is telescopically mounted on the support member 110, the push-pull assembly 130 is rotatably mounted at the end of the telescopic mechanism 120 to push or pull the material box 400, and the auxiliary support assembly 140 is mounted on the telescopic mechanism 120 to support the telescopic mechanism 120 on the shelf 30. By providing a telescopic mechanism 120 on the fork support 110, and by providing a push-pull assembly 130 and an auxiliary support assembly 140 on the telescopic mechanism 120, in the case of deep storage, the telescopic mechanism 120 extends and retracts along the storage depth direction of the rack 30 under the support of the auxiliary support assembly 140, so as to extend and retract from the bottom of the material box 400 to the corresponding storage position. And by rotating the push-pull assembly 130, the push-pull assembly 130 is rotated from the second position to the first position, abutting against the material box 400, and then pulled back by the telescopic mechanism 120.

[0146] The telescopic mechanism 120 extends and retracts from the bottom of the bin 400 and pushes or pulls goods using the push-pull assembly 130. This allows the fork structure 100 to be used with bins 400 of various sizes or with large storage depths without the need for customization of the bin 400. It can also handle cartons, expanding the applicability of the fork structure 100. During the extension and retraction process, the auxiliary support assembly 140 maintains support to prevent the telescopic mechanism 120 from deforming and sagging due to excessive extension length. This ensures that the fork structure 100 can smoothly retrieve goods in deep storage conditions, making the fork structure 100 more convenient and reliable to use.

[0147] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A forklift structure, characterized in that, include: Support components; A telescopic mechanism is provided on the support member, and the telescopic mechanism extends and retracts relative to the support member; A push-pull assembly is rotatably disposed at one end of the telescopic mechanism. When the push-pull assembly rotates to the first position, it can abut against the material box, so that the telescopic mechanism can push or pull the material box through the push-pull assembly. When the push-pull assembly rotates to the second position, it disengages from the material box, so that the telescopic mechanism can extend and retract along the bottom of the material box. An auxiliary support assembly is disposed on the telescopic mechanism and is used to contact the shelf to support the telescopic mechanism when the telescopic mechanism extends or retracts.

2. The fork structure according to claim 1, characterized in that, The telescopic mechanism includes: A telescopic arm assembly, wherein the telescopic arm assembly is disposed on the support member; A drive assembly is disposed on the support and connected to the telescopic arm assembly, the drive assembly driving the telescopic arm assembly to extend and retract relative to the support.

3. The fork structure according to claim 1, characterized in that, The telescopic mechanism includes: A rigid chain assembly, the rigid chain assembly being disposed on the support member, and the rigid chain assembly being configured to bend only toward one side of the rigid chain assembly; A drive assembly is disposed on the support and engages with the rigid chain assembly to drive the rigid chain assembly to rigidly extend or bend and retract.

4. The fork structure according to claim 1, characterized in that, The auxiliary support component and the push-pull component are located at the same end of the telescopic mechanism.

5. The fork structure according to claim 1, characterized in that, The auxiliary support assembly includes a support wheel, which is rotatably mounted on the side wall of the end of the telescopic mechanism.

6. The fork structure according to claim 5, characterized in that, The support wheel is located on the outside of the telescopic mechanism.

7. The fork structure according to claim 1, characterized in that, Two telescopic mechanisms are provided at intervals along the width direction of the support member, and each telescopic mechanism is provided with the push-pull component and the auxiliary support component.

8. The fork structure according to claim 7, characterized in that, It also includes a push plate, the two telescopic mechanisms are connected by the push plate, and the push plate and the push-pull assembly are spaced apart along the telescopic direction of the telescopic mechanism.

9. The fork structure according to claim 2, characterized in that, The telescopic arm assembly includes at least one fixed arm and at least one movable arm. The fixed arm is disposed on the support member, and the movable arm is throttle-connected to the fixed arm. The push-pull assembly is disposed at both ends of the movable arm.

10. The fork structure according to claim 2, characterized in that, The telescopic boom assembly includes at least three sections, and the at least three sections are drive-connected.

11. The fork structure according to claim 9, characterized in that, Each of the arm segments is arranged sequentially along the width direction of the support member and is connected in a transmission manner.

12. The fork structure according to any one of claims 1-11, characterized in that, The push-pull assembly includes: The second driving member is disposed on the telescopic mechanism; A push-pull rod, which is rotatably disposed at the end of the telescopic mechanism and connected to the second driving member; The second driving member drives the push-pull rod to rotate relative to the telescopic mechanism, so that the push-pull assembly switches between the first position and the second position.

13. A robot, characterized in that, The robot body includes a fork structure as described in any one of claims 1-12, wherein the fork structure is disposed on the robot body. The robot has a bearing surface for supporting the material box. When the push-pull assembly is in the first position, the highest point of the push-pull assembly is higher than the bearing surface. When the push-pull assembly is in the second position, the highest point of the push-pull assembly is lower than the bearing surface or flush with the bearing surface.

14. The robot according to claim 13, characterized in that, The robot also includes a climbing assembly for docking with a track on the shelf to allow the robot to move up and down along the shelf.

15. A warehousing system, characterized in that, Includes a shelf and the robot as described in claim 13 or 14, said shelf comprising: Shelf body; A crossbeam is provided on the shelf body. A first support position and a second support position are arranged parallel to each other on the crossbeam. The second support position is located below the first support position. The first support position is used to support the material box. The second support position is used to support the auxiliary support component on the telescopic mechanism when the telescopic mechanism of the robot extends to the second support position.

Images