A handling robot for field tray pallets

Abstract

This utility model relates to a handling robot suitable for lattice pallets, including a frame and a fork assembly. The frame has an installation notch, and the fork assembly is slidably disposed within the notch. The fork assembly includes a fork support plate, a lifting motor, a scissor lift, and a fork moving frame. A lead screw is connected to the output shaft of the lifting motor, and a lead screw nut is provided on the lead screw. One end of the upper part of the scissor lift is hinged to the lead screw nut, and the other end of the upper part of the scissor lift is hinged to the fork support plate. Support wheels are provided at both ends of the lower part of the scissor lift. One end of the fork support plate is longitudinally slidably disposed on the fork moving frame. A drive motor is also provided in the fork moving frame, and a gear is fixed on the output shaft of the drive motor. A rack is also provided on the side wall of the installation notch. The meshing transmission of the gear and rack allows the fork assembly to extend or retract into the installation notch. This utility model's fork assembly has high integration, telescopic lifting function, and stable operation, meeting the handling requirements of lattice pallets.

Description

Technical Field

[0001] This utility model belongs to the field of warehousing equipment technology, and in particular relates to a handling robot suitable for crisscross pallets. Background Technology

[0002] With the rapid development of the logistics and warehousing industry, the demand for automated and intelligent handling equipment is increasing daily. As the core of unitized logistics carriers, pallets directly affect the operational efficiency of the entire logistics system. Among the many types of pallets, the grid pallet, named for its bottom support structure arranged in a grid shape, is structurally stable, has a strong load-bearing capacity, and is widely used.

[0003] Currently, common equipment for handling crisscross pallets includes manual hydraulic pallet trucks and various types of forklift AGVs (Automated Guided Vehicles). While manual hydraulic pallet trucks are inexpensive and flexible, they rely entirely on manual labor, resulting in high labor intensity, low efficiency, and difficulty in integration into modern automated logistics systems. Most existing forklift AGVs typically use traditional mast-type structures or simple vertical lifting mechanisms for their fork lifting mechanisms. When performing pick-up and drop operations, these AGVs need to fully extend the entire fork assembly (along with its heavy support structure) under the pallet's leg openings. This might be feasible for standard European pallets (two-way fork entry), but the problems are particularly pronounced for the more complex crisscross pallets (four-way fork entry but with limited space): their "crisscross" bottom structure makes the space available for fork insertion (i.e., the fork leg holes) much narrower in both height and width. The heavy forklift components and support structures of traditional AGVs often cannot be inserted smoothly and accurately into these narrow spaces, and are prone to interference and collision with the crossbeams at the bottom of the pallet, resulting in failure to pick up or place goods, or even damage to the pallet or the equipment itself.

[0004] Furthermore, some existing handling robots make their forks very thin to solve the insertion problem, but this sacrifices their structural strength and load-bearing capacity. Other solutions use complex multi-degree-of-freedom robotic arms to grip the pallet, which avoids the insertion problem, but the system is expensive, structurally complex, difficult to maintain, and relatively inefficient.

[0005] Therefore, the industry urgently needs a handling robot specifically designed for lattice pallets. This robot needs a unique fork mechanism: on the one hand, it must be able to reliably lift and lower the pallet; on the other hand, in non-working or moving states, it should be able to retract horizontally, making its overall structure more compact and slim, allowing it to easily and without collision insert into the narrow fork holes at the bottom of the lattice pallet. Simultaneously, the mechanism must ensure sufficient rigidity and load-bearing strength after unfolding and lifting to safely and stably transport heavy objects. This invention arose in response to this technological background. Utility Model Content

[0006] To address the aforementioned technical problems, the purpose of this utility model is to provide a handling robot suitable for crisscross pallets. This handling robot has a high degree of structural integration and its lifting action is efficient, stable, and reliable.

[0007] To achieve the above-mentioned objectives, this utility model adopts the following technical solution:

[0008] A handling robot suitable for palletizing in a grid pattern includes a frame and a fork assembly. The frame has an installation notch, and the fork assembly is slidably disposed within the notch. The fork assembly includes a fork support plate, a lifting motor, a scissor lift, and a fork moving frame. The lifting motor is fixed to the lower part of the fork support plate, and a lead screw is connected to the output shaft of the lifting motor. A lead screw nut is provided on the lead screw. One end of the upper part of the scissor lift is hinged to the lead screw nut, and the other end of the upper part of the scissor lift is hinged to the fork support plate. Support wheels are provided at both ends of the lower part of the scissor lift. The lifting motor drives the movement of the lead screw nut, causing the fork support plate to be lifted or lowered by the scissor lift. One end of the fork support plate is slidably disposed longitudinally on the fork moving frame, which also contains a drive motor. A gear is fixed to the output shaft of the drive motor, and a rack is provided on the side wall of the installation notch. Through the meshing of the gear and rack, the fork assembly extends or retracts into the installation notch.

[0009] As a preferred embodiment, the two sides of the scissor support plate are folded inward to form a support edge, and a guide pulley is provided on the outer side of the end of the upper part of the scissor frame that is hinged to the lead screw nut. The guide pulley rests on the support edge.

[0010] As a preferred embodiment, one end of the fork support plate is fixed with a lifting guide plate, the inner walls of the fork moving frame are respectively provided with longitudinal guide grooves, and the two sides of the lifting guide plate are respectively provided with rollers, which are arranged in the longitudinal guide grooves.

[0011] As a preferred embodiment, the fork-leg moving frame is also provided with guide wheels on both sides, and a support bar is fixed on one side wall of the mounting notch of the frame. The guide wheels are set on the support bar and the rack.

[0012] As a preferred embodiment, the lower part of the mounting notch sidewall of the frame is also provided with a lower support plate, and the guide wheels on both sides of the fork leg moving frame are in two sets, upper and lower. The upper guide wheels are set on the support bar and rack, and the lower guide wheels are set on the lower support plate.

[0013] As a preferred embodiment, the end of the rack, lower support plate, or support bar is further provided with a limiting block.

[0014] As a preferred embodiment, the two sides of the middle part of the fork support plate are provided with a central guide rod assembly, and the two central guide rod assemblies are staggered with each other, and the two central guide rod assemblies are respectively set on the support bar and the rack.

[0015] As a preferred embodiment, the frame includes a bottom frame and a cover plate that are fixed to each other, and the cover plate is also provided with a clearance notch for avoiding the central guide rod assembly.

[0016] As a preferred embodiment, the vehicle frame is E-shaped, with a power wheel assembly, a swivel wheel, and a battery assembly respectively installed in the bottom frames on both sides. The power wheel assembly and the swivel wheel form a lever structure through a balance arm, and a controller assembly is fixed in the bottom frame in the middle.

[0017] As a preferred embodiment, both ends of the lead screw are connected to the fork support plate via support blocks. There are two lead screws, lead screw nuts, and scissor lifts, and the two lead screws are fixedly connected by flanges.

[0018] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0019] This invention designs the entire fork assembly to slide horizontally within the frame mounting notch, allowing the fork assembly to fully extend as the robot moves and approaches the pallet, forming a very slim overall profile. This ensures that the robot's fork assembly can easily and without collision enter the height-restricted fork holes at the bottom of the lattice pallet. Furthermore, the fork assembly employs a screw and nut combined with a scissor fork mechanism, achieving efficient and stable lifting movements. The scissor fork mechanism amplifies the small linear displacement of the screw and nut into a large lifting stroke of the fork support plate, achieving the goal of lifting heavy loads with a smaller motor and screw, resulting in a compact structure and superior mechanical performance.

[0020] This invention separates and integrates the horizontal telescopic motion (driven by a drive motor and rack and pinion) and the vertical lifting motion (driven by a lifting motor and scissor lift) into the fork-leg moving frame and fork-leg support plate. The two actions are independent yet work in concert, with clear control logic and distinct mechanical structure, thus improving the reliability and maintainability of the system. Attached Figure Description

[0021] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute a limitation thereof.

[0022] Figure 1 and Figure 2 These are structural schematic diagrams of this utility model from two different angles;

[0023] Figure 3 This is a schematic diagram of the structure of the vehicle frame after the cover plate is removed;

[0024] Figure 4 and Figure 5 This is a schematic diagram of the fork-leg assembly of this utility model at two different angles.

[0025] The reference numerals in the accompanying drawings are as follows: 1. Frame; 10. Base frame; 11. Cover plate; 12. Clearance notch; 13. Rack; 14. Lower support plate; 15. Support bar; 16. Limiting block; 2. Fork leg assembly; 21. Fork leg support plate; 211. Support edge; 212. Central guide rod assembly; 22. Lifting guide plate; 23. Fork leg moving frame; 231. Drive motor; 232. Gear; 233. Guide wheel; 234. Longitudinal guide groove; 24. Lifting motor; 25. Lead screw; 26. Lead screw nut; 27. Scissor fork frame; 271. Support wheel; 272. Guide pulley; 28. Support block; 3. Fork leg connecting frame; 4. Cable chain; 5. Drive wheel assembly; 6. Universal wheel; 7. Balance arm; 8. Battery assembly. Detailed Implementation

[0026] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0027] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0028] Furthermore, in the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "clockwise," and "counterclockwise," 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 utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0029] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more, unless otherwise expressly defined.

[0030] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0031] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0032] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0033] like Figures 1 to 5The robot shown is suitable for handling pallets in a grid pattern. It includes a frame 1 and a fork-leg assembly 2. The frame 1 has an installation notch, and the fork-leg assembly 2 is slidably disposed within the installation notch. The fork-leg assembly 2 comprises a fork-leg support plate 21, a lifting motor 24, a scissor lift 27, and a fork-leg moving frame 23. The lifting motor 24 is fixed to the lower part of the fork-leg support plate 21. A lead screw 25 is connected to the output shaft of the lifting motor 24, and a lead screw nut 26 is provided on the lead screw 25. One end of the upper part of the scissor lift 27 is hinged to the lead screw nut 26, and the other end of the upper part of the scissor lift 27 is hinged to the fork-leg support plate 21. Next, both ends of the lower part of the scissor lift 27 are equipped with support wheels 271. The movement of the lead screw nut 26 driven by the lifting motor 24 causes the fork support plate 21 to be lifted or lowered by the scissor lift 27. One end of the fork support plate 21 is longitudinally slidably mounted on the fork moving frame 23. The fork moving frame 23 is also equipped with a drive motor 231. A gear 232 is fixed on the output shaft of the drive motor 231. A rack 13 is also provided on the side wall of the mounting notch. The rack 13 is located above the gear 232. Through the meshing transmission between the gear 232 and the lower end face of the rack 13, the fork assembly 2 extends or retracts into the mounting notch. The two fork moving frames 23 are fixed by the fork connecting frame 3. A drag chain 4 is also provided in the middle of the fork connecting frame 3 and the frame 1.

[0034] The aforementioned structure employs a lead screw and nut in conjunction with a scissor lift, achieving efficient and stable lifting operations. The lead screw is driven by a lifting motor and features a self-locking function, reliably maintaining its position after lifting to prevent it from falling due to power outages or malfunctions when handling heavy objects, ensuring safety and reliability. Furthermore, the lead screw transmission offers high precision and accurate control.

[0035] Both ends of the lead screw 25 are connected to the fork support plate 21 via support blocks 28. There are two lead screws 25, lead screw nuts 26, and scissor lift frames 27, with the two lead screws 25 fixedly connected by flanges. This symmetrical layout of double lead screws and double scissor lifts ensures even distribution of lifting force, avoiding the off-center load problems that may exist in a single system. The rigid connection of the two lead screws via flanges ensures absolutely synchronous movement, preventing the fork support plate from jamming or being damaged due to asynchronous lifting. Furthermore, the double lead screw structure itself forms a stable frame, greatly enhancing the entire lifting system's ability to resist off-center load moments, enabling it to lift heavy objects more smoothly and reliably.

[0036] The two sides of the fork support plate 21 are folded inward to form a support edge 211. A guide pulley 272 is also provided on the outer side of the end of the scissor lift 27 that is hinged to the lead screw nut 26. The guide pulley 272 rests on the support edge 211. The lifting force of the scissor lift is transmitted to the support edge through the guide pulley, converting sliding friction into rolling friction. This greatly reduces frictional resistance and wear during the lifting process, making the lifting action smoother and more stable, while also reducing the load and energy consumption of the lifting motor. Simultaneously, the support edge provides a continuous and flat rolling track for the guide pulley, ensuring that the top of the scissor lift does not shift during movement, enhancing the stability and structural rigidity of the lifting process.

[0037] One end of the fork support plate 21 is fixed with a lifting guide plate 22. The inner walls of the fork moving frame 23 are respectively provided with longitudinal guide grooves 234. Rollers are respectively provided on both sides of the lifting guide plate 22, and the rollers are positioned within the longitudinal guide grooves. The rollers on the lifting guide plate cooperate with the longitudinal guide grooves on the fork moving frame, providing precise vertical guidance for the lifting movement of the fork support plate, effectively preventing swaying and jamming during lifting. Furthermore, when the fork support plate lifts the pallet and moves, it may be subjected to lateral forces such as inertia. This guide structure can effectively withstand these lateral moments, ensuring the stability and accuracy of the entire fork assembly.

[0038] The fork-leg moving frame 23 is also equipped with guide wheels 233 on both sides, and a support bar 15 is fixed on one side wall of the mounting notch of the frame 1. The guide wheels 233 are set on the support bar 15 and the rack 13. The guide wheels are constrained on the track formed between the support bar and the rack, providing stable and smooth rolling support for the horizontal extension and retraction of the fork-leg moving frame, avoiding tilting, jamming or excessive noise during movement. The guide wheels not only play a guiding role, but also work with the support bar to support the weight of the fork-leg assembly and its load, distributing the force to the frame and improving the overall load-bearing capacity of the structure.

[0039] The lower part of the mounting notch sidewall of the frame 1 is also provided with a lower support plate 14. The guide wheels 233 on both sides of the fork-leg moving frame 23 are in two sets, upper and lower. The upper guide wheels 233 are mounted on the support bar 15 and rack 13, while the lower guide wheels 233 are mounted on the lower support plate 14. By setting two sets of guide wheels, which are respectively constrained to the support bar / rack and the lower support plate, a highly stable "dual-track" support system is formed. When the fork-leg assembly is fully extended and bears a heavy load, a huge overturning moment is generated. This structure can strongly resist this moment, preventing the front end of the fork-leg moving frame from sinking or twisting, ensuring the feasibility and safety of the telescopic movement under heavy load.

[0040] The ends of the rack 13, lower support plate 14, or support bar 15 are also provided with limiting blocks 16. Mechanical hard limiting is provided: the limiting block acts as a safety barrier, physically restricting the travel end point of the fork leg moving frame, preventing it from over-extending or retracting due to sensor or control system failure, avoiding serious accidents such as gear and rack disengagement or mechanism collision, and protecting equipment safety.

[0041] The fork support plate 21 has two central guide rod assemblies 212 on both sides of its middle section, and the two central guide rod assemblies 212 are staggered with each other. The two central guide rod assemblies 212 are respectively mounted on the support bar 15 and the rack 13. The clearance notch on the cover plate provides the necessary movement space for the central guide rod assembly during the combined movement of lifting and extending, ensuring that the fork assembly will not collide with the frame cover plate throughout its working range, thus guaranteeing the realization of its function.

[0042] The frame 1 includes a base frame 10 and a cover plate 11 fixed to each other. The cover plate 11 is also provided with a clearance notch 12 to avoid the central guide rod assembly 212. The frame 1 is E-shaped. The base frames 10 on both sides are respectively provided with a drive wheel assembly 5, a universal wheel 6, and a battery assembly 8. The drive wheel assembly 5 and the universal wheel 6 form a lever structure through a balance arm 7. The controller assembly is fixed in the middle base frame 10. The drive wheel assembly 5 and the universal wheel 6 are located in the front middle part, and the battery assembly is located in the rear middle part. The two universal wheels 6 at the rear form a lever structure through a balance arm 7, and the rear balance arm 7 is perpendicular to the mounting notch.

[0043] The E-shaped frame structure offers several advantages: a central opening for the forklift assembly, and side arms for the running gear and power system, resulting in high space utilization and a rational layout. The lever-type balance arm structure provides further advantages: the drive wheel and casters are connected via the balance arm, allowing the drive wheel to better adapt to uneven ground, ensuring consistent contact with the ground, and improving traction and driving stability, especially effective on uneven warehouse floors.

[0044] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0045] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention without departing from the principles and spirit of the present invention. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention shall still fall within the scope of the technical solution of the present invention.

Claims

1. A carrying robot suitable for field-shaped tray pallets, comprising a frame (1) and a fork leg assembly (2), the frame (1) is provided with a mounting gap, and the fork leg assembly (2) is slidingly arranged in the mounting gap, characterized in that: The fork assembly (2) includes a fork support plate (21), a lifting motor (24), a scissor lift (27), and a fork moving frame (23). The lifting motor (24) is fixed to the lower part of the fork support plate (21). A lead screw (25) is connected to the output shaft of the lifting motor (24). A lead screw nut (26) is provided on the lead screw (25). One end of the upper part of the scissor lift (27) is hinged to the lead screw nut (26), and the other end of the upper part of the scissor lift (27) is hinged to the fork support plate (21). Support wheels (271) are provided at both ends of the lower part of the scissor lift (27). The lifting motor (24) drives the movement of the lead screw nut (26), causing the fork support plate (21) to be lifted or lowered by the scissor lift frame (27); one end of the fork support plate (21) is longitudinally slidably mounted on the fork moving frame (23), and the fork moving frame (23) is also provided with a drive motor (231), and a gear (232) is fixed on the output shaft of the drive motor (231). A rack (13) is also provided on the side wall of the mounting notch. Through the meshing transmission of the gear (232) and the rack (13), the fork assembly (2) extends or retracts into the mounting notch.

2. The carrying robot for a field tray according to claim 1, wherein The two sides of the fork support plate (21) are folded inward to form a support edge (211). The upper part of the scissor fork frame (27) is also provided with a guide pulley (272) on the outer side of the end that is hinged to the lead screw nut (26). The guide pulley (272) rests on the support edge (211).

3. The carrying robot for a field tray according to claim 1, wherein One end of the fork support plate (21) is fixed with a lifting guide plate (22), and the inner walls of the fork moving frame (23) are respectively provided with longitudinal guide grooves (234). The lifting guide plate (22) is provided with rollers on both sides, and the rollers are set in the longitudinal guide grooves.

4. The carrying robot for a field tray according to claim 1, wherein The fork-leg moving frame (23) is also provided with guide wheels (233) on both sides, and a support bar (15) is fixed on one side wall of the mounting notch of the frame (1). The guide wheels (233) are set on the support bar (15) and the rack (13).

5. The carrying robot for a field tray according to claim 4, wherein The lower part of the mounting notch sidewall of the frame (1) is also provided with a lower support plate (14). The guide wheels (233) on both sides of the fork leg moving frame (23) are two sets, one upper and one lower. The upper guide wheel (233) is set on the support bar (15) and the rack (13), and the lower guide wheel (233) is set on the lower support plate (14).

6. The carrying robot suitable for a field-shaped tray according to claim 5, wherein The ends of the rack (13), lower support plate (14) or support bar (15) are also provided with limiting blocks (16).

7. The carrying robot for a field tray according to claim 1, wherein The fork support plate (21) has two central guide rod assemblies (212) on both sides of the middle part, and the two central guide rod assemblies (212) are staggered and are respectively set on the support bar (15) and the rack (13).

8. The handling robot suitable for use with a grid pallet according to claim 7, wherein, The frame (1) includes a bottom frame (10) and a cover plate (11) that are fixed to each other. The cover plate (11) is also provided with a clearance notch (12) for avoiding the central guide rod assembly (212).

9. The carrying robot for a field tray according to claim 1, wherein The frame (1) is E-shaped, with a power wheel assembly (5), a universal wheel (6) and a battery assembly (8) respectively installed in the bottom frame (10) on both sides. The power wheel assembly (5) and the universal wheel (6) form a lever structure through the balance arm (7), and a controller assembly is fixed in the bottom frame (10) in the middle.

10. The carrying robot for a field tray according to claim 1, wherein The two ends of the lead screw (25) are connected to the fork support plate (21) through the support block (28) respectively. There are two lead screws (25), lead screw nuts (26) and scissor fork frames (27). The two lead screws (25) are fixedly connected by a flange.

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