Fork leg for a covert forklift robot and covert forklift robot

Abstract

The application provides a fork leg and a hidden forklift robot. The fork leg comprises an upper top plate, a lower bottom plate and a lifting mechanism. The upper top plate comprises at least two sub-top plates. The lifting mechanism comprises a driving assembly and at least two fork arm assemblies in the shape of a scissor fork. The bottom end of each fork arm assembly is connected with the lower bottom plate and the driving assembly respectively. The top end of each fork arm assembly is connected with a sub-top plate respectively. Each sub-top plate is lifted synchronously by driving the driving assembly to drive each fork arm assembly to lift synchronously. The upper top plate is divided into at least two sub-top plates. Each sub-top plate is connected by a fork arm assembly. The length of each sub-top plate is smaller than that of a whole top plate. The sum of the lengths of the two sub-top plates can meet the length requirement of the top plate, so that the fork leg can carry a large-size beam pallet. Since the size of the sub-top plate is reduced, the span of the fork arm assembly is also reduced, and the lifting angle of the fork arm is increased.

Description

Technical Field

[0001] This utility model relates to the field of automated guided transport technology, and in particular to a fork leg for a lurking forklift robot and a lurking forklift robot. Background Technology

[0002] In commonly used AGVs (Automated Guided Vehicles) for forklift handling, as the size of the pallet carried by the AGV increases, the required length of the top plate of the forks naturally increases as well. This increased top plate length necessitates a larger span between the two forks to ensure the stability of the lifting mechanism. At the same initial height, the lifting angle of the forks is smaller. Under heavier loads, the fork assembly has less effective lifting force, resulting in greater stress on the fork assembly when lifting the same weight, increasing the difficulty of lifting and increasing the risk of damage to the fork assembly, ultimately causing the lifting mechanism to malfunction. Conversely, when the fork assembly is initially low, the length of the top plate is limited to ensure the lifting angle is not too small, making it less suitable for larger pallets. Utility Model Content

[0003] The purpose of this utility model embodiment is to provide a forklift leg for a stealthy forklift robot and a stealthy forklift robot, to solve the problem that the forklift leg is not suitable for heavy loads and low initial position. The specific technical solution is as follows:

[0004] The first aspect of this application provides a forklift leg for a lurking forklift robot, the forklift leg comprising: an upper top plate including at least two sub-top plates; a lower bottom plate; and a lifting mechanism including a drive assembly and at least two scissor-shaped fork arm assemblies, the bottom end of each fork arm assembly being connected to the lower bottom plate and the drive assembly respectively, and the top end of each fork arm assembly being connected to one of the sub-top plates respectively; the drive assembly drives each fork arm assembly to rise and fall synchronously, so that each sub-top plate rises and falls synchronously.

[0005] In some embodiments, each fork arm assembly includes an active arm and a driven arm, the active arm and the driven arm being centrally hinged in a scissor fork shape; the top end of the active arm is rotatably connected to the top plate, the bottom end of the active arm is rotatably connected to the drive assembly, the top end of the driven arm is rotatably slidably connected to the top plate, and the bottom end of the driven arm is rotatably connected to the lower base plate; the drive assembly drives the active arm to reciprocate synchronously along a length direction parallel to the lower base plate, causing the angle between the driven arm and the active arm to change, thereby driving the fork arm assembly to move up and down.

[0006] In some embodiments, the drive assembly includes a drive component and a transmission component; the output shaft of the drive component is connected to one end of the transmission component, and the other end of the transmission component is connected to the bottom end of the drive arm. The transmission component is used to convert the rotation of the drive component into translation, thereby driving the bottom end of the drive arm to reciprocate along the length direction parallel to the lower base plate, thereby causing the angle between the driven arm and the drive arm to change, thereby driving each fork arm assembly to rise or fall synchronously.

[0007] In some embodiments, the driving component is a drive motor, and the transmission component includes a lead screw and at least two sliding members sleeved on the lead screw. Each sliding member is rotatably connected to the bottom end of one of the active arms, and the sliding member is slidably connected to the lower base plate. The drive motor drives the lead screw to rotate, and the rotation of the lead screw causes the sliding member to reciprocate along the lead screw.

[0008] In some embodiments, at least one of the sliding members is an adjustable member, the adjustable member including a base and a top cover and a rotating body located between the two, the base and the top cover being detachably connected, and the end of the base away from the rotating body being slidably connected to the lower base plate, the top cover and the rotating body being restricted from relative movement by a limiting component; when the top cover and the base are detached, the rotating body can rotate relative to the lead screw to adjust its position on the lead screw; when the top cover and the base are connected, the rotation of the rotating body relative to the lead screw is subject to dual constraints from the top cover and the base.

[0009] In some embodiments, the limiting component includes a protrusion and a groove, one of which is provided on the rotating body and the other on the upper cover. The protrusion protrudes towards the other, and the groove is recessed in a direction away from the other. At least one of the protrusion and the groove is provided in multiples. The protrusion and the groove cooperate to limit the relative movement between the upper cover and the rotating body.

[0010] In some embodiments, the rotating body is a cylindrical structure.

[0011] A second aspect of this application provides a stealthy forklift robot, the stealthy forklift robot comprising: a vehicle body including at least two receiving slots; and forks as described above for the stealthy forklift robot, the forks being able to extend or retract relative to the vehicle body, and in the retracted state, the forks being located within the receiving slots.

[0012] In some embodiments, the vehicle body includes: a main load-bearing frame, the main load-bearing frame including an integrally formed transverse frame and a longitudinal frame, wherein the longitudinal frame includes a left frame, a middle frame and a right frame arranged at intervals, and receiving grooves are formed between the left frame and the middle frame, and between the middle frame and the right frame respectively; a first sheet metal assembly is provided in the left frame, a second sheet metal assembly is provided in the middle frame, a third sheet metal assembly is provided in the right frame, and a transverse sheet metal assembly is provided in the transverse frame; the first sheet metal assembly, the second sheet metal assembly and the third sheet metal assembly are respectively welded to the transverse sheet metal assembly, and the transverse sheet metal assembly is welded to the main load-bearing frame.

[0013] In some embodiments, the vehicle body further includes a left extension, a middle extension, and a right extension corresponding to the left frame, the middle frame, and the right frame, respectively. The left frame is detachably connected to the left extension, the right frame is detachably connected to the right extension, and the middle frame is welded to the middle extension.

[0014] In some embodiments, the vehicle body includes a U-shaped reinforcement member disposed at one end of the main load-bearing frame away from the opening of the receiving slot. The U-shaped reinforcement member has a groove that is consistent with its own shape and has an upward opening. The groove is used to install a crash strip.

[0015] This utility model provides a forklift leg for a lurking forklift robot and a lurking forklift robot. The upper top plate of the forklift leg is divided into at least two sub-top plates, each connected by a fork arm assembly. The length of each sub-top plate is reduced compared to a single, continuous top plate. The length of a single sub-top plate is not limited by the scissor-type lifting mechanism, and the sum of the lengths of the two sub-top plates adequately meets the length requirements of the top plate, enabling the forklift leg to carry large-sized crossbeam pallets. The two sub-top plates are respectively connected to the lower bottom plate via fork arm assemblies. This reduces the span between the two forks of the fork arm assembly, allowing for a larger lifting angle at the same initial height. The fork arm assembly can effectively exert a larger lifting force, thus requiring less force to lift the same weight load. The lifting angle of the fork arm refers to the angle between the line connecting the bottom hinge point and the center hinge point of the fork arm and the horizontal line. The fork arm assemblies of different roof sections are all driven by the same drive assembly, which allows the roof sections to lift synchronously. This provides better stability when lifting larger beam pallets and simplifies the control logic of the control system.

[0016] Of course, any product implementing this utility model does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model 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 only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings.

[0018] Figure 1 This is a schematic diagram of the fork leg in the lifting state provided in the embodiments of this application;

[0019] Figure 2 A structural diagram showing the fork arm assembly and top plate removed from the fork leg;

[0020] Figure 3 This is a schematic diagram of the structure of a stealthy forklift robot with its forks extended and raised to a high position, as provided in an embodiment of this application.

[0021] Figure 4 for Figure 3 Schematic diagram of the middle fork leg section;

[0022] Figure 5 for Figure 4 Enlarged diagram of part A in the middle;

[0023] Figure 6 This is a schematic diagram of the structure of the top cover provided in an embodiment of this application.

[0024] Figure 7 A schematic diagram of the structure of a stealthy forklift robot with its forks retracted into a receiving slot, as provided in an embodiment of this application;

[0025] Figure 8 for Figure 7 A schematic diagram of the structure of a submersible forklift robot with its fork legs extending into the receiving slot.

[0026] Figure 9 This is a structural schematic diagram of the main load-bearing parts of the vehicle body provided in an embodiment of this application;

[0027] Figure 10 for Figure 9 A schematic diagram of the structure of the extended section of the main load-bearing part of the CRRC body after the explosion;

[0028] Figure 11 for Figure 9 Exploded view of the main load-bearing parts of the CRRC body.

[0029] The attached figures are labeled as follows:

[0030] 10 fork legs; 11 upper top plate; 111 split top plate; 12 lower base plate; 121 slide rail; 13 lifting mechanism; 131 fork arm assembly; 1311 driving arm; 1312 driven arm; 132 drive assembly; 1321 drive component; 1322 transmission component; 13221 lead screw; 13222 sliding component; 13222 upper cover; 132221 groove; 1322211 rotating body; 132222 base; 132223 lead screw fixing seat;

[0031] Vehicle body 20; receiving slot 20a; main load-bearing frame 21; transverse frame 211; longitudinal frame 212; left frame 2121; middle frame 2122; right frame 2123; first sheet metal assembly 22; second sheet metal assembly 23; third sheet metal assembly 24; transverse sheet metal assembly 25; left extension 26; middle extension 27; right extension 28; U-shaped reinforcement 29. Detailed Implementation

[0032] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art based on this application are within the protection scope of the present utility model.

[0033] To address the issue that forklifts are unsuitable for heavy loads and have a low initial position, this application provides a forklift leg 10 for a stealthy forklift robot, such as... Figure 1 As shown, where Figure 1 This is a schematic diagram of the fork leg in the lifted state according to an embodiment of this application. The fork leg 10 includes an upper top plate 11 and a lower bottom plate 12. The upper top plate 11 includes at least two sub-top plates 111. The lifting mechanism 13 includes a drive assembly 132 and at least two scissor-shaped fork arm assemblies 131. The bottom end of each fork arm assembly 131 is connected to the lower bottom plate 12 and the drive assembly 132 respectively, and the top end of each fork arm assembly 131 is connected to a sub-top plate 111 respectively. The drive assembly 132 drives each fork arm assembly 131 to rise and fall synchronously, so that each sub-top plate 111 rises and falls synchronously.

[0034] In this embodiment, the upper top plate 11 is divided into at least two sub-top plates 111. Each sub-top plate 111 is connected by a fork arm assembly 131. The length of each sub-top plate 111 is reduced compared to the length of a single top plate. The length of a single sub-top plate 111 is not limited by the scissor-type lifting mechanism 13, and the sum of the lengths of the two sub-top plates 111 can well meet the length requirements of the top plate, allowing the fork legs 10 to carry large-sized crossbeam pallets. The two sub-top plates 111 are respectively connected to the lower bottom plate 12 through the fork arm assembly 131. This reduces the span between the two forks of the fork arm assembly 131. At the same initial height, the lifting angle of the fork arms (including the active arm 1311 and the driven arm 1312) can be larger, and the fork arm assembly 131 can effectively exert a larger lifting force. Therefore, when lifting the same weight load, the fork arm assembly 131 experiences less force. The lifting angle refers to the angle between the line connecting the bottom hinge point and the center hinge point of one arm and the horizontal line.

[0035] In this case, the fork arm assemblies 131 of different sub-top plates 111 are all driven by the same drive assembly 132, which can keep the sub-top plates 111 moving synchronously. This results in better stability when lifting larger crossbeam pallets and simplifies the control logic of the control system.

[0036] Optionally, such as Figure 1 As shown, each fork arm assembly 131 includes a drive arm 1311 and a driven arm 1312, which are centrally hinged in a scissor-fork shape. The top end of the drive arm 1311 is rotatably connected to the top plate 111, and the bottom end of the drive arm 1311 is rotatably connected to the drive assembly 132. The top end of the driven arm 1312 is rotatably slidably connected to the top plate 111, and the bottom end of the driven arm 1312 is rotatably connected to the lower base plate 12. The drive assembly 132 drives the drive arm 1311 to reciprocate synchronously along the length direction parallel to the lower base plate 12, causing the angle between the driven arm 1312 and the drive arm 1311 to change, thereby driving the fork arm assembly 131 to move up and down.

[0037] In this embodiment, the top end of the active arm 1311 serves as a revolute joint, rotatably connected to the top plate 111, for example, it can be hinged. This application does not limit the specific rotatable connection method. The bottom end of the active arm 1311 serves as a sliding joint, rotatably connected to the drive mechanism. The drive mechanism is used to drive the sliding joint to reciprocate along the length direction parallel to the lower base plate 12. During the sliding process, since the bottom end of the active arm 1311 is rotatably connected to the drive mechanism and the top end is rotatably connected to the top plate 111, the tilt angle of the active arm 1311 can be changed. The top end of the driven arm 1312 serves as a sliding joint, rotatably connected to the top plate 111, and the bottom end serves as a revolute joint, rotatably connected to the lower base plate 12. Therefore, under the drive of the active arm 1311, the driven arm 1312 will slide relative to the top plate 111, and the tilt angle of the driven arm 1312 will change during the sliding process. The rotating joints of the two fork arms are arranged one above the other, and the sliding joints are also arranged one above the other, which makes reasonable use of the arrangement space of the lower base plate 12 and the top plate 111. The drive arm 1311 is driven by the drive assembly 132 to reciprocate synchronously along the length direction parallel to the lower base plate 12. During the reciprocating motion of the drive arm 1311, the angle between the driven arm 1312 and the drive arm 1311 changes, causing the fork arm assembly 131 to perform lifting and lowering movements.

[0038] Understandably, the rotary joints of the driving arm 1311 and the driven arm 1312 can also be arranged on the same side, so that the sliding joints of the driving arm 1311 and the sliding joints of the driven arm 1312 can also be arranged on the same side.

[0039] To improve the lifting strength of the fork arm assembly 131, the fork arm assembly 131 is a fork arm assembly composed of two scissor forks, wherein the two fork arms of the two scissor forks that are close to each other are connected by at least one connecting rod, and the two fork arms of the two scissor forks that are far apart from each other are connected by at least one connecting rod. The two scissor forks can share a common hinge axis, or they can be hinged separately by a hinge axis.

[0040] like Figure 1 , Figure 2 As shown, Figure 2 This is a schematic diagram of the fork arm structure without the fork arm assembly and the top plate. The drive assembly 132 includes a drive component 1321 and a transmission component 1322; the output shaft of the drive component 1321 is connected to one end of the transmission component 1322, and the other end of the transmission component 1322 is connected to the bottom end of the drive arm 1311. The transmission component 1322 is used to convert the rotation of the drive component 1321 into translation, thereby driving the drive arm 1311 to reciprocate along the length direction parallel to the lower base plate 12, thereby causing the lifting mechanism 13 to rise or fall.

[0041] The drive component 1321 is a power output component used to provide power to the transmission component 1322. The transmission component 1322 is used to convert the rotation of the drive component 1321 into translation. Therefore, under the action of the transmission component 1322, the active arm 1311 can be driven to reciprocate along the length direction parallel to the lower base plate 12, thereby enabling the lifting mechanism 13 to rise or fall.

[0042] As a feasible implementation method, refer to Figure 3 , Figure 4 and Figure 5 , Figure 3 This is a schematic diagram of the structure of a stealthy forklift robot with its forks extended and raised to a high position, as provided in an embodiment of this application. Figure 4 for Figure 3 A schematic diagram of the middle cross leg section. Figure 5 for Figure 4 Enlarged schematic diagram of part A. The driving component 1321 is a drive motor, and the transmission component 1322 includes a lead screw 13221 and at least two sliding members 13222 disposed on the lead screw 13221. Each sliding member 13222 is rotatably connected to the bottom end of an active arm 1311, and the sliding member 13222 is slidably connected to the lower base plate 12. The drive motor drives the lead screw 13221 to rotate, and the rotation of the lead screw 13221 causes the sliding member 13222 to reciprocate along the lead screw 13221.

[0043] The output shaft of the drive component 1321 is connected to one end of the lead screw 13221 to drive the lead screw 13221 to rotate. During the rotation of the lead screw 13221, the sliding member 13222 is slidably connected to the lower base plate 12, thus restricting the degree of freedom of the sliding member 13222 relative to the lead screw 13221, allowing the sliding member 13222 to reciprocate relative to the lead screw 13221. By rotatably connecting the bottom end of the active arm 1311 to the sliding member 13222, the tilt angle of the active arm 1311 can be changed, thereby realizing the lifting and lowering of the top plate 111.

[0044] Specifically, refer to Figure 5 The sliding connection between the slider 13222 and the lower base plate 12 can be achieved through the cooperation of the sliding groove and the sliding rail 121. For example, the bottom of the slider 13222 is provided with a sliding groove, and the lower base plate 12 is provided with a sliding rail 121. Of course, other forms of sliding cooperation are also possible.

[0045] The transmission component 1322 is a combination of a lead screw 13221 and a slider 13222. Since the lead screw 13221 is a rigid component, it has a good constraint on the running trajectory of the slider 13222, ensuring that the active arm 1311 moves in a straight line. Moreover, to achieve synchronous lifting of multiple active arms 1311, multiple sliders 13222 are simply installed on the lead screw 13221, and the bottom end of the active arm 1311 is rotatably connected to the slider 13222, which simplifies the structure of the transmission component 1322.

[0046] In fact, the transmission component 1322 also includes a lead screw fixing seat 13223, which is used to support the end of the lead screw 13221 opposite to the motor. The lead screw fixing seat 13223 is fixed on the lower base plate 12.

[0047] Of course, the transmission component 1322 can also be a combination of gears and timing belts, or a combination of sprockets and chains.

[0048] In some embodiments of this application, reference is made to Figure 5 , Figure 6 , Figure 6 The schematic diagram of the upper cover provided in the embodiment of this application shows that at least one of the sliding members 13222 is an adjustable member. The adjustable member includes a base 132223, an upper cover 132221, and a rotating body 132222 located between the two. The base 132223 is detachably connected to the upper cover 132221, and the end of the base 132223 away from the rotating body 132222 is slidably connected to the lower base plate 12. The upper cover 132221 and the rotating body 132222 are restricted from relative movement by a limiting component. When the upper cover 132221 and the base 132223 are detached, the rotating body 132222 can rotate relative to the lead screw 13221 to adjust its position on the lead screw 13221. When the upper cover 132221 and the base 132223 are connected, the rotation of the rotating body 132222 relative to the lead screw 13221 is subject to the dual constraints of the upper cover 132221 and the base 132223.

[0049] In this embodiment, the adjustable component is divided into three parts. After the upper cover 132221 is disassembled, the rotating body 132222 can be rotated, thereby fine-tuning the position of the rotating body 132222. After fine-tuning, the upper cover 132221 is reconnected to the base 132223, which can limit the position of the adjustable component. Since the tilt angle of the active arm 1311 will be changed after the rotating body 132222 is fine-tuned and then the active arm 1311 is reconnected to the adjustable component, the purpose of adjusting the initial height of the split top plate 111 is achieved, which is beneficial for leveling the split top plates 111. By leveling the initial position of the split top plates 111, the height of the split top plates 111 can be kept consistent after synchronous lifting.

[0050] It should be noted that when the top plate is divided into two sub-top plates 111, each sub-top plate 111 has a fork arm assembly 131 underneath. The bottom end of the active arm 1311 of each fork arm assembly 131 is connected to a slider 13222. That is, the lead screw 13221 is provided with two sliders 13222. One slider 13222 can be an adjustable component, and the other can be an adjustable component or a non-adjustable slider 13222.

[0051] The non-adjustable sliding member 13222 can be a one-piece structure, such as a nut that slides with the bottom plate 12, or it can be made into a three-part structure as described above, except that only one of the groove 1322211 and the protrusion is provided.

[0052] When the top plate includes three or more sub-top plates 111, in order to adjust the height of the sub-top plates 111 to be consistent, assuming the number of sub-top plates 111 is N, it is more appropriate to set the number of adjustable parts to N-1. This is equivalent to leveling based on one of them, and then adjusting the height of the remaining sub-top plates 111 in turn.

[0053] As one possible implementation, refer to Figure 5 , Figure 6 The limiting component includes a protrusion and a groove 1322211. One of the protrusion and the groove 1322211 is provided on the rotating body 132222, and the other is provided on the upper cover 132221. The protrusion protrudes towards the other, and the groove 1322211 is recessed in the direction away from the other. At least one of the protrusion and the groove 1322211 is provided in multiples. The protrusion and the groove 1322211 cooperate to limit the relative movement between the upper cover 132221 and the rotating body 132222.

[0054] A protrusion can be provided on the rotating body 132222, and a groove 1322211 can be provided on the upper cover 132221. Alternatively, the configuration can be reversed, with the groove 1322211 provided on the rotating body 132222 and the protrusion provided on the upper cover 132221. Furthermore, multiple protrusions can be provided, and one groove 1322211 can be provided, or one protrusion can be provided, and multiple grooves 1322211 can be provided, or both multiple protrusions and multiple grooves 1322211 can be provided.

[0055] Understandably, the limiting component can be used not only for the fit between the groove 1322211 and the protrusion, but also for the fit between the positioning pin and the positioning hole.

[0056] like Figure 6As shown, the upper cover 132221 has multiple grooves 1322211, and the rotating body 132222 has a protrusion. When the rotating body 132222 rotates, it can engage with the corresponding grooves 1322211. By fine-tuning the initial position of the rotating body 132222 in this way, the initial position of the active arm 1311 can be changed accordingly, thereby leveling the height of the two sub-top plates 111. This method is not only simple in structure but also convenient in operation. The initial position mentioned here can be understood as the position of the sub-top plate 111 after it has descended, and the height of the sub-top plate 111 is adjusted before lifting.

[0057] Optionally, refer to Figure 5 The sliding connection between the lower base plate 12 and the base 132223 can be achieved by providing a slide rail 121 on the lower base plate 12 and a slide groove on the base 132223. The slide rail 121 engages with the slide groove, and the lower base plate 12 and the base 132223 are slidably connected. Through the engagement of the slide rail 121 and the slide groove, the rotation of the sliding member 13222 and the lead screw 13221 can be restricted, and the sliding member 13222 can be guided to perform linear motion.

[0058] In some embodiments of this application, reference is made to Figure 5 The rotating body 132222 has a cylindrical structure. When the rotating body 132222 is fitted onto the lead screw 13221, the protruding portion around its outer edge occupies a uniform volume. Therefore, no additional space is needed around the rotating body 132222 during rotation, allowing it to rotate freely. During fine-tuning, the rotation of the rotating body 132222 will not interfere with the base 132223, nor is it prone to interference with other components.

[0059] The second aspect of this application provides a stealthy forklift robot, such as Figure 7 , Figure 8 As shown, where Figure 7 This is a schematic diagram of the structure of the forklift robot with its forks retracted into the receiving slot, as provided in an embodiment of this application. Figure 8 for Figure 7 A schematic diagram of the structure of a forklift robot with its fork legs extending from the receiving slots. The forklift robot includes a body 20 and at least two fork legs 10 as described above. The body 20 includes at least two receiving slots 20a; the fork legs 10 can extend or retract relative to the body 20, and in the retracted state, the fork legs 10 are located within the receiving slots 20a.

[0060] The upper top plate 11 of the forklift leg 10 of the lurking forklift robot is divided into at least two sub-top plates 111. Each sub-top plate 111 is connected by a scissor-shaped fork arm assembly 131 lifting mechanism 13. The length of each sub-top plate 111 is reduced compared to the single top plate. The length of a single sub-top plate 111 is not limited by the scissor-shaped lifting mechanism 13, and the sum of the lengths of the two sub-top plates 111 can well meet the length requirements of the top plate, enabling the forklift leg 10 to carry large-sized crossbeam pallets. When the forklift leg 10 moves to a designated preset position and begins to lift, the increased length of the upper top plate 11 increases the contact area between the upper top plate 11 and the crossbeam pallet, significantly reducing the risk of the crossbeam pallet tilting or even tipping over.

[0061] Each top plate 111 is connected to the bottom plate 12 via a scissor-shaped fork arm assembly 131. This reduces the span between the two forks of the fork arm assembly 131. At the same initial height, the corresponding fork arm (including the active arm 1311 and the driven arm 1312) has a larger lifting angle, and the fork arm assembly 131 can effectively exert a larger lifting force. Therefore, when lifting the same weight load, the fork arm assembly 131 mechanism experiences less force.

[0062] In some embodiments of this application, such as Figure 9 , Figure 10 and Figure 11 As shown, Figure 9 This is a structural diagram of the main load-bearing parts of the vehicle body provided in an embodiment of this application. Figure 10 for Figure 9 A schematic diagram of the structure of the extended section of the main load-bearing part of the CRRC body after the explosion. Figure 11 for Figure 9 Exploded view of the main load-bearing parts of the vehicle body. The vehicle body 20 includes a main load-bearing frame 21, which includes an integrally formed transverse frame 211 and a longitudinal frame 212. The longitudinal frame 212 includes a left frame 2121, a middle frame 2122, and a right frame 2123 arranged at intervals. Receiving grooves 20a are formed between the left frame 2121 and the middle frame 2122, and between the middle frame 2122 and the right frame 2123, respectively. A first sheet metal assembly 22 is provided in the left frame 2121, a second sheet metal assembly 23 is provided in the middle frame 2122, a third sheet metal assembly 24 is provided in the right frame 2123, and a transverse sheet metal assembly 25 is provided in the transverse frame 211. The first sheet metal assembly 22, the second sheet metal assembly 23, and the third sheet metal assembly 24 are welded to the transverse sheet metal assembly 25, and the transverse sheet metal assembly 25 is welded to the main load-bearing frame 21.

[0063] The one-piece main load-bearing frame 21 forms the main frame structure of the vehicle body 20. A first sheet metal assembly 22, a second sheet metal assembly 23, and a third sheet metal assembly 24 are installed within the left frame 2121, middle frame 2122, and right frame 2123 of the main load-bearing frame 21. A transverse sheet metal assembly 25 is installed within the transverse frame 211, further increasing the load-bearing strength and functional structure of the main load-bearing frame 21. The first sheet metal assembly 22, second sheet metal assembly 23, third sheet metal assembly 24, and transverse sheet metal assembly 25 are structures welded from multiple sheet metal parts. The one-piece design of the main load-bearing frame 21 improves the load-bearing capacity of the vehicle body 20, reduces the sagging deformation of the middle frame 2122, and makes the dimensions of the receiving groove 20a easier to control, thus improving the dimensional accuracy of the receiving groove 20a.

[0064] In some embodiments of this application, reference is made to Figure 10 and Figure 11 The vehicle body 20 also includes a left extension 26, a middle extension 27, and a right extension 28 corresponding to the left frame 2121, the middle frame 2122, and the right frame 2123, respectively. The left frame 2121 is detachably connected to the left extension 26, the right frame 2123 is detachably connected to the right extension 28, and the middle frame 2122 is welded to the middle extension 27.

[0065] In this embodiment, an extension is provided on the basis of the main load-bearing frame 21. The extension is spliced ​​with the main load-bearing frame 21, which increases the length of the vehicle body 20, enabling it to pick up larger crossbeam pallets. Furthermore, by splicing, the size of the vehicle body 20 is lengthened, which slightly reduces the overall size of the main load-bearing frame 21, thereby reducing the manufacturing difficulty of the main load-bearing frame 21 and the manufacturing cost of the vehicle body 20.

[0066] The left extension 26 is detachably connected to the left frame 2121, and the right extension 28 is detachably connected to the right frame 2123. Each of the left extension 26 and the left frame 2121 has a locating pin and a locating pin hole, respectively. For example, the left frame 2121 has a locating pin at its front end, and the left extension 26 has a locating pin hole. The cooperation of the locating pin and the locating pin hole improves the installation accuracy between the left extension 26 and the left frame 2121. Similarly, each of the right extension 28 and the right frame 2123 has a locating pin and a locating pin hole, respectively. For example, the right frame 2123 has a locating pin at its front end, and the right extension 28 has a locating pin hole. The cooperation of the locating pin and the locating pin hole improves the installation accuracy between the right extension 28 and the right frame 2123.

[0067] The intermediate frame 2122 and the intermediate extension 27 are connected by welding to strengthen the connection and reduce the risk of the intermediate extension 27 sagging and deforming relative to the intermediate frame 2122, which helps to extend the service life of the vehicle body 20.

[0068] In some embodiments of this application, reference is made to Figure 10 and Figure 11 The vehicle body 20 includes a U-shaped reinforcing member 29, which is located at the end of the main load-bearing frame 21 away from the opening of the receiving groove 20a. The U-shaped reinforcing member 29 has a groove 1322211 that is consistent with its own shape and has an upward opening. The groove 1322211 is used to install anti-collision strips.

[0069] By setting a U-shaped reinforcing member 29 at the end of the vehicle body 20 away from the opening of the receiving groove 20a, and setting an anti-collision strip in the groove 1322211 of the U-shaped reinforcing member 29, the anti-collision strip preferably can play a certain buffering role when the vehicle body 20 collides with an external object, reduce the damage to the structure of the vehicle body 20, and improve the anti-collision performance of the vehicle body 20.

[0070] The above description is merely a preferred embodiment of this utility model and is not intended to limit the scope of protection of this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model are included within the scope of protection of this utility model.

Claims

1. A fork leg for a latent fork truck robot, characterized by, The fork leg (10) includes: The upper roof plate (11) includes at least two sub-roof plates (111); Bottom plate (12); The lifting mechanism (13) includes a drive assembly (132) and at least two scissor-shaped fork arm assemblies (131), the bottom end of each fork arm assembly (131) being connected to the lower base plate (12) and the drive assembly (132) respectively, and the top end of each fork arm assembly (131) being connected to a split top plate (111). The drive assembly (132) drives each of the fork arm assemblies (131) to rise and fall synchronously, so that each sub-top plate (111) rises and falls synchronously.

2. The fork leg for a latent fork truck robot according to claim 1, wherein Each of the fork arm assemblies (131) includes an active arm (1311) and a driven arm (1312), the active arm (1311) and the driven arm (1312) being centrally hinged in a scissor fork shape; the top end of the active arm (1311) is rotatably connected to the split top plate (111), the bottom end of the active arm (1311) is rotatably connected to the drive assembly (132), the top end of the driven arm (1312) is rotatably slidably connected to the split top plate (111), and the bottom end of the driven arm (1312) is rotatably connected to the lower base plate (12); The drive assembly (132) drives the active arm (1311) to reciprocate synchronously along the length direction parallel to the lower base plate (12), thereby causing the angle between the driven arm (1312) and the active arm (1311) to change, thereby driving the lifting and lowering movement of the fork arm assembly (131).

3. The fork leg for a latent fork truck robot of claim 2, wherein, The drive assembly (132) includes a drive component (1321) and a transmission component (1322); The output shaft of the drive component (1321) is connected to one end of the transmission component (1322), and the other end of the transmission component (1322) is connected to the bottom end of the drive arm (1311). The transmission component (1322) is used to convert the rotation of the drive component (1321) into translation, thereby driving the bottom end of the drive arm (1311) to reciprocate along the length direction parallel to the lower base plate (12), thereby causing the angle between the driven arm (1312) and the drive arm (1311) to change, thereby driving each fork arm assembly (131) to rise or fall synchronously.

4. The fork legs for a stealthy forklift robot according to claim 3, characterized in that, The driving component (1321) is a drive motor, and the transmission component (1322) includes a lead screw (13221) and at least two sliding members (13222) sleeved on the lead screw (13221). Each sliding member (13222) is rotatably connected to the bottom end of one of the active arms (1311), and the sliding member (13222) is slidably connected to the lower base plate (12). The drive motor drives the lead screw (13221) to rotate, and the rotation of the lead screw (13221) causes the sliding member (13222) to reciprocate along the lead screw (13221).

5. The fork legs for a stealthy forklift robot according to claim 4, characterized in that, At least one of the sliding members (13222) is an adjustable member, the adjustable member including a base (132223) and a top cover (132221) and a rotating body (132222) located between the two, the base (132223) and the top cover (132221) are detachably connected, and the end of the base (132223) away from the rotating body (132222) is slidably connected to the lower base plate (12), the top cover (132221) and the rotating body (132222) are restricted from relative movement by a limiting component; When the upper cover (132221) and the base (132223) are detached, the rotating body (132222) can rotate relative to the lead screw (13221) to adjust its position on the lead screw (13221); When the upper cover (132221) and the base (132223) are connected, the rotation of the rotating body (132222) relative to the lead screw (13221) is subject to the dual constraints of the upper cover (132221) and the base (132223).

6. The fork legs for a stealthy forklift robot according to claim 5, characterized in that, The limiting component includes a protrusion and a groove (1322211). One of the protrusion and the groove (1322211) is provided on the rotating body (132222), and the other is provided on the upper cover (132221). The protrusion protrudes towards the other, and the groove (1322211) is recessed towards the opposite direction. At least one of the protrusion and the groove (1322211) is provided in multiples. The protrusion and the groove (1322211) cooperate to limit the relative movement between the upper cover (132221) and the rotating body (132222).

7. The fork leg for a latent fork truck robot of claim 5, wherein, The rotating body (132222) has a cylindrical structure.

8. A stealthy forklift robot, characterized in that, The stealthy forklift robot includes: The vehicle body (20) includes at least two receiving slots (20a); The fork (10) for a lurking forklift robot according to any two of claims 1-7, the fork (10) being extendable or retractable relative to the vehicle body (20), and in the retracted state, the fork (10) being located within the receiving groove (20a).

9. The latent fork truck robot of claim 8, wherein, The vehicle body (20) includes: The main load-bearing frame (21) includes an integrally formed transverse frame (211) and a longitudinal frame (212), wherein the longitudinal frame (212) includes a left frame (2121), a middle frame (2122) and a right frame (2123) arranged at intervals, and receiving grooves (20a) are formed between the left frame (2121) and the middle frame (2122), and between the middle frame (2122) and the right frame (2123); The left frame (2121) is provided with a first sheet metal assembly (22), the middle frame (2122) is provided with a second sheet metal assembly (23), the right frame (2123) is provided with a third sheet metal assembly (24), and the transverse frame (211) is provided with a transverse sheet metal assembly (25). The first sheet metal assembly (22), the second sheet metal assembly (23) and the third sheet metal assembly (24) are respectively welded to the transverse sheet metal assembly (25), and the transverse sheet metal assembly (25) is welded to the main load-bearing frame (21).

10. The latent fork truck robot of claim 9, wherein, The vehicle body (20) also includes a left extension (26), a middle extension (27), and a right extension (28) corresponding to the left frame (2121), the middle frame (2122), and the right frame (2123), respectively. The left frame (2121) is detachably connected to the left extension (26), the right frame (2123) is detachably connected to the right extension (28), and the middle frame (2122) is welded to the middle extension (27).

11. The latent fork truck robot of claim 9, wherein, The vehicle body (20) includes a U-shaped reinforcing member (29), which is located at one end of the main load-bearing frame (21) away from the opening of the receiving groove (20a). The U-shaped reinforcing member (29) has a groove (1322211) that is consistent with its own shape and has an upward opening. The groove (1322211) is used to install anti-collision strips.

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